goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (on tor1 bmq3) (on-table yuk5) (clear wno4) (on-table wno4) (holding sbh2) (clear tor1) (on-table bmq3) (clear yuk5)
|
GOAL: (on tor1 bmq3) (on-table yuk5) (clear wno4) (on-table wno4) (holding sbh2) (clear tor1) (on-table bmq3) (clear yuk5)
STATE: (on tor1 yuk5) (clear wno4) (on yuk5 bmq3) (on-table wno4) (holding sbh2) (clear tor1) (on-table bmq3)
|
[
[
"put-down sbh2"
],
[
"unstack tor1 yuk5"
],
[
"stack tor1 sbh2"
],
[
"unstack yuk5 bmq3"
],
[
"put-down yuk5"
],
[
"unstack tor1 sbh2"
],
[
"stack tor1 bmq3"
],
[
"pick-up sbh2"
]
] |
[
"(on tor1 yuk5) (arm-empty) (on-table sbh2) (clear wno4) (on yuk5 bmq3) (clear sbh2) (on-table wno4) (clear tor1) (on-table bmq3)",
"(holding tor1) (clear sbh2) (on-table sbh2) (clear wno4) (on yuk5 bmq3) (on-table wno4) (on-table bmq3) (clear yuk5)",
"(arm-empty) (on-table sbh2) (clear wno4) (on yuk5 bmq3) (on-table wno4) (on tor1 sbh2) (clear tor1) (on-table bmq3) (clear yuk5)",
"(on-table sbh2) (clear wno4) (holding yuk5) (on-table wno4) (clear bmq3) (on tor1 sbh2) (clear tor1) (on-table bmq3)",
"(arm-empty) (on-table sbh2) (on-table yuk5) (clear wno4) (on-table wno4) (clear bmq3) (on tor1 sbh2) (clear tor1) (on-table bmq3) (clear yuk5)",
"(holding tor1) (clear sbh2) (on-table sbh2) (on-table yuk5) (clear wno4) (on-table wno4) (clear bmq3) (on-table bmq3) (clear yuk5)",
"(clear sbh2) (on tor1 bmq3) (arm-empty) (on-table sbh2) (on-table yuk5) (clear wno4) (on-table wno4) (clear tor1) (on-table bmq3) (clear yuk5)",
"(on tor1 bmq3) (on-table yuk5) (clear wno4) (on-table wno4) (holding sbh2) (clear tor1) (on-table bmq3) (clear yuk5)"
] |
file_138221
|
GOAL: (arm-empty) (on-table bkk1) (on xyh5 psf2) (on-table fqa4) (on psf2 fqa4) (clear ofi3) (clear bkk1) (on-table ofi3) (clear xyh5)
|
GOAL: (arm-empty) (on-table bkk1) (on xyh5 psf2) (on-table fqa4) (on psf2 fqa4) (clear ofi3) (clear bkk1) (on-table ofi3) (clear xyh5)
STATE: (clear psf2) (arm-empty) (on-table psf2) (on fqa4 xyh5) (on-table bkk1) (clear fqa4) (on xyh5 bkk1) (clear ofi3) (on-table ofi3)
|
[
[
"unstack fqa4 xyh5"
],
[
"stack fqa4 ofi3"
],
[
"pick-up psf2"
],
[
"stack psf2 xyh5"
],
[
"unstack fqa4 ofi3"
],
[
"put-down fqa4"
],
[
"unstack psf2 xyh5"
],
[
"stack psf2 fqa4"
],
[
"unstack xyh5 bkk1"
],
[
"stack xyh5 psf2"
]
] |
[
"(clear psf2) (on-table psf2) (on-table bkk1) (holding fqa4) (on xyh5 bkk1) (clear ofi3) (on-table ofi3) (clear xyh5)",
"(clear psf2) (arm-empty) (on-table psf2) (on-table bkk1) (clear fqa4) (on xyh5 bkk1) (on fqa4 ofi3) (on-table ofi3) (clear xyh5)",
"(on-table bkk1) (clear fqa4) (on xyh5 bkk1) (on fqa4 ofi3) (holding psf2) (on-table ofi3) (clear xyh5)",
"(clear psf2) (arm-empty) (on-table bkk1) (clear fqa4) (on xyh5 bkk1) (on fqa4 ofi3) (on psf2 xyh5) (on-table ofi3)",
"(clear psf2) (on-table bkk1) (holding fqa4) (on xyh5 bkk1) (on psf2 xyh5) (clear ofi3) (on-table ofi3)",
"(arm-empty) (clear fqa4) (on psf2 xyh5) (clear psf2) (on-table bkk1) (on xyh5 bkk1) (on-table fqa4) (clear ofi3) (on-table ofi3)",
"(on-table bkk1) (clear fqa4) (on xyh5 bkk1) (on-table fqa4) (holding psf2) (clear ofi3) (on-table ofi3) (clear xyh5)",
"(clear psf2) (arm-empty) (on-table bkk1) (on xyh5 bkk1) (on-table fqa4) (on psf2 fqa4) (clear ofi3) (on-table ofi3) (clear xyh5)",
"(clear psf2) (on-table bkk1) (holding xyh5) (on-table fqa4) (on psf2 fqa4) (clear ofi3) (clear bkk1) (on-table ofi3)",
"(arm-empty) (on-table bkk1) (on xyh5 psf2) (on-table fqa4) (on psf2 fqa4) (clear ofi3) (clear bkk1) (on-table ofi3) (clear xyh5)"
] |
file_143656
|
GOAL: (clear cfj2) (arm-empty) (on-table cfj2) (on-table qww1) (clear gkg4) (on gkg4 jbo3) (on jbo3 qww1)
|
GOAL: (clear cfj2) (arm-empty) (on-table cfj2) (on-table qww1) (clear gkg4) (on gkg4 jbo3) (on jbo3 qww1)
STATE: (clear cfj2) (on gkg4 qww1) (arm-empty) (on-table qww1) (on cfj2 gkg4) (clear jbo3) (on-table jbo3)
|
[
[
"unstack cfj2 gkg4"
],
[
"put-down cfj2"
],
[
"unstack gkg4 qww1"
],
[
"stack gkg4 cfj2"
],
[
"pick-up jbo3"
],
[
"stack jbo3 qww1"
],
[
"unstack gkg4 cfj2"
],
[
"stack gkg4 jbo3"
]
] |
[
"(on gkg4 qww1) (clear gkg4) (on-table qww1) (holding cfj2) (clear jbo3) (on-table jbo3)",
"(on gkg4 qww1) (arm-empty) (on-table cfj2) (clear gkg4) (clear cfj2) (on-table qww1) (clear jbo3) (on-table jbo3)",
"(clear cfj2) (on-table cfj2) (on-table qww1) (holding gkg4) (clear jbo3) (clear qww1) (on-table jbo3)",
"(arm-empty) (on-table cfj2) (on-table qww1) (clear gkg4) (on gkg4 cfj2) (clear jbo3) (clear qww1) (on-table jbo3)",
"(on-table cfj2) (on-table qww1) (clear gkg4) (on gkg4 cfj2) (holding jbo3) (clear qww1)",
"(arm-empty) (on-table cfj2) (on-table qww1) (clear gkg4) (on jbo3 qww1) (on gkg4 cfj2) (clear jbo3)",
"(on-table cfj2) (holding gkg4) (on jbo3 qww1) (clear cfj2) (on-table qww1) (clear jbo3)",
"(clear cfj2) (arm-empty) (on-table cfj2) (on-table qww1) (clear gkg4) (on gkg4 jbo3) (on jbo3 qww1)"
] |
file_93394
|
GOAL: (clear rcr2) (on-table dgk1) (holding qen5) (on-table rji4) (on rcr2 rji4) (clear ulv3) (clear dgk1) (on-table ulv3)
|
GOAL: (clear rcr2) (on-table dgk1) (holding qen5) (on-table rji4) (on rcr2 rji4) (clear ulv3) (clear dgk1) (on-table ulv3)
STATE: (clear rcr2) (on-table rcr2) (on-table dgk1) (clear rji4) (on qen5 dgk1) (on-table rji4) (holding ulv3) (clear qen5)
|
[
[
"put-down ulv3"
],
[
"pick-up rcr2"
],
[
"stack rcr2 rji4"
],
[
"unstack qen5 dgk1"
]
] |
[
"(clear rcr2) (arm-empty) (on-table rcr2) (on-table dgk1) (clear rji4) (on qen5 dgk1) (on-table rji4) (clear ulv3) (on-table ulv3) (clear qen5)",
"(on-table dgk1) (clear rji4) (on qen5 dgk1) (on-table rji4) (holding rcr2) (clear ulv3) (on-table ulv3) (clear qen5)",
"(clear rcr2) (arm-empty) (on-table dgk1) (on qen5 dgk1) (on-table rji4) (on rcr2 rji4) (clear ulv3) (on-table ulv3) (clear qen5)",
"(clear rcr2) (on-table dgk1) (holding qen5) (on-table rji4) (on rcr2 rji4) (clear ulv3) (clear dgk1) (on-table ulv3)"
] |
file_8747
|
GOAL: (on-table mfy2) (holding wli5) (on dst1 ppc4) (on ppc4 mfy2) (clear fss3) (clear dst1) (on-table fss3)
|
GOAL: (on-table mfy2) (holding wli5) (on dst1 ppc4) (on ppc4 mfy2) (clear fss3) (clear dst1) (on-table fss3)
STATE: (on fss3 wli5) (on dst1 fss3) (on ppc4 dst1) (on-table wli5) (clear ppc4) (holding mfy2)
|
[
[
"put-down mfy2"
],
[
"unstack ppc4 dst1"
],
[
"stack ppc4 mfy2"
],
[
"unstack dst1 fss3"
],
[
"stack dst1 ppc4"
],
[
"unstack fss3 wli5"
],
[
"put-down fss3"
],
[
"pick-up wli5"
]
] |
[
"(on fss3 wli5) (on dst1 fss3) (on ppc4 dst1) (on-table mfy2) (on-table wli5) (arm-empty) (clear ppc4) (clear mfy2)",
"(on fss3 wli5) (on dst1 fss3) (on-table mfy2) (on-table wli5) (clear mfy2) (holding ppc4) (clear dst1)",
"(on fss3 wli5) (on dst1 fss3) (arm-empty) (on-table mfy2) (on-table wli5) (on ppc4 mfy2) (clear ppc4) (clear dst1)",
"(holding dst1) (on fss3 wli5) (on-table mfy2) (on-table wli5) (clear ppc4) (on ppc4 mfy2) (clear fss3)",
"(on fss3 wli5) (arm-empty) (on-table mfy2) (on-table wli5) (on dst1 ppc4) (on ppc4 mfy2) (clear fss3) (clear dst1)",
"(on-table mfy2) (on-table wli5) (on dst1 ppc4) (on ppc4 mfy2) (holding fss3) (clear dst1) (clear wli5)",
"(arm-empty) (on-table mfy2) (on-table wli5) (clear wli5) (on dst1 ppc4) (on ppc4 mfy2) (clear fss3) (clear dst1) (on-table fss3)",
"(on-table mfy2) (holding wli5) (on dst1 ppc4) (on ppc4 mfy2) (clear fss3) (clear dst1) (on-table fss3)"
] |
file_96971
|
GOAL: (on ajz1 vlp3) (on wdw5 lrl4) (on-table lrl4) (holding vsr2) (clear ajz1) (on-table vlp3) (clear wdw5)
|
GOAL: (on ajz1 vlp3) (on wdw5 lrl4) (on-table lrl4) (holding vsr2) (clear ajz1) (on-table vlp3) (clear wdw5)
STATE: (clear vsr2) (arm-empty) (on-table vsr2) (on-table wdw5) (on lrl4 wdw5) (on ajz1 lrl4) (on vlp3 ajz1) (clear vlp3)
|
[
[
"unstack vlp3 ajz1"
],
[
"put-down vlp3"
],
[
"unstack ajz1 lrl4"
],
[
"stack ajz1 vlp3"
],
[
"unstack lrl4 wdw5"
],
[
"put-down lrl4"
],
[
"pick-up wdw5"
],
[
"stack wdw5 lrl4"
],
[
"pick-up vsr2"
]
] |
[
"(clear vsr2) (on-table vsr2) (on-table wdw5) (on lrl4 wdw5) (on ajz1 lrl4) (holding vlp3) (clear ajz1)",
"(arm-empty) (on-table vsr2) (on-table wdw5) (on lrl4 wdw5) (clear vsr2) (on ajz1 lrl4) (clear vlp3) (clear ajz1) (on-table vlp3)",
"(holding ajz1) (clear vsr2) (on-table vsr2) (on-table wdw5) (on lrl4 wdw5) (clear lrl4) (clear vlp3) (on-table vlp3)",
"(clear vsr2) (on ajz1 vlp3) (arm-empty) (on-table vsr2) (on-table wdw5) (on lrl4 wdw5) (clear lrl4) (clear ajz1) (on-table vlp3)",
"(clear vsr2) (on ajz1 vlp3) (on-table vsr2) (on-table wdw5) (holding lrl4) (clear ajz1) (on-table vlp3) (clear wdw5)",
"(clear vsr2) (on ajz1 vlp3) (arm-empty) (on-table vsr2) (on-table wdw5) (clear lrl4) (on-table lrl4) (clear ajz1) (on-table vlp3) (clear wdw5)",
"(clear vsr2) (on ajz1 vlp3) (on-table vsr2) (clear lrl4) (holding wdw5) (on-table lrl4) (clear ajz1) (on-table vlp3)",
"(clear vsr2) (on ajz1 vlp3) (on wdw5 lrl4) (on-table vsr2) (arm-empty) (on-table lrl4) (clear ajz1) (on-table vlp3) (clear wdw5)",
"(on ajz1 vlp3) (on wdw5 lrl4) (on-table lrl4) (holding vsr2) (clear ajz1) (on-table vlp3) (clear wdw5)"
] |
file_215706
|
GOAL: (on thk3 oft4) (clear hoo2) (on oft4 cwv1) (arm-empty) (on-table cwv1) (on hoo2 thk3)
|
GOAL: (on thk3 oft4) (clear hoo2) (on oft4 cwv1) (arm-empty) (on-table cwv1) (on hoo2 thk3)
STATE: (holding cwv1) (clear hoo2) (clear oft4) (on-table oft4) (on hoo2 thk3) (on-table thk3)
|
[
[
"put-down cwv1"
],
[
"unstack hoo2 thk3"
],
[
"stack hoo2 cwv1"
],
[
"pick-up oft4"
],
[
"stack oft4 thk3"
],
[
"unstack hoo2 cwv1"
],
[
"put-down hoo2"
],
[
"unstack oft4 thk3"
],
[
"stack oft4 cwv1"
],
[
"pick-up thk3"
],
[
"stack thk3 oft4"
],
[
"pick-up hoo2"
],
[
"stack hoo2 thk3"
]
] |
[
"(arm-empty) (clear oft4) (clear hoo2) (on-table cwv1) (on-table oft4) (on hoo2 thk3) (clear cwv1) (on-table thk3)",
"(on-table cwv1) (clear oft4) (on-table oft4) (holding hoo2) (clear thk3) (clear cwv1) (on-table thk3)",
"(clear hoo2) (arm-empty) (on-table cwv1) (clear oft4) (on-table oft4) (on hoo2 cwv1) (clear thk3) (on-table thk3)",
"(clear hoo2) (on-table cwv1) (holding oft4) (on hoo2 cwv1) (clear thk3) (on-table thk3)",
"(on oft4 thk3) (clear hoo2) (arm-empty) (on-table cwv1) (on hoo2 cwv1) (clear oft4) (on-table thk3)",
"(clear oft4) (on-table cwv1) (on oft4 thk3) (holding hoo2) (clear cwv1) (on-table thk3)",
"(arm-empty) (on-table hoo2) (clear oft4) (clear hoo2) (on-table cwv1) (on oft4 thk3) (clear cwv1) (on-table thk3)",
"(clear hoo2) (on-table hoo2) (on-table cwv1) (holding oft4) (clear thk3) (clear cwv1) (on-table thk3)",
"(clear hoo2) (on oft4 cwv1) (arm-empty) (on-table hoo2) (on-table cwv1) (clear oft4) (clear thk3) (on-table thk3)",
"(clear hoo2) (on oft4 cwv1) (on-table hoo2) (on-table cwv1) (clear oft4) (holding thk3)",
"(on thk3 oft4) (clear hoo2) (on oft4 cwv1) (arm-empty) (on-table hoo2) (on-table cwv1) (clear thk3)",
"(on thk3 oft4) (on oft4 cwv1) (holding hoo2) (on-table cwv1) (clear thk3)",
"(on thk3 oft4) (clear hoo2) (on oft4 cwv1) (arm-empty) (on-table cwv1) (on hoo2 thk3)"
] |
file_136698
|
GOAL: (clear qre2) (on gdg1 lqw3) (on vxo4 gdg1) (arm-empty) (on-table pjk5) (on qre2 vxo4) (on-table lqw3) (clear pjk5)
|
GOAL: (clear qre2) (on gdg1 lqw3) (on vxo4 gdg1) (arm-empty) (on-table pjk5) (on qre2 vxo4) (on-table lqw3) (clear pjk5)
STATE: (holding gdg1) (on-table pjk5) (clear vxo4) (on vxo4 qre2) (on qre2 pjk5) (clear lqw3) (on-table lqw3)
|
[
[
"stack gdg1 lqw3"
],
[
"unstack vxo4 qre2"
],
[
"stack vxo4 gdg1"
],
[
"unstack qre2 pjk5"
],
[
"stack qre2 vxo4"
]
] |
[
"(on gdg1 lqw3) (arm-empty) (on-table pjk5) (clear vxo4) (on vxo4 qre2) (on qre2 pjk5) (clear gdg1) (on-table lqw3)",
"(clear qre2) (on gdg1 lqw3) (on-table pjk5) (holding vxo4) (on qre2 pjk5) (clear gdg1) (on-table lqw3)",
"(clear qre2) (on gdg1 lqw3) (on vxo4 gdg1) (arm-empty) (on-table pjk5) (clear vxo4) (on qre2 pjk5) (on-table lqw3)",
"(on gdg1 lqw3) (on vxo4 gdg1) (on-table pjk5) (clear vxo4) (holding qre2) (on-table lqw3) (clear pjk5)",
"(clear qre2) (on gdg1 lqw3) (on vxo4 gdg1) (arm-empty) (on-table pjk5) (on qre2 vxo4) (on-table lqw3) (clear pjk5)"
] |
file_75006
|
GOAL: (on zyv1 eqt3) (arm-empty) (on-table pll2) (on-table qdz5) (on eqt3 pll2) (clear lgu4) (on-table lgu4) (clear zyv1) (clear qdz5)
|
GOAL: (on zyv1 eqt3) (arm-empty) (on-table pll2) (on-table qdz5) (on eqt3 pll2) (clear lgu4) (on-table lgu4) (clear zyv1) (clear qdz5)
STATE: (clear pll2) (arm-empty) (on-table pll2) (on-table qdz5) (on-table lgu4) (on zyv1 lgu4) (clear eqt3) (clear zyv1) (on-table eqt3) (clear qdz5)
|
[
[
"pick-up eqt3"
],
[
"stack eqt3 pll2"
],
[
"unstack zyv1 lgu4"
],
[
"stack zyv1 eqt3"
]
] |
[
"(clear pll2) (on-table pll2) (on-table qdz5) (on-table lgu4) (on zyv1 lgu4) (holding eqt3) (clear zyv1) (clear qdz5)",
"(arm-empty) (on-table pll2) (on-table qdz5) (on eqt3 pll2) (on-table lgu4) (on zyv1 lgu4) (clear eqt3) (clear zyv1) (clear qdz5)",
"(holding zyv1) (on-table pll2) (on-table qdz5) (on eqt3 pll2) (clear lgu4) (on-table lgu4) (clear eqt3) (clear qdz5)",
"(on zyv1 eqt3) (arm-empty) (on-table pll2) (on-table qdz5) (on eqt3 pll2) (clear lgu4) (on-table lgu4) (clear zyv1) (clear qdz5)"
] |
file_132553
|
GOAL: (clear jdi2) (on ssg1 tyg3) (on-table jdi2) (on-table wem5) (holding lzg4) (clear ssg1) (on-table tyg3) (clear wem5)
|
GOAL: (clear jdi2) (on ssg1 tyg3) (on-table jdi2) (on-table wem5) (holding lzg4) (clear ssg1) (on-table tyg3) (clear wem5)
STATE: (arm-empty) (on-table jdi2) (on lzg4 wem5) (clear lzg4) (on wem5 tyg3) (on tyg3 ssg1) (on ssg1 jdi2)
|
[
[
"unstack lzg4 wem5"
],
[
"put-down lzg4"
],
[
"unstack wem5 tyg3"
],
[
"put-down wem5"
],
[
"unstack tyg3 ssg1"
],
[
"put-down tyg3"
],
[
"unstack ssg1 jdi2"
],
[
"stack ssg1 tyg3"
],
[
"pick-up lzg4"
]
] |
[
"(on-table jdi2) (holding lzg4) (on wem5 tyg3) (on tyg3 ssg1) (on ssg1 jdi2) (clear wem5)",
"(arm-empty) (on-table jdi2) (clear lzg4) (on wem5 tyg3) (on tyg3 ssg1) (on ssg1 jdi2) (clear wem5) (on-table lzg4)",
"(on-table jdi2) (clear lzg4) (holding wem5) (on-table lzg4) (on tyg3 ssg1) (clear tyg3) (on ssg1 jdi2)",
"(arm-empty) (on-table jdi2) (on-table wem5) (clear lzg4) (on tyg3 ssg1) (on ssg1 jdi2) (clear wem5) (on-table lzg4) (clear tyg3)",
"(on-table jdi2) (on-table wem5) (clear lzg4) (on-table lzg4) (on ssg1 jdi2) (clear ssg1) (holding tyg3) (clear wem5)",
"(arm-empty) (on-table jdi2) (on-table wem5) (clear lzg4) (on-table lzg4) (clear tyg3) (on ssg1 jdi2) (clear ssg1) (on-table tyg3) (clear wem5)",
"(holding ssg1) (clear jdi2) (on-table jdi2) (on-table wem5) (clear lzg4) (on-table lzg4) (clear tyg3) (on-table tyg3) (clear wem5)",
"(clear jdi2) (on ssg1 tyg3) (arm-empty) (on-table jdi2) (on-table wem5) (clear lzg4) (on-table lzg4) (clear ssg1) (on-table tyg3) (clear wem5)",
"(clear jdi2) (on ssg1 tyg3) (on-table jdi2) (on-table wem5) (holding lzg4) (clear ssg1) (on-table tyg3) (clear wem5)"
] |
file_201688
|
GOAL: (on kvi3 cxf5) (arm-empty) (on-table otb2) (clear hha4) (on zri1 otb2) (on cxf5 zri1) (on-table hha4) (clear kvi3)
|
GOAL: (on kvi3 cxf5) (arm-empty) (on-table otb2) (clear hha4) (on zri1 otb2) (on cxf5 zri1) (on-table hha4) (clear kvi3)
STATE: (on kvi3 cxf5) (on-table otb2) (holding hha4) (on cxf5 zri1) (clear kvi3) (on zri1 otb2)
|
[
[
"put-down hha4"
]
] |
[
"(on kvi3 cxf5) (arm-empty) (on-table otb2) (clear hha4) (on zri1 otb2) (on cxf5 zri1) (on-table hha4) (clear kvi3)"
] |
file_173716
|
GOAL: (on hnc4 nqs1) (on tyh5 hnc4) (arm-empty) (on-table nqs1) (on rmu3 hgm2) (on hgm2 tyh5) (clear rmu3)
|
GOAL: (on hnc4 nqs1) (on tyh5 hnc4) (arm-empty) (on-table nqs1) (on rmu3 hgm2) (on hgm2 tyh5) (clear rmu3)
STATE: (on rmu3 hnc4) (clear hgm2) (on hnc4 nqs1) (arm-empty) (on-table hgm2) (on-table tyh5) (on-table nqs1) (clear rmu3) (clear tyh5)
|
[
[
"pick-up hgm2"
],
[
"stack hgm2 tyh5"
],
[
"unstack rmu3 hnc4"
],
[
"put-down rmu3"
],
[
"unstack hgm2 tyh5"
],
[
"stack hgm2 rmu3"
],
[
"pick-up tyh5"
],
[
"stack tyh5 hnc4"
],
[
"unstack hgm2 rmu3"
],
[
"stack hgm2 tyh5"
],
[
"pick-up rmu3"
],
[
"stack rmu3 hgm2"
]
] |
[
"(on rmu3 hnc4) (on hnc4 nqs1) (on-table tyh5) (on-table nqs1) (holding hgm2) (clear rmu3) (clear tyh5)",
"(on rmu3 hnc4) (clear hgm2) (on hnc4 nqs1) (arm-empty) (on-table tyh5) (on-table nqs1) (on hgm2 tyh5) (clear rmu3)",
"(clear hgm2) (on hnc4 nqs1) (on-table tyh5) (on-table nqs1) (clear hnc4) (on hgm2 tyh5) (holding rmu3)",
"(on hnc4 nqs1) (arm-empty) (on-table tyh5) (clear hnc4) (on hgm2 tyh5) (clear hgm2) (on-table nqs1) (clear rmu3) (on-table rmu3)",
"(on hnc4 nqs1) (on-table tyh5) (on-table nqs1) (clear hnc4) (holding hgm2) (clear rmu3) (on-table rmu3) (clear tyh5)",
"(clear hgm2) (on hnc4 nqs1) (arm-empty) (on-table tyh5) (on-table nqs1) (clear hnc4) (on hgm2 rmu3) (on-table rmu3) (clear tyh5)",
"(clear hgm2) (on hnc4 nqs1) (on-table nqs1) (clear hnc4) (holding tyh5) (on hgm2 rmu3) (on-table rmu3)",
"(clear hgm2) (on hnc4 nqs1) (on tyh5 hnc4) (arm-empty) (on-table nqs1) (on hgm2 rmu3) (on-table rmu3) (clear tyh5)",
"(on hnc4 nqs1) (on tyh5 hnc4) (on-table nqs1) (holding hgm2) (clear rmu3) (on-table rmu3) (clear tyh5)",
"(clear hgm2) (on hnc4 nqs1) (on tyh5 hnc4) (arm-empty) (on-table nqs1) (on hgm2 tyh5) (clear rmu3) (on-table rmu3)",
"(clear hgm2) (on hnc4 nqs1) (on tyh5 hnc4) (on-table nqs1) (on hgm2 tyh5) (holding rmu3)",
"(on hnc4 nqs1) (on tyh5 hnc4) (arm-empty) (on-table nqs1) (on rmu3 hgm2) (on hgm2 tyh5) (clear rmu3)"
] |
file_218583
|
GOAL: (on jnc4 rah3) (on yks5 gay1) (arm-empty) (on-table gay1) (on vay2 yks5) (on rah3 vay2) (clear jnc4)
|
GOAL: (on jnc4 rah3) (on yks5 gay1) (arm-empty) (on-table gay1) (on vay2 yks5) (on rah3 vay2) (clear jnc4)
STATE: (on rah3 jnc4) (arm-empty) (on-table gay1) (on yks5 gay1) (on jnc4 vay2) (on vay2 yks5) (clear rah3)
|
[
[
"unstack rah3 jnc4"
],
[
"put-down rah3"
],
[
"unstack jnc4 vay2"
],
[
"put-down jnc4"
],
[
"pick-up rah3"
],
[
"stack rah3 vay2"
],
[
"pick-up jnc4"
],
[
"stack jnc4 rah3"
]
] |
[
"(clear jnc4) (on vay2 yks5) (on-table gay1) (on yks5 gay1) (on jnc4 vay2) (holding rah3)",
"(on jnc4 vay2) (on yks5 gay1) (arm-empty) (on-table gay1) (on vay2 yks5) (clear rah3) (clear jnc4) (on-table rah3)",
"(clear vay2) (on-table gay1) (holding jnc4) (on yks5 gay1) (on vay2 yks5) (clear rah3) (on-table rah3)",
"(arm-empty) (clear jnc4) (on vay2 yks5) (clear vay2) (on-table gay1) (on yks5 gay1) (on-table jnc4) (clear rah3) (on-table rah3)",
"(clear vay2) (on-table gay1) (clear jnc4) (on yks5 gay1) (on-table jnc4) (on vay2 yks5) (holding rah3)",
"(arm-empty) (on-table gay1) (on rah3 vay2) (clear jnc4) (on yks5 gay1) (on-table jnc4) (on vay2 yks5) (clear rah3)",
"(on-table gay1) (holding jnc4) (on rah3 vay2) (on yks5 gay1) (on vay2 yks5) (clear rah3)",
"(on jnc4 rah3) (on yks5 gay1) (arm-empty) (on-table gay1) (on vay2 yks5) (on rah3 vay2) (clear jnc4)"
] |
file_219911
|
GOAL: (on pby3 rnv5) (on rnv5 hdr4) (on bvi1 pby3) (on-table hdr4) (holding vwb2) (clear bvi1)
|
GOAL: (on pby3 rnv5) (on rnv5 hdr4) (on bvi1 pby3) (on-table hdr4) (holding vwb2) (clear bvi1)
STATE: (on pby3 hdr4) (on hdr4 bvi1) (on-table vwb2) (holding rnv5) (clear pby3) (on bvi1 vwb2)
|
[
[
"put-down rnv5"
],
[
"unstack pby3 hdr4"
],
[
"put-down pby3"
],
[
"unstack hdr4 bvi1"
],
[
"put-down hdr4"
],
[
"pick-up rnv5"
],
[
"stack rnv5 hdr4"
],
[
"pick-up pby3"
],
[
"stack pby3 rnv5"
],
[
"unstack bvi1 vwb2"
],
[
"stack bvi1 pby3"
],
[
"pick-up vwb2"
]
] |
[
"(on hdr4 bvi1) (arm-empty) (on-table vwb2) (on-table rnv5) (on bvi1 vwb2) (clear rnv5) (on pby3 hdr4) (clear pby3)",
"(on hdr4 bvi1) (on-table vwb2) (on-table rnv5) (clear hdr4) (on bvi1 vwb2) (holding pby3) (clear rnv5)",
"(on hdr4 bvi1) (arm-empty) (on-table vwb2) (on-table rnv5) (clear hdr4) (on bvi1 vwb2) (clear rnv5) (clear pby3) (on-table pby3)",
"(on-table vwb2) (on-table rnv5) (holding hdr4) (clear pby3) (on bvi1 vwb2) (clear bvi1) (on-table pby3) (clear rnv5)",
"(arm-empty) (on-table vwb2) (on-table rnv5) (clear hdr4) (on-table hdr4) (clear pby3) (on bvi1 vwb2) (clear bvi1) (on-table pby3) (clear rnv5)",
"(on-table vwb2) (clear hdr4) (holding rnv5) (on-table hdr4) (clear pby3) (on bvi1 vwb2) (clear bvi1) (on-table pby3)",
"(arm-empty) (on rnv5 hdr4) (on-table vwb2) (on-table hdr4) (clear pby3) (on bvi1 vwb2) (clear bvi1) (on-table pby3) (clear rnv5)",
"(on rnv5 hdr4) (on-table vwb2) (on-table hdr4) (on bvi1 vwb2) (clear bvi1) (holding pby3) (clear rnv5)",
"(on pby3 rnv5) (arm-empty) (on rnv5 hdr4) (on-table vwb2) (on-table hdr4) (clear pby3) (on bvi1 vwb2) (clear bvi1)",
"(holding bvi1) (on pby3 rnv5) (on rnv5 hdr4) (on-table vwb2) (clear vwb2) (on-table hdr4) (clear pby3)",
"(on pby3 rnv5) (clear vwb2) (on rnv5 hdr4) (on-table vwb2) (on bvi1 pby3) (arm-empty) (on-table hdr4) (clear bvi1)",
"(on pby3 rnv5) (on rnv5 hdr4) (on bvi1 pby3) (on-table hdr4) (holding vwb2) (clear bvi1)"
] |
file_124975
|
GOAL: (on tbh3 uyf5) (arm-empty) (on-table uyf5) (clear jzt4) (on-table jzt4) (on kph2 tbh3) (on iau1 kph2) (clear iau1)
|
GOAL: (on tbh3 uyf5) (arm-empty) (on-table uyf5) (clear jzt4) (on-table jzt4) (on kph2 tbh3) (on iau1 kph2) (clear iau1)
STATE: (clear kph2) (arm-empty) (on-table kph2) (on uyf5 tbh3) (on-table jzt4) (on iau1 jzt4) (on tbh3 iau1) (clear uyf5)
|
[
[
"unstack uyf5 tbh3"
],
[
"put-down uyf5"
],
[
"unstack tbh3 iau1"
],
[
"stack tbh3 uyf5"
],
[
"pick-up kph2"
],
[
"stack kph2 tbh3"
],
[
"unstack iau1 jzt4"
],
[
"stack iau1 kph2"
]
] |
[
"(clear kph2) (on-table kph2) (holding uyf5) (on-table jzt4) (on iau1 jzt4) (on tbh3 iau1) (clear tbh3)",
"(arm-empty) (on-table kph2) (on-table uyf5) (on tbh3 iau1) (clear uyf5) (clear kph2) (on-table jzt4) (on iau1 jzt4) (clear tbh3)",
"(clear kph2) (on-table kph2) (on-table uyf5) (on-table jzt4) (on iau1 jzt4) (holding tbh3) (clear iau1) (clear uyf5)",
"(clear kph2) (on tbh3 uyf5) (arm-empty) (on-table kph2) (on-table uyf5) (on-table jzt4) (on iau1 jzt4) (clear tbh3) (clear iau1)",
"(on tbh3 uyf5) (on-table uyf5) (holding kph2) (on-table jzt4) (on iau1 jzt4) (clear tbh3) (clear iau1)",
"(on tbh3 uyf5) (clear kph2) (arm-empty) (on-table uyf5) (on-table jzt4) (on iau1 jzt4) (on kph2 tbh3) (clear iau1)",
"(holding iau1) (on tbh3 uyf5) (clear kph2) (on-table uyf5) (clear jzt4) (on-table jzt4) (on kph2 tbh3)",
"(on tbh3 uyf5) (arm-empty) (on-table uyf5) (clear jzt4) (on-table jzt4) (on kph2 tbh3) (on iau1 kph2) (clear iau1)"
] |
file_13476
|
GOAL: (clear hxt2) (on uqw1 hdc3) (holding awj4) (on tpc5 uqw1) (on hxt2 tpc5) (on-table hdc3)
|
GOAL: (clear hxt2) (on uqw1 hdc3) (holding awj4) (on tpc5 uqw1) (on hxt2 tpc5) (on-table hdc3)
STATE: (clear hxt2) (on-table tpc5) (holding awj4) (on-table uqw1) (on hxt2 uqw1) (clear hdc3) (on-table hdc3) (clear tpc5)
|
[
[
"stack awj4 hdc3"
],
[
"unstack hxt2 uqw1"
],
[
"put-down hxt2"
],
[
"pick-up uqw1"
],
[
"stack uqw1 tpc5"
],
[
"unstack awj4 hdc3"
],
[
"stack awj4 hxt2"
],
[
"unstack uqw1 tpc5"
],
[
"stack uqw1 hdc3"
],
[
"pick-up tpc5"
],
[
"stack tpc5 uqw1"
],
[
"unstack awj4 hxt2"
],
[
"put-down awj4"
],
[
"pick-up hxt2"
],
[
"stack hxt2 tpc5"
],
[
"pick-up awj4"
]
] |
[
"(clear hxt2) (arm-empty) (on-table tpc5) (on-table uqw1) (clear awj4) (on awj4 hdc3) (on hxt2 uqw1) (on-table hdc3) (clear tpc5)",
"(on-table tpc5) (on-table uqw1) (clear awj4) (on awj4 hdc3) (holding hxt2) (clear uqw1) (on-table hdc3) (clear tpc5)",
"(clear hxt2) (arm-empty) (on-table hxt2) (on-table tpc5) (on-table uqw1) (clear awj4) (on awj4 hdc3) (clear uqw1) (on-table hdc3) (clear tpc5)",
"(holding uqw1) (clear hxt2) (on-table hxt2) (on-table tpc5) (clear awj4) (on awj4 hdc3) (on-table hdc3) (clear tpc5)",
"(on uqw1 tpc5) (clear hxt2) (arm-empty) (on-table hxt2) (on-table tpc5) (clear awj4) (on awj4 hdc3) (clear uqw1) (on-table hdc3)",
"(on uqw1 tpc5) (clear hxt2) (on-table hxt2) (on-table tpc5) (holding awj4) (clear hdc3) (clear uqw1) (on-table hdc3)",
"(on uqw1 tpc5) (arm-empty) (on-table hxt2) (on-table tpc5) (clear awj4) (on awj4 hxt2) (clear hdc3) (clear uqw1) (on-table hdc3)",
"(holding uqw1) (on-table hxt2) (on-table tpc5) (clear awj4) (on awj4 hxt2) (clear hdc3) (on-table hdc3) (clear tpc5)",
"(on uqw1 hdc3) (arm-empty) (on-table hxt2) (on-table tpc5) (clear awj4) (on awj4 hxt2) (clear uqw1) (on-table hdc3) (clear tpc5)",
"(on uqw1 hdc3) (on-table hxt2) (clear awj4) (holding tpc5) (on awj4 hxt2) (clear uqw1) (on-table hdc3)",
"(on uqw1 hdc3) (arm-empty) (on-table hxt2) (clear awj4) (on tpc5 uqw1) (on awj4 hxt2) (on-table hdc3) (clear tpc5)",
"(clear hxt2) (on uqw1 hdc3) (on-table hxt2) (holding awj4) (on tpc5 uqw1) (on-table hdc3) (clear tpc5)",
"(on uqw1 hdc3) (arm-empty) (on-table hxt2) (clear awj4) (clear tpc5) (clear hxt2) (on tpc5 uqw1) (on-table awj4) (on-table hdc3)",
"(on uqw1 hdc3) (clear awj4) (on tpc5 uqw1) (on-table awj4) (holding hxt2) (on-table hdc3) (clear tpc5)",
"(clear hxt2) (on uqw1 hdc3) (arm-empty) (clear awj4) (on tpc5 uqw1) (on-table awj4) (on hxt2 tpc5) (on-table hdc3)",
"(clear hxt2) (on uqw1 hdc3) (holding awj4) (on tpc5 uqw1) (on hxt2 tpc5) (on-table hdc3)"
] |
file_157984
|
GOAL: (on-table gmw2) (clear gmw2) (on-table kyy4) (on kwm1 kyy4) (holding phy3) (clear kwm1)
|
GOAL: (on-table gmw2) (clear gmw2) (on-table kyy4) (on kwm1 kyy4) (holding phy3) (clear kwm1)
STATE: (clear gmw2) (on kyy4 kwm1) (on-table gmw2) (on-table kwm1) (clear kyy4) (holding phy3)
|
[
[
"put-down phy3"
],
[
"unstack kyy4 kwm1"
],
[
"put-down kyy4"
],
[
"pick-up phy3"
],
[
"stack phy3 gmw2"
],
[
"pick-up kwm1"
],
[
"stack kwm1 kyy4"
],
[
"unstack phy3 gmw2"
]
] |
[
"(clear gmw2) (on kyy4 kwm1) (arm-empty) (on-table gmw2) (on-table kwm1) (clear phy3) (clear kyy4) (on-table phy3)",
"(clear gmw2) (on-table gmw2) (on-table kwm1) (holding kyy4) (clear phy3) (clear kwm1) (on-table phy3)",
"(arm-empty) (on-table gmw2) (clear kyy4) (clear gmw2) (on-table kwm1) (on-table kyy4) (clear phy3) (clear kwm1) (on-table phy3)",
"(clear gmw2) (on-table gmw2) (on-table kwm1) (clear kyy4) (on-table kyy4) (holding phy3) (clear kwm1)",
"(arm-empty) (on-table gmw2) (on-table kwm1) (on phy3 gmw2) (clear kyy4) (on-table kyy4) (clear phy3) (clear kwm1)",
"(holding kwm1) (on-table gmw2) (on phy3 gmw2) (clear kyy4) (on-table kyy4) (clear phy3)",
"(arm-empty) (on-table gmw2) (on phy3 gmw2) (on-table kyy4) (on kwm1 kyy4) (clear phy3) (clear kwm1)",
"(on-table gmw2) (clear gmw2) (on-table kyy4) (on kwm1 kyy4) (holding phy3) (clear kwm1)"
] |
file_130718
|
GOAL: (clear aal2) (on uaw1 obp3) (arm-empty) (on-table aal2) (clear znc4) (on-table znc4) (clear uaw1) (on-table obp3)
|
GOAL: (clear aal2) (on uaw1 obp3) (arm-empty) (on-table aal2) (clear znc4) (on-table znc4) (clear uaw1) (on-table obp3)
STATE: (clear aal2) (on znc4 uaw1) (on-table uaw1) (on aal2 znc4) (holding obp3)
|
[
[
"put-down obp3"
],
[
"unstack aal2 znc4"
],
[
"stack aal2 obp3"
],
[
"unstack znc4 uaw1"
],
[
"put-down znc4"
],
[
"unstack aal2 obp3"
],
[
"put-down aal2"
],
[
"pick-up uaw1"
],
[
"stack uaw1 obp3"
]
] |
[
"(clear aal2) (on znc4 uaw1) (arm-empty) (on-table uaw1) (clear obp3) (on aal2 znc4) (on-table obp3)",
"(on znc4 uaw1) (clear znc4) (on-table uaw1) (holding aal2) (clear obp3) (on-table obp3)",
"(clear aal2) (on znc4 uaw1) (arm-empty) (on-table uaw1) (clear znc4) (on aal2 obp3) (on-table obp3)",
"(holding znc4) (clear aal2) (on-table uaw1) (on aal2 obp3) (clear uaw1) (on-table obp3)",
"(arm-empty) (clear znc4) (clear aal2) (on-table uaw1) (on-table znc4) (on aal2 obp3) (clear uaw1) (on-table obp3)",
"(on-table uaw1) (clear znc4) (on-table znc4) (holding aal2) (clear obp3) (clear uaw1) (on-table obp3)",
"(arm-empty) (on-table aal2) (clear znc4) (clear aal2) (on-table uaw1) (on-table znc4) (clear obp3) (clear uaw1) (on-table obp3)",
"(holding uaw1) (clear aal2) (on-table aal2) (clear znc4) (on-table znc4) (clear obp3) (on-table obp3)",
"(clear aal2) (on uaw1 obp3) (arm-empty) (on-table aal2) (clear znc4) (on-table znc4) (clear uaw1) (on-table obp3)"
] |
file_18719
|
GOAL: (on fqk1 ikq3) (on aqg5 iym4) (on-table sdt2) (arm-empty) (on ikq3 sdt2) (on-table iym4) (clear fqk1) (clear aqg5)
|
GOAL: (on fqk1 ikq3) (on aqg5 iym4) (on-table sdt2) (arm-empty) (on ikq3 sdt2) (on-table iym4) (clear fqk1) (clear aqg5)
STATE: (on fqk1 aqg5) (arm-empty) (on-table sdt2) (on ikq3 sdt2) (clear iym4) (on aqg5 ikq3) (on-table iym4) (clear fqk1)
|
[
[
"unstack fqk1 aqg5"
],
[
"stack fqk1 iym4"
],
[
"unstack aqg5 ikq3"
],
[
"put-down aqg5"
],
[
"unstack fqk1 iym4"
],
[
"stack fqk1 ikq3"
],
[
"pick-up aqg5"
],
[
"stack aqg5 iym4"
]
] |
[
"(holding fqk1) (on-table sdt2) (on ikq3 sdt2) (clear iym4) (on aqg5 ikq3) (on-table iym4) (clear aqg5)",
"(arm-empty) (on-table sdt2) (on ikq3 sdt2) (on aqg5 ikq3) (on-table iym4) (on fqk1 iym4) (clear fqk1) (clear aqg5)",
"(on-table sdt2) (on ikq3 sdt2) (holding aqg5) (on-table iym4) (on fqk1 iym4) (clear ikq3) (clear fqk1)",
"(arm-empty) (on-table sdt2) (on-table aqg5) (clear aqg5) (on ikq3 sdt2) (on-table iym4) (on fqk1 iym4) (clear ikq3) (clear fqk1)",
"(holding fqk1) (on-table sdt2) (on-table aqg5) (on ikq3 sdt2) (clear iym4) (on-table iym4) (clear ikq3) (clear aqg5)",
"(on fqk1 ikq3) (arm-empty) (on-table sdt2) (on-table aqg5) (on ikq3 sdt2) (clear iym4) (on-table iym4) (clear fqk1) (clear aqg5)",
"(on fqk1 ikq3) (on-table sdt2) (on ikq3 sdt2) (clear iym4) (holding aqg5) (on-table iym4) (clear fqk1)",
"(on fqk1 ikq3) (on aqg5 iym4) (on-table sdt2) (arm-empty) (on ikq3 sdt2) (on-table iym4) (clear fqk1) (clear aqg5)"
] |
file_132253
|
GOAL: (on lrz3 sgl4) (on cud1 lrz3) (holding npx2) (on-table sgl4) (clear cud1)
|
GOAL: (on lrz3 sgl4) (on cud1 lrz3) (holding npx2) (on-table sgl4) (clear cud1)
STATE: (on-table npx2) (clear sgl4) (on-table sgl4) (on cud1 npx2) (clear cud1) (holding lrz3)
|
[
[
"stack lrz3 sgl4"
],
[
"unstack cud1 npx2"
],
[
"stack cud1 lrz3"
],
[
"pick-up npx2"
]
] |
[
"(on lrz3 sgl4) (arm-empty) (on-table npx2) (on-table sgl4) (clear lrz3) (on cud1 npx2) (clear cud1)",
"(on-table npx2) (holding cud1) (on lrz3 sgl4) (clear npx2) (on-table sgl4) (clear lrz3)",
"(on lrz3 sgl4) (clear npx2) (on cud1 lrz3) (arm-empty) (on-table npx2) (on-table sgl4) (clear cud1)",
"(on lrz3 sgl4) (on cud1 lrz3) (holding npx2) (on-table sgl4) (clear cud1)"
] |
file_212206
|
GOAL: (on cmb1 qfo3) (on-table hqv5) (holding oax4) (on qfo3 aep2) (on aep2 hqv5) (clear cmb1)
|
GOAL: (on cmb1 qfo3) (on-table hqv5) (holding oax4) (on qfo3 aep2) (on aep2 hqv5) (clear cmb1)
STATE: (holding cmb1) (clear aep2) (on qfo3 hqv5) (on-table aep2) (on-table hqv5) (clear oax4) (on-table oax4) (clear qfo3)
|
[
[
"stack cmb1 oax4"
],
[
"unstack qfo3 hqv5"
],
[
"put-down qfo3"
],
[
"pick-up aep2"
],
[
"stack aep2 hqv5"
],
[
"pick-up qfo3"
],
[
"stack qfo3 aep2"
],
[
"unstack cmb1 oax4"
],
[
"stack cmb1 qfo3"
],
[
"pick-up oax4"
]
] |
[
"(clear aep2) (on qfo3 hqv5) (arm-empty) (on-table aep2) (on-table hqv5) (on-table oax4) (on cmb1 oax4) (clear qfo3) (clear cmb1)",
"(clear aep2) (on-table aep2) (on-table hqv5) (on-table oax4) (on cmb1 oax4) (holding qfo3) (clear cmb1) (clear hqv5)",
"(clear aep2) (arm-empty) (on-table aep2) (on-table hqv5) (on-table oax4) (on cmb1 oax4) (clear qfo3) (clear cmb1) (on-table qfo3) (clear hqv5)",
"(on-table hqv5) (holding aep2) (on-table oax4) (on cmb1 oax4) (clear qfo3) (clear cmb1) (on-table qfo3) (clear hqv5)",
"(clear aep2) (arm-empty) (on-table hqv5) (on-table oax4) (on aep2 hqv5) (clear qfo3) (on cmb1 oax4) (on-table qfo3) (clear cmb1)",
"(clear aep2) (on-table hqv5) (on-table oax4) (on cmb1 oax4) (on aep2 hqv5) (holding qfo3) (clear cmb1)",
"(arm-empty) (on-table hqv5) (on qfo3 aep2) (on-table oax4) (on cmb1 oax4) (on aep2 hqv5) (clear qfo3) (clear cmb1)",
"(holding cmb1) (on-table hqv5) (on qfo3 aep2) (clear oax4) (on-table oax4) (on aep2 hqv5) (clear qfo3)",
"(on cmb1 qfo3) (arm-empty) (on-table hqv5) (on qfo3 aep2) (clear oax4) (on-table oax4) (on aep2 hqv5) (clear cmb1)",
"(on cmb1 qfo3) (on-table hqv5) (holding oax4) (on qfo3 aep2) (on aep2 hqv5) (clear cmb1)"
] |
file_45385
|
GOAL: (clear nnb2) (on lpp5 toc4) (on-table nnb2) (on-table ymh1) (on-table toc4) (holding ejk3) (clear ymh1) (clear lpp5)
|
GOAL: (clear nnb2) (on lpp5 toc4) (on-table nnb2) (on-table ymh1) (on-table toc4) (holding ejk3) (clear ymh1) (clear lpp5)
STATE: (on lpp5 toc4) (on-table ymh1) (on-table toc4) (holding nnb2) (clear ejk3) (clear ymh1) (on-table ejk3) (clear lpp5)
|
[
[
"put-down nnb2"
],
[
"pick-up ejk3"
]
] |
[
"(clear nnb2) (arm-empty) (on lpp5 toc4) (on-table nnb2) (on-table ymh1) (on-table toc4) (clear ejk3) (clear ymh1) (on-table ejk3) (clear lpp5)",
"(clear nnb2) (on lpp5 toc4) (on-table nnb2) (on-table ymh1) (on-table toc4) (holding ejk3) (clear ymh1) (clear lpp5)"
] |
file_34223
|
GOAL: (on jis1 kir3) (arm-empty) (on cjc5 jei2) (on-table jkl4) (on jei2 jkl4) (clear jis1) (on-table kir3) (clear cjc5)
|
GOAL: (on jis1 kir3) (arm-empty) (on cjc5 jei2) (on-table jkl4) (on jei2 jkl4) (clear jis1) (on-table kir3) (clear cjc5)
STATE: (clear jei2) (on jis1 kir3) (arm-empty) (on-table jei2) (on jkl4 cjc5) (clear jkl4) (on cjc5 jis1) (on-table kir3)
|
[
[
"unstack jkl4 cjc5"
],
[
"put-down jkl4"
],
[
"unstack cjc5 jis1"
],
[
"stack cjc5 jkl4"
],
[
"pick-up jei2"
],
[
"stack jei2 jis1"
],
[
"unstack cjc5 jkl4"
],
[
"put-down cjc5"
],
[
"unstack jei2 jis1"
],
[
"stack jei2 jkl4"
],
[
"pick-up cjc5"
],
[
"stack cjc5 jei2"
]
] |
[
"(clear jei2) (on jis1 kir3) (on-table jei2) (holding jkl4) (on cjc5 jis1) (on-table kir3) (clear cjc5)",
"(on jis1 kir3) (arm-empty) (on-table jei2) (clear jkl4) (clear cjc5) (clear jei2) (on cjc5 jis1) (on-table jkl4) (on-table kir3)",
"(clear jei2) (on jis1 kir3) (on-table jei2) (clear jkl4) (holding cjc5) (on-table jkl4) (clear jis1) (on-table kir3)",
"(clear jei2) (on jis1 kir3) (on cjc5 jkl4) (on-table jei2) (arm-empty) (on-table jkl4) (clear jis1) (on-table kir3) (clear cjc5)",
"(on jis1 kir3) (on cjc5 jkl4) (on-table jkl4) (holding jei2) (clear jis1) (on-table kir3) (clear cjc5)",
"(clear jei2) (on jis1 kir3) (on cjc5 jkl4) (arm-empty) (on-table jkl4) (on jei2 jis1) (on-table kir3) (clear cjc5)",
"(clear jei2) (on jis1 kir3) (clear jkl4) (holding cjc5) (on-table jkl4) (on jei2 jis1) (on-table kir3)",
"(on jis1 kir3) (arm-empty) (on-table cjc5) (clear jkl4) (on jei2 jis1) (clear cjc5) (clear jei2) (on-table jkl4) (on-table kir3)",
"(on jis1 kir3) (on-table cjc5) (clear jkl4) (on-table jkl4) (holding jei2) (clear jis1) (on-table kir3) (clear cjc5)",
"(clear jei2) (on jis1 kir3) (arm-empty) (on-table cjc5) (on-table jkl4) (on jei2 jkl4) (clear jis1) (on-table kir3) (clear cjc5)",
"(clear jei2) (on jis1 kir3) (holding cjc5) (on-table jkl4) (on jei2 jkl4) (clear jis1) (on-table kir3)",
"(on jis1 kir3) (arm-empty) (on cjc5 jei2) (on-table jkl4) (on jei2 jkl4) (clear jis1) (on-table kir3) (clear cjc5)"
] |
file_53583
|
GOAL: (arm-empty) (on xgw2 lhw4) (on liv5 cps3) (on-table lhw4) (on cps3 sqk1) (on sqk1 xgw2) (clear liv5)
|
GOAL: (arm-empty) (on xgw2 lhw4) (on liv5 cps3) (on-table lhw4) (on cps3 sqk1) (on sqk1 xgw2) (clear liv5)
STATE: (on sqk1 cps3) (arm-empty) (on-table liv5) (on cps3 xgw2) (on-table lhw4) (on xgw2 lhw4) (clear sqk1) (clear liv5)
|
[
[
"unstack sqk1 cps3"
],
[
"stack sqk1 liv5"
],
[
"unstack cps3 xgw2"
],
[
"put-down cps3"
],
[
"unstack sqk1 liv5"
],
[
"stack sqk1 xgw2"
],
[
"pick-up cps3"
],
[
"stack cps3 sqk1"
],
[
"pick-up liv5"
],
[
"stack liv5 cps3"
]
] |
[
"(holding sqk1) (on-table liv5) (on cps3 xgw2) (on-table lhw4) (on xgw2 lhw4) (clear cps3) (clear liv5)",
"(on sqk1 liv5) (arm-empty) (on-table liv5) (on cps3 xgw2) (on-table lhw4) (on xgw2 lhw4) (clear cps3) (clear sqk1)",
"(on sqk1 liv5) (clear xgw2) (on-table liv5) (on-table lhw4) (on xgw2 lhw4) (holding cps3) (clear sqk1)",
"(on sqk1 liv5) (arm-empty) (on-table liv5) (on xgw2 lhw4) (clear xgw2) (on-table lhw4) (clear cps3) (clear sqk1) (on-table cps3)",
"(holding sqk1) (clear xgw2) (on-table liv5) (on-table lhw4) (on xgw2 lhw4) (clear cps3) (on-table cps3) (clear liv5)",
"(arm-empty) (on-table liv5) (on-table lhw4) (on xgw2 lhw4) (clear cps3) (on sqk1 xgw2) (clear sqk1) (on-table cps3) (clear liv5)",
"(on-table liv5) (on-table lhw4) (on xgw2 lhw4) (on sqk1 xgw2) (clear sqk1) (holding cps3) (clear liv5)",
"(arm-empty) (on-table liv5) (on xgw2 lhw4) (on-table lhw4) (on cps3 sqk1) (clear cps3) (on sqk1 xgw2) (clear liv5)",
"(on xgw2 lhw4) (holding liv5) (on-table lhw4) (on cps3 sqk1) (clear cps3) (on sqk1 xgw2)",
"(arm-empty) (on xgw2 lhw4) (on liv5 cps3) (on-table lhw4) (on cps3 sqk1) (on sqk1 xgw2) (clear liv5)"
] |
file_81386
|
GOAL: (on lrm3 mwd4) (on rre1 lrm3) (arm-empty) (on-table akw2) (on mwd4 ewt5) (on ewt5 akw2) (clear rre1)
|
GOAL: (on lrm3 mwd4) (on rre1 lrm3) (arm-empty) (on-table akw2) (on mwd4 ewt5) (on ewt5 akw2) (clear rre1)
STATE: (clear akw2) (on-table akw2) (on-table rre1) (clear mwd4) (on mwd4 lrm3) (holding ewt5) (on lrm3 rre1)
|
[
[
"stack ewt5 akw2"
],
[
"unstack mwd4 lrm3"
],
[
"stack mwd4 ewt5"
],
[
"unstack lrm3 rre1"
],
[
"stack lrm3 mwd4"
],
[
"pick-up rre1"
],
[
"stack rre1 lrm3"
]
] |
[
"(arm-empty) (on-table akw2) (on-table rre1) (on ewt5 akw2) (clear mwd4) (on mwd4 lrm3) (on lrm3 rre1) (clear ewt5)",
"(on-table akw2) (on-table rre1) (holding mwd4) (on ewt5 akw2) (on lrm3 rre1) (clear lrm3) (clear ewt5)",
"(arm-empty) (on-table akw2) (on mwd4 ewt5) (on-table rre1) (on ewt5 akw2) (clear mwd4) (on lrm3 rre1) (clear lrm3)",
"(on-table akw2) (on mwd4 ewt5) (on-table rre1) (on ewt5 akw2) (clear mwd4) (holding lrm3) (clear rre1)",
"(on lrm3 mwd4) (arm-empty) (on-table akw2) (on mwd4 ewt5) (on-table rre1) (on ewt5 akw2) (clear lrm3) (clear rre1)",
"(holding rre1) (on lrm3 mwd4) (on-table akw2) (on mwd4 ewt5) (on ewt5 akw2) (clear lrm3)",
"(on lrm3 mwd4) (on rre1 lrm3) (arm-empty) (on-table akw2) (on mwd4 ewt5) (on ewt5 akw2) (clear rre1)"
] |
file_208613
|
GOAL: (arm-empty) (on-table abf1) (clear ljo4) (on cjs5 wxj3) (on wxj3 abf1) (on ljo4 olv2) (on olv2 cjs5)
|
GOAL: (arm-empty) (on-table abf1) (clear ljo4) (on cjs5 wxj3) (on wxj3 abf1) (on ljo4 olv2) (on olv2 cjs5)
STATE: (arm-empty) (on-table olv2) (on-table abf1) (on cjs5 olv2) (clear ljo4) (on-table ljo4) (clear wxj3) (clear abf1) (on-table wxj3) (clear cjs5)
|
[
[
"unstack cjs5 olv2"
],
[
"stack cjs5 ljo4"
],
[
"pick-up wxj3"
],
[
"stack wxj3 abf1"
],
[
"unstack cjs5 ljo4"
],
[
"stack cjs5 wxj3"
],
[
"pick-up olv2"
],
[
"stack olv2 cjs5"
],
[
"pick-up ljo4"
],
[
"stack ljo4 olv2"
]
] |
[
"(clear olv2) (on-table olv2) (on-table abf1) (clear ljo4) (holding cjs5) (on-table ljo4) (clear wxj3) (clear abf1) (on-table wxj3)",
"(clear olv2) (arm-empty) (on cjs5 ljo4) (on-table olv2) (on-table abf1) (on-table ljo4) (clear wxj3) (clear abf1) (on-table wxj3) (clear cjs5)",
"(clear olv2) (on cjs5 ljo4) (on-table olv2) (on-table abf1) (on-table ljo4) (holding wxj3) (clear abf1) (clear cjs5)",
"(clear olv2) (arm-empty) (on cjs5 ljo4) (on-table olv2) (on-table abf1) (on-table ljo4) (on wxj3 abf1) (clear wxj3) (clear cjs5)",
"(clear olv2) (on-table olv2) (on-table abf1) (clear ljo4) (holding cjs5) (on-table ljo4) (on wxj3 abf1) (clear wxj3)",
"(clear olv2) (arm-empty) (on-table olv2) (on-table abf1) (clear ljo4) (on cjs5 wxj3) (on-table ljo4) (on wxj3 abf1) (clear cjs5)",
"(on-table abf1) (clear ljo4) (on cjs5 wxj3) (on-table ljo4) (holding olv2) (on wxj3 abf1) (clear cjs5)",
"(clear olv2) (arm-empty) (on-table abf1) (clear ljo4) (on cjs5 wxj3) (on-table ljo4) (on wxj3 abf1) (on olv2 cjs5)",
"(clear olv2) (on-table abf1) (holding ljo4) (on cjs5 wxj3) (on wxj3 abf1) (on olv2 cjs5)",
"(arm-empty) (on-table abf1) (clear ljo4) (on cjs5 wxj3) (on wxj3 abf1) (on ljo4 olv2) (on olv2 cjs5)"
] |
file_70723
|
GOAL: (on rnr3 idz5) (on quf1 rnr3) (on pis4 quf1) (on-table jgd2) (arm-empty) (on idz5 jgd2) (clear pis4)
|
GOAL: (on rnr3 idz5) (on quf1 rnr3) (on pis4 quf1) (on-table jgd2) (arm-empty) (on idz5 jgd2) (clear pis4)
STATE: (on rnr3 idz5) (arm-empty) (on-table jgd2) (on-table quf1) (on idz5 jgd2) (clear pis4) (on pis4 rnr3) (clear quf1)
|
[
[
"unstack pis4 rnr3"
],
[
"put-down pis4"
],
[
"pick-up quf1"
],
[
"stack quf1 rnr3"
],
[
"pick-up pis4"
],
[
"stack pis4 quf1"
]
] |
[
"(on rnr3 idz5) (on-table jgd2) (on-table quf1) (holding pis4) (on idz5 jgd2) (clear rnr3) (clear quf1)",
"(on rnr3 idz5) (arm-empty) (on-table jgd2) (on idz5 jgd2) (clear pis4) (on-table quf1) (on-table pis4) (clear rnr3) (clear quf1)",
"(holding quf1) (on rnr3 idz5) (on-table jgd2) (on idz5 jgd2) (clear pis4) (on-table pis4) (clear rnr3)",
"(on rnr3 idz5) (on quf1 rnr3) (arm-empty) (on-table jgd2) (on idz5 jgd2) (clear pis4) (on-table pis4) (clear quf1)",
"(on rnr3 idz5) (on quf1 rnr3) (on-table jgd2) (holding pis4) (on idz5 jgd2) (clear quf1)",
"(on rnr3 idz5) (on quf1 rnr3) (on pis4 quf1) (on-table jgd2) (arm-empty) (on idz5 jgd2) (clear pis4)"
] |
file_216954
|
GOAL: (on jmq1 gkm5) (on-table tgn2) (holding ehr4) (on gkm5 tgn2) (clear qkb3) (clear jmq1) (on-table qkb3)
|
GOAL: (on jmq1 gkm5) (on-table tgn2) (holding ehr4) (on gkm5 tgn2) (clear qkb3) (clear jmq1) (on-table qkb3)
STATE: (holding tgn2) (on ehr4 qkb3) (on gkm5 jmq1) (on jmq1 ehr4) (on-table qkb3) (clear gkm5)
|
[
[
"put-down tgn2"
],
[
"unstack gkm5 jmq1"
],
[
"stack gkm5 tgn2"
],
[
"unstack jmq1 ehr4"
],
[
"stack jmq1 gkm5"
],
[
"unstack ehr4 qkb3"
]
] |
[
"(arm-empty) (on-table tgn2) (clear gkm5) (clear tgn2) (on ehr4 qkb3) (on gkm5 jmq1) (on jmq1 ehr4) (on-table qkb3)",
"(clear tgn2) (on-table tgn2) (on ehr4 qkb3) (holding gkm5) (on jmq1 ehr4) (clear jmq1) (on-table qkb3)",
"(arm-empty) (on-table tgn2) (on gkm5 tgn2) (on ehr4 qkb3) (on jmq1 ehr4) (clear jmq1) (on-table qkb3) (clear gkm5)",
"(holding jmq1) (on-table tgn2) (on gkm5 tgn2) (clear ehr4) (on ehr4 qkb3) (on-table qkb3) (clear gkm5)",
"(on jmq1 gkm5) (arm-empty) (on-table tgn2) (on gkm5 tgn2) (clear ehr4) (on ehr4 qkb3) (clear jmq1) (on-table qkb3)",
"(on jmq1 gkm5) (on-table tgn2) (holding ehr4) (on gkm5 tgn2) (clear qkb3) (clear jmq1) (on-table qkb3)"
] |
file_199542
|
GOAL: (clear obs2) (on-table uis4) (arm-empty) (on-table yzg1) (on obs2 yzg1) (clear lax3) (clear uis4) (on-table lax3)
|
GOAL: (clear obs2) (on-table uis4) (arm-empty) (on-table yzg1) (on obs2 yzg1) (clear lax3) (clear uis4) (on-table lax3)
STATE: (on-table obs2) (holding uis4) (on lax3 yzg1) (clear lax3) (on yzg1 obs2)
|
[
[
"put-down uis4"
],
[
"unstack lax3 yzg1"
],
[
"stack lax3 uis4"
],
[
"unstack yzg1 obs2"
],
[
"put-down yzg1"
],
[
"pick-up obs2"
],
[
"stack obs2 yzg1"
],
[
"unstack lax3 uis4"
],
[
"put-down lax3"
]
] |
[
"(on lax3 yzg1) (on-table uis4) (arm-empty) (clear uis4) (on-table obs2) (clear lax3) (on yzg1 obs2)",
"(on-table obs2) (clear uis4) (on yzg1 obs2) (on-table uis4) (holding lax3) (clear yzg1)",
"(on lax3 uis4) (arm-empty) (on-table obs2) (on-table uis4) (clear lax3) (on yzg1 obs2) (clear yzg1)",
"(on-table obs2) (holding yzg1) (on lax3 uis4) (clear obs2) (on-table uis4) (clear lax3)",
"(arm-empty) (on-table obs2) (on lax3 uis4) (clear obs2) (on-table yzg1) (on-table uis4) (clear lax3) (clear yzg1)",
"(on lax3 uis4) (on-table yzg1) (on-table uis4) (holding obs2) (clear lax3) (clear yzg1)",
"(on lax3 uis4) (clear obs2) (arm-empty) (on-table yzg1) (on-table uis4) (on obs2 yzg1) (clear lax3)",
"(clear uis4) (on obs2 yzg1) (clear obs2) (on-table yzg1) (on-table uis4) (holding lax3)",
"(clear obs2) (on-table uis4) (arm-empty) (on-table yzg1) (on obs2 yzg1) (clear lax3) (clear uis4) (on-table lax3)"
] |
file_146325
|
GOAL: (clear xml2) (arm-empty) (on-table xml2) (on-table nso1) (clear kjc4) (on kjc4 xbu3) (on xbu3 nso1)
|
GOAL: (clear xml2) (arm-empty) (on-table xml2) (on-table nso1) (clear kjc4) (on kjc4 xbu3) (on xbu3 nso1)
STATE: (on xbu3 kjc4) (arm-empty) (on-table nso1) (on kjc4 xml2) (on xml2 nso1) (clear xbu3)
|
[
[
"unstack xbu3 kjc4"
],
[
"put-down xbu3"
],
[
"unstack kjc4 xml2"
],
[
"stack kjc4 xbu3"
],
[
"unstack xml2 nso1"
],
[
"put-down xml2"
],
[
"unstack kjc4 xbu3"
],
[
"stack kjc4 xml2"
],
[
"pick-up xbu3"
],
[
"stack xbu3 nso1"
],
[
"unstack kjc4 xml2"
],
[
"stack kjc4 xbu3"
]
] |
[
"(on kjc4 xml2) (on-table nso1) (on xml2 nso1) (clear kjc4) (holding xbu3)",
"(arm-empty) (clear kjc4) (on kjc4 xml2) (on xml2 nso1) (clear xbu3) (on-table nso1) (on-table xbu3)",
"(clear xml2) (holding kjc4) (on xml2 nso1) (clear xbu3) (on-table nso1) (on-table xbu3)",
"(clear xml2) (arm-empty) (on-table nso1) (clear kjc4) (on kjc4 xbu3) (on xml2 nso1) (on-table xbu3)",
"(clear kjc4) (on-table nso1) (on kjc4 xbu3) (holding xml2) (clear nso1) (on-table xbu3)",
"(arm-empty) (on-table xml2) (clear kjc4) (clear xml2) (on-table nso1) (on kjc4 xbu3) (clear nso1) (on-table xbu3)",
"(clear xml2) (on-table xml2) (on-table nso1) (holding kjc4) (clear xbu3) (clear nso1) (on-table xbu3)",
"(arm-empty) (on-table xml2) (on-table nso1) (clear kjc4) (on kjc4 xml2) (clear xbu3) (clear nso1) (on-table xbu3)",
"(on-table xml2) (on-table nso1) (clear kjc4) (on kjc4 xml2) (holding xbu3) (clear nso1)",
"(arm-empty) (on-table xml2) (on-table nso1) (clear kjc4) (on xbu3 nso1) (on kjc4 xml2) (clear xbu3)",
"(on-table xml2) (holding kjc4) (on xbu3 nso1) (clear xml2) (on-table nso1) (clear xbu3)",
"(clear xml2) (arm-empty) (on-table xml2) (on-table nso1) (clear kjc4) (on kjc4 xbu3) (on xbu3 nso1)"
] |
file_147902
|
GOAL: (arm-empty) (on trl4 fua5) (on fnn2 trl4) (clear fnn2) (on-table qwr1) (on fua5 qwr1) (clear iei3) (on-table iei3)
|
GOAL: (arm-empty) (on trl4 fua5) (on fnn2 trl4) (clear fnn2) (on-table qwr1) (on fua5 qwr1) (clear iei3) (on-table iei3)
STATE: (on iei3 trl4) (arm-empty) (on-table qwr1) (on fua5 fnn2) (on-table trl4) (on fnn2 iei3) (clear qwr1) (clear fua5)
|
[
[
"unstack fua5 fnn2"
],
[
"stack fua5 qwr1"
],
[
"unstack fnn2 iei3"
],
[
"put-down fnn2"
],
[
"unstack iei3 trl4"
],
[
"put-down iei3"
],
[
"pick-up fnn2"
],
[
"stack fnn2 iei3"
],
[
"pick-up trl4"
],
[
"stack trl4 fua5"
],
[
"unstack fnn2 iei3"
],
[
"stack fnn2 trl4"
]
] |
[
"(on iei3 trl4) (clear fnn2) (on-table qwr1) (holding fua5) (on-table trl4) (on fnn2 iei3) (clear qwr1)",
"(on iei3 trl4) (clear fnn2) (arm-empty) (on-table qwr1) (on fua5 qwr1) (on-table trl4) (on fnn2 iei3) (clear fua5)",
"(on iei3 trl4) (on-table qwr1) (on fua5 qwr1) (on-table trl4) (holding fnn2) (clear iei3) (clear fua5)",
"(arm-empty) (on-table fnn2) (clear fua5) (on iei3 trl4) (clear fnn2) (on-table qwr1) (on fua5 qwr1) (on-table trl4) (clear iei3)",
"(clear fnn2) (on-table fnn2) (on-table qwr1) (clear trl4) (on fua5 qwr1) (on-table trl4) (holding iei3) (clear fua5)",
"(clear fnn2) (arm-empty) (on-table fnn2) (on-table qwr1) (clear trl4) (on fua5 qwr1) (on-table trl4) (clear iei3) (on-table iei3) (clear fua5)",
"(on-table qwr1) (clear trl4) (on fua5 qwr1) (on-table trl4) (holding fnn2) (clear iei3) (on-table iei3) (clear fua5)",
"(clear fnn2) (arm-empty) (on-table qwr1) (clear trl4) (on fua5 qwr1) (on-table trl4) (on fnn2 iei3) (on-table iei3) (clear fua5)",
"(clear fnn2) (on-table qwr1) (holding trl4) (on fua5 qwr1) (on fnn2 iei3) (on-table iei3) (clear fua5)",
"(clear fnn2) (arm-empty) (on trl4 fua5) (on-table qwr1) (clear trl4) (on fua5 qwr1) (on fnn2 iei3) (on-table iei3)",
"(on trl4 fua5) (on-table qwr1) (clear trl4) (on fua5 qwr1) (holding fnn2) (clear iei3) (on-table iei3)",
"(arm-empty) (on trl4 fua5) (on fnn2 trl4) (clear fnn2) (on-table qwr1) (on fua5 qwr1) (clear iei3) (on-table iei3)"
] |
file_103932
|
GOAL: (holding tzg1) (clear tja2) (on-table tja2) (on-table fce5) (clear ybs4) (on ybs4 zis3) (on-table zis3) (clear fce5)
|
GOAL: (holding tzg1) (clear tja2) (on-table tja2) (on-table fce5) (clear ybs4) (on ybs4 zis3) (on-table zis3) (clear fce5)
STATE: (clear tja2) (arm-empty) (on-table tja2) (on-table fce5) (on ybs4 zis3) (on tzg1 ybs4) (clear tzg1) (on-table zis3) (clear fce5)
|
[
[
"unstack tzg1 ybs4"
]
] |
[
"(holding tzg1) (clear tja2) (on-table tja2) (on-table fce5) (clear ybs4) (on ybs4 zis3) (on-table zis3) (clear fce5)"
] |
file_107440
|
GOAL: (on hqk3 lka4) (clear zbs2) (on wdv1 suo5) (arm-empty) (on-table suo5) (on-table lka4) (on zbs2 hqk3) (clear wdv1)
|
GOAL: (on hqk3 lka4) (clear zbs2) (on wdv1 suo5) (arm-empty) (on-table suo5) (on-table lka4) (on zbs2 hqk3) (clear wdv1)
STATE: (on lka4 suo5) (on-table wdv1) (clear lka4) (on suo5 wdv1) (holding zbs2) (clear hqk3) (on-table hqk3)
|
[
[
"stack zbs2 hqk3"
],
[
"unstack lka4 suo5"
],
[
"put-down lka4"
],
[
"unstack zbs2 hqk3"
],
[
"stack zbs2 suo5"
],
[
"pick-up hqk3"
],
[
"stack hqk3 lka4"
],
[
"unstack zbs2 suo5"
],
[
"stack zbs2 hqk3"
],
[
"unstack suo5 wdv1"
],
[
"put-down suo5"
],
[
"pick-up wdv1"
],
[
"stack wdv1 suo5"
]
] |
[
"(clear zbs2) (arm-empty) (on lka4 suo5) (on-table wdv1) (clear lka4) (on suo5 wdv1) (on zbs2 hqk3) (on-table hqk3)",
"(clear zbs2) (on-table wdv1) (holding lka4) (on suo5 wdv1) (on zbs2 hqk3) (on-table hqk3) (clear suo5)",
"(arm-empty) (clear lka4) (clear suo5) (clear zbs2) (on-table wdv1) (on suo5 wdv1) (on-table lka4) (on zbs2 hqk3) (on-table hqk3)",
"(on-table wdv1) (clear lka4) (on suo5 wdv1) (on-table lka4) (holding zbs2) (clear hqk3) (on-table hqk3) (clear suo5)",
"(clear zbs2) (arm-empty) (on-table wdv1) (clear lka4) (on suo5 wdv1) (on-table lka4) (on zbs2 suo5) (clear hqk3) (on-table hqk3)",
"(clear zbs2) (on-table wdv1) (clear lka4) (on suo5 wdv1) (on-table lka4) (on zbs2 suo5) (holding hqk3)",
"(on hqk3 lka4) (clear zbs2) (arm-empty) (on-table wdv1) (on suo5 wdv1) (on-table lka4) (on zbs2 suo5) (clear hqk3)",
"(on hqk3 lka4) (on-table wdv1) (on suo5 wdv1) (on-table lka4) (holding zbs2) (clear hqk3) (clear suo5)",
"(on hqk3 lka4) (clear zbs2) (arm-empty) (on-table wdv1) (on suo5 wdv1) (on-table lka4) (on zbs2 hqk3) (clear suo5)",
"(on hqk3 lka4) (clear zbs2) (on-table wdv1) (holding suo5) (on-table lka4) (on zbs2 hqk3) (clear wdv1)",
"(arm-empty) (on-table suo5) (clear suo5) (on hqk3 lka4) (clear zbs2) (on-table wdv1) (on-table lka4) (on zbs2 hqk3) (clear wdv1)",
"(holding wdv1) (on hqk3 lka4) (clear zbs2) (on-table suo5) (on-table lka4) (on zbs2 hqk3) (clear suo5)",
"(on hqk3 lka4) (clear zbs2) (on wdv1 suo5) (arm-empty) (on-table suo5) (on-table lka4) (on zbs2 hqk3) (clear wdv1)"
] |
file_18484
|
GOAL: (clear idn2) (arm-empty) (on-table idn2) (on-table any5) (on-table idg4) (on ucr1 idg4) (clear gav3) (clear ucr1) (on-table gav3) (clear any5)
|
GOAL: (clear idn2) (arm-empty) (on-table idn2) (on-table any5) (on-table idg4) (on ucr1 idg4) (clear gav3) (clear ucr1) (on-table gav3) (clear any5)
STATE: (clear idn2) (on ucr1 gav3) (arm-empty) (on-table any5) (clear idg4) (on-table idg4) (on idn2 ucr1) (on-table gav3) (clear any5)
|
[
[
"unstack idn2 ucr1"
],
[
"put-down idn2"
],
[
"unstack ucr1 gav3"
],
[
"stack ucr1 idg4"
]
] |
[
"(on ucr1 gav3) (on-table any5) (clear idg4) (on-table idg4) (holding idn2) (clear ucr1) (on-table gav3) (clear any5)",
"(clear idn2) (on ucr1 gav3) (arm-empty) (on-table idn2) (on-table any5) (clear idg4) (on-table idg4) (clear ucr1) (on-table gav3) (clear any5)",
"(holding ucr1) (clear idn2) (on-table idn2) (on-table any5) (clear idg4) (on-table idg4) (clear gav3) (on-table gav3) (clear any5)",
"(clear idn2) (arm-empty) (on-table idn2) (on-table any5) (on-table idg4) (on ucr1 idg4) (clear gav3) (clear ucr1) (on-table gav3) (clear any5)"
] |
file_101846
|
GOAL: (on vcn1 lnv3) (arm-empty) (on-table ibf5) (on lnv3 wus2) (on-table vzz4) (on wus2 vzz4) (clear vcn1) (clear ibf5)
|
GOAL: (on vcn1 lnv3) (arm-empty) (on-table ibf5) (on lnv3 wus2) (on-table vzz4) (on wus2 vzz4) (clear vcn1) (clear ibf5)
STATE: (holding vcn1) (on lnv3 vzz4) (clear wus2) (on-table ibf5) (on-table vzz4) (on wus2 lnv3) (clear ibf5)
|
[
[
"stack vcn1 ibf5"
],
[
"unstack wus2 lnv3"
],
[
"stack wus2 vcn1"
],
[
"unstack lnv3 vzz4"
],
[
"put-down lnv3"
],
[
"unstack wus2 vcn1"
],
[
"stack wus2 vzz4"
],
[
"pick-up lnv3"
],
[
"stack lnv3 wus2"
],
[
"unstack vcn1 ibf5"
],
[
"stack vcn1 lnv3"
]
] |
[
"(on lnv3 vzz4) (clear wus2) (on vcn1 ibf5) (arm-empty) (on-table ibf5) (on-table vzz4) (on wus2 lnv3) (clear vcn1)",
"(on lnv3 vzz4) (on vcn1 ibf5) (on-table ibf5) (on-table vzz4) (holding wus2) (clear lnv3) (clear vcn1)",
"(on lnv3 vzz4) (on vcn1 ibf5) (clear wus2) (arm-empty) (on-table ibf5) (on-table vzz4) (on wus2 vcn1) (clear lnv3)",
"(on vcn1 ibf5) (clear wus2) (on-table ibf5) (clear vzz4) (on-table vzz4) (on wus2 vcn1) (holding lnv3)",
"(on vcn1 ibf5) (arm-empty) (on-table ibf5) (clear vzz4) (on wus2 vcn1) (clear wus2) (on-table vzz4) (clear lnv3) (on-table lnv3)",
"(on vcn1 ibf5) (on-table ibf5) (clear vzz4) (on-table vzz4) (holding wus2) (clear lnv3) (clear vcn1) (on-table lnv3)",
"(on vcn1 ibf5) (clear wus2) (arm-empty) (on-table ibf5) (on-table vzz4) (on wus2 vzz4) (clear lnv3) (clear vcn1) (on-table lnv3)",
"(on vcn1 ibf5) (clear wus2) (on-table ibf5) (on-table vzz4) (on wus2 vzz4) (holding lnv3) (clear vcn1)",
"(on vcn1 ibf5) (arm-empty) (on-table ibf5) (on lnv3 wus2) (on-table vzz4) (on wus2 vzz4) (clear lnv3) (clear vcn1)",
"(holding vcn1) (on-table ibf5) (on lnv3 wus2) (on-table vzz4) (on wus2 vzz4) (clear lnv3) (clear ibf5)",
"(on vcn1 lnv3) (arm-empty) (on-table ibf5) (on lnv3 wus2) (on-table vzz4) (on wus2 vzz4) (clear vcn1) (clear ibf5)"
] |
file_214263
|
GOAL: (holding snk1) (clear mtf2) (on-table eva5) (on-table ato4) (on mtf2 ato4) (clear xuv3) (on-table xuv3) (clear eva5)
|
GOAL: (holding snk1) (clear mtf2) (on-table eva5) (on-table ato4) (on mtf2 ato4) (clear xuv3) (on-table xuv3) (clear eva5)
STATE: (on snk1 eva5) (arm-empty) (on eva5 mtf2) (on mtf2 ato4) (on-table ato4) (on xuv3 snk1) (clear xuv3)
|
[
[
"unstack xuv3 snk1"
],
[
"put-down xuv3"
],
[
"unstack snk1 eva5"
],
[
"stack snk1 xuv3"
],
[
"unstack eva5 mtf2"
],
[
"put-down eva5"
],
[
"unstack snk1 xuv3"
]
] |
[
"(on snk1 eva5) (on eva5 mtf2) (on mtf2 ato4) (on-table ato4) (holding xuv3) (clear snk1)",
"(on snk1 eva5) (arm-empty) (on eva5 mtf2) (on mtf2 ato4) (on-table ato4) (clear xuv3) (clear snk1) (on-table xuv3)",
"(holding snk1) (on eva5 mtf2) (on-table ato4) (on mtf2 ato4) (clear xuv3) (on-table xuv3) (clear eva5)",
"(on snk1 xuv3) (arm-empty) (on eva5 mtf2) (on-table ato4) (on mtf2 ato4) (clear snk1) (on-table xuv3) (clear eva5)",
"(clear mtf2) (on snk1 xuv3) (holding eva5) (on-table ato4) (on mtf2 ato4) (clear snk1) (on-table xuv3)",
"(on snk1 xuv3) (arm-empty) (on-table eva5) (on mtf2 ato4) (clear eva5) (clear mtf2) (on-table ato4) (clear snk1) (on-table xuv3)",
"(holding snk1) (clear mtf2) (on-table eva5) (on-table ato4) (on mtf2 ato4) (clear xuv3) (on-table xuv3) (clear eva5)"
] |
file_111066
|
GOAL: (on hzb1 qji3) (on onv4 hzb1) (arm-empty) (on-table lom5) (on qji3 zba2) (clear onv4) (on zba2 lom5)
|
GOAL: (on hzb1 qji3) (on onv4 hzb1) (arm-empty) (on-table lom5) (on qji3 zba2) (clear onv4) (on zba2 lom5)
STATE: (on-table lom5) (clear lom5) (on-table onv4) (holding zba2) (clear qji3) (on hzb1 onv4) (on-table qji3) (clear hzb1)
|
[
[
"stack zba2 lom5"
],
[
"pick-up qji3"
],
[
"stack qji3 zba2"
],
[
"unstack hzb1 onv4"
],
[
"stack hzb1 qji3"
],
[
"pick-up onv4"
],
[
"stack onv4 hzb1"
]
] |
[
"(clear zba2) (arm-empty) (on-table lom5) (on-table onv4) (on zba2 lom5) (clear qji3) (on hzb1 onv4) (on-table qji3) (clear hzb1)",
"(clear zba2) (on-table lom5) (on-table onv4) (on hzb1 onv4) (on zba2 lom5) (holding qji3) (clear hzb1)",
"(arm-empty) (on-table lom5) (on qji3 zba2) (on-table onv4) (on hzb1 onv4) (on zba2 lom5) (clear qji3) (clear hzb1)",
"(holding hzb1) (on-table lom5) (on qji3 zba2) (clear onv4) (on-table onv4) (on zba2 lom5) (clear qji3)",
"(on hzb1 qji3) (arm-empty) (on-table lom5) (on qji3 zba2) (clear onv4) (on-table onv4) (on zba2 lom5) (clear hzb1)",
"(on hzb1 qji3) (on-table lom5) (holding onv4) (on qji3 zba2) (on zba2 lom5) (clear hzb1)",
"(on hzb1 qji3) (on onv4 hzb1) (arm-empty) (on-table lom5) (on qji3 zba2) (clear onv4) (on zba2 lom5)"
] |
file_35566
|
GOAL: (arm-empty) (on-table cnk2) (clear elg4) (on vbi1 cnk2) (on-table elg4) (clear dog3) (clear vbi1) (on-table dog3)
|
GOAL: (arm-empty) (on-table cnk2) (clear elg4) (on vbi1 cnk2) (on-table elg4) (clear dog3) (clear vbi1) (on-table dog3)
STATE: (clear cnk2) (on elg4 vbi1) (on vbi1 dog3) (arm-empty) (on cnk2 elg4) (on-table dog3)
|
[
[
"unstack cnk2 elg4"
],
[
"put-down cnk2"
],
[
"unstack elg4 vbi1"
],
[
"stack elg4 cnk2"
],
[
"unstack vbi1 dog3"
],
[
"put-down vbi1"
],
[
"unstack elg4 cnk2"
],
[
"stack elg4 dog3"
],
[
"pick-up vbi1"
],
[
"stack vbi1 cnk2"
],
[
"unstack elg4 dog3"
],
[
"put-down elg4"
]
] |
[
"(on elg4 vbi1) (on vbi1 dog3) (holding cnk2) (clear elg4) (on-table dog3)",
"(clear cnk2) (on elg4 vbi1) (on vbi1 dog3) (on-table cnk2) (arm-empty) (clear elg4) (on-table dog3)",
"(on vbi1 dog3) (on-table cnk2) (holding elg4) (clear cnk2) (clear vbi1) (on-table dog3)",
"(on vbi1 dog3) (arm-empty) (on-table cnk2) (on elg4 cnk2) (clear elg4) (clear vbi1) (on-table dog3)",
"(on-table cnk2) (clear elg4) (holding vbi1) (on elg4 cnk2) (clear dog3) (on-table dog3)",
"(arm-empty) (on-table cnk2) (clear elg4) (on-table vbi1) (on elg4 cnk2) (clear dog3) (clear vbi1) (on-table dog3)",
"(clear cnk2) (on-table cnk2) (on-table vbi1) (holding elg4) (clear dog3) (clear vbi1) (on-table dog3)",
"(arm-empty) (on-table cnk2) (clear elg4) (clear cnk2) (on-table vbi1) (on elg4 dog3) (clear vbi1) (on-table dog3)",
"(holding vbi1) (clear cnk2) (on-table cnk2) (clear elg4) (on elg4 dog3) (on-table dog3)",
"(arm-empty) (on-table cnk2) (clear elg4) (on elg4 dog3) (on vbi1 cnk2) (clear vbi1) (on-table dog3)",
"(on-table cnk2) (holding elg4) (on vbi1 cnk2) (clear dog3) (clear vbi1) (on-table dog3)",
"(arm-empty) (on-table cnk2) (clear elg4) (on vbi1 cnk2) (on-table elg4) (clear dog3) (clear vbi1) (on-table dog3)"
] |
file_211131
|
GOAL: (arm-empty) (on tup5 vzz4) (on-table wmd2) (on-table lcd1) (on kss3 wmd2) (on-table vzz4) (clear kss3) (clear lcd1) (clear tup5)
|
GOAL: (arm-empty) (on tup5 vzz4) (on-table wmd2) (on-table lcd1) (on kss3 wmd2) (on-table vzz4) (clear kss3) (clear lcd1) (clear tup5)
STATE: (clear wmd2) (on kss3 tup5) (arm-empty) (on tup5 vzz4) (on-table wmd2) (on-table lcd1) (on-table vzz4) (clear kss3) (clear lcd1)
|
[
[
"unstack kss3 tup5"
],
[
"stack kss3 wmd2"
]
] |
[
"(clear wmd2) (on tup5 vzz4) (on-table wmd2) (on-table lcd1) (on-table vzz4) (holding kss3) (clear lcd1) (clear tup5)",
"(arm-empty) (on tup5 vzz4) (on-table wmd2) (on-table lcd1) (on kss3 wmd2) (on-table vzz4) (clear kss3) (clear lcd1) (clear tup5)"
] |
file_121850
|
GOAL: (clear xjh2) (arm-empty) (on-table xjh2) (on-table jfw5) (on-table fmi1) (on wfx4 jfw5) (clear wfx4) (clear kwq3) (clear fmi1) (on-table kwq3)
|
GOAL: (clear xjh2) (arm-empty) (on-table xjh2) (on-table jfw5) (on-table fmi1) (on wfx4 jfw5) (clear wfx4) (clear kwq3) (clear fmi1) (on-table kwq3)
STATE: (on wfx4 fmi1) (arm-empty) (on-table jfw5) (on-table fmi1) (on kwq3 xjh2) (on xjh2 wfx4) (clear kwq3) (clear jfw5)
|
[
[
"unstack kwq3 xjh2"
],
[
"put-down kwq3"
],
[
"unstack xjh2 wfx4"
],
[
"put-down xjh2"
],
[
"unstack wfx4 fmi1"
],
[
"stack wfx4 jfw5"
]
] |
[
"(clear xjh2) (on wfx4 fmi1) (on-table jfw5) (on-table fmi1) (on xjh2 wfx4) (holding kwq3) (clear jfw5)",
"(on wfx4 fmi1) (arm-empty) (on-table jfw5) (on xjh2 wfx4) (clear jfw5) (clear xjh2) (on-table fmi1) (clear kwq3) (on-table kwq3)",
"(on wfx4 fmi1) (on-table jfw5) (on-table fmi1) (clear wfx4) (holding xjh2) (clear kwq3) (on-table kwq3) (clear jfw5)",
"(clear xjh2) (on wfx4 fmi1) (arm-empty) (on-table xjh2) (on-table jfw5) (on-table fmi1) (clear wfx4) (clear kwq3) (on-table kwq3) (clear jfw5)",
"(clear xjh2) (on-table xjh2) (on-table jfw5) (on-table fmi1) (holding wfx4) (clear kwq3) (clear fmi1) (on-table kwq3) (clear jfw5)",
"(clear xjh2) (arm-empty) (on-table xjh2) (on-table jfw5) (on-table fmi1) (on wfx4 jfw5) (clear wfx4) (clear kwq3) (clear fmi1) (on-table kwq3)"
] |
file_126846
|
GOAL: (holding rtf1) (on-table qiu5) (clear whi4) (on whi4 zuj2) (on zuj2 goy3) (on-table goy3) (clear qiu5)
|
GOAL: (holding rtf1) (on-table qiu5) (clear whi4) (on whi4 zuj2) (on zuj2 goy3) (on-table goy3) (clear qiu5)
STATE: (on rtf1 qiu5) (on whi4 rtf1) (arm-empty) (on qiu5 zuj2) (clear whi4) (on zuj2 goy3) (on-table goy3)
|
[
[
"unstack whi4 rtf1"
],
[
"put-down whi4"
],
[
"unstack rtf1 qiu5"
],
[
"stack rtf1 whi4"
],
[
"unstack qiu5 zuj2"
],
[
"put-down qiu5"
],
[
"unstack rtf1 whi4"
],
[
"put-down rtf1"
],
[
"pick-up whi4"
],
[
"stack whi4 zuj2"
],
[
"pick-up rtf1"
]
] |
[
"(on rtf1 qiu5) (holding whi4) (on qiu5 zuj2) (on zuj2 goy3) (clear rtf1) (on-table goy3)",
"(on rtf1 qiu5) (arm-empty) (on qiu5 zuj2) (clear whi4) (on-table whi4) (on zuj2 goy3) (clear rtf1) (on-table goy3)",
"(holding rtf1) (on qiu5 zuj2) (clear whi4) (on-table whi4) (on zuj2 goy3) (on-table goy3) (clear qiu5)",
"(arm-empty) (on qiu5 zuj2) (on-table whi4) (on rtf1 whi4) (on zuj2 goy3) (clear rtf1) (on-table goy3) (clear qiu5)",
"(clear zuj2) (holding qiu5) (on-table whi4) (on rtf1 whi4) (on zuj2 goy3) (clear rtf1) (on-table goy3)",
"(arm-empty) (on-table qiu5) (clear qiu5) (clear zuj2) (on-table whi4) (on rtf1 whi4) (on zuj2 goy3) (clear rtf1) (on-table goy3)",
"(holding rtf1) (clear zuj2) (on-table qiu5) (clear whi4) (on-table whi4) (on zuj2 goy3) (on-table goy3) (clear qiu5)",
"(clear zuj2) (arm-empty) (on-table qiu5) (on-table rtf1) (clear whi4) (on-table whi4) (on zuj2 goy3) (clear rtf1) (on-table goy3) (clear qiu5)",
"(clear zuj2) (on-table qiu5) (on-table rtf1) (holding whi4) (on zuj2 goy3) (clear rtf1) (on-table goy3) (clear qiu5)",
"(arm-empty) (on-table qiu5) (on-table rtf1) (clear whi4) (on whi4 zuj2) (on zuj2 goy3) (clear rtf1) (on-table goy3) (clear qiu5)",
"(holding rtf1) (on-table qiu5) (clear whi4) (on whi4 zuj2) (on zuj2 goy3) (on-table goy3) (clear qiu5)"
] |
file_87793
|
GOAL: (on-table epx2) (clear epx2) (on-table xmm4) (on kuw1 xmm4) (holding yic3) (clear kuw1)
|
GOAL: (on-table epx2) (clear epx2) (on-table xmm4) (on kuw1 xmm4) (holding yic3) (clear kuw1)
STATE: (clear epx2) (on kuw1 yic3) (on-table epx2) (holding xmm4) (clear kuw1) (on-table yic3)
|
[
[
"stack xmm4 epx2"
],
[
"unstack kuw1 yic3"
],
[
"put-down kuw1"
],
[
"unstack xmm4 epx2"
],
[
"put-down xmm4"
],
[
"pick-up yic3"
],
[
"stack yic3 epx2"
],
[
"pick-up kuw1"
],
[
"stack kuw1 xmm4"
],
[
"unstack yic3 epx2"
]
] |
[
"(on kuw1 yic3) (arm-empty) (on-table epx2) (on xmm4 epx2) (clear xmm4) (clear kuw1) (on-table yic3)",
"(on-table epx2) (clear xmm4) (holding kuw1) (on xmm4 epx2) (clear yic3) (on-table yic3)",
"(arm-empty) (on-table epx2) (clear xmm4) (on-table kuw1) (on xmm4 epx2) (clear yic3) (clear kuw1) (on-table yic3)",
"(clear epx2) (on-table epx2) (on-table kuw1) (holding xmm4) (clear yic3) (clear kuw1) (on-table yic3)",
"(arm-empty) (on-table epx2) (clear xmm4) (clear epx2) (on-table kuw1) (on-table xmm4) (clear yic3) (clear kuw1) (on-table yic3)",
"(clear epx2) (on-table epx2) (on-table kuw1) (clear xmm4) (on-table xmm4) (holding yic3) (clear kuw1)",
"(arm-empty) (on-table epx2) (on-table kuw1) (on yic3 epx2) (clear xmm4) (on-table xmm4) (clear yic3) (clear kuw1)",
"(holding kuw1) (on-table epx2) (on yic3 epx2) (clear xmm4) (on-table xmm4) (clear yic3)",
"(arm-empty) (on-table epx2) (on yic3 epx2) (on-table xmm4) (on kuw1 xmm4) (clear yic3) (clear kuw1)",
"(on-table epx2) (clear epx2) (on-table xmm4) (on kuw1 xmm4) (holding yic3) (clear kuw1)"
] |
file_34868
|
GOAL: (holding koo1) (clear jdm2) (on-table ihq5) (clear lkh4) (on-table lkh4) (on jdm2 tnf3) (on-table tnf3) (clear ihq5)
|
GOAL: (holding koo1) (clear jdm2) (on-table ihq5) (clear lkh4) (on-table lkh4) (on jdm2 tnf3) (on-table tnf3) (clear ihq5)
STATE: (arm-empty) (on-table ihq5) (on-table koo1) (clear lkh4) (on lkh4 jdm2) (on jdm2 tnf3) (clear koo1) (on-table tnf3) (clear ihq5)
|
[
[
"unstack lkh4 jdm2"
],
[
"put-down lkh4"
],
[
"pick-up koo1"
]
] |
[
"(clear jdm2) (on-table ihq5) (on-table koo1) (holding lkh4) (on jdm2 tnf3) (clear koo1) (on-table tnf3) (clear ihq5)",
"(clear jdm2) (arm-empty) (on-table ihq5) (on-table koo1) (clear lkh4) (on-table lkh4) (on jdm2 tnf3) (clear koo1) (on-table tnf3) (clear ihq5)",
"(holding koo1) (clear jdm2) (on-table ihq5) (clear lkh4) (on-table lkh4) (on jdm2 tnf3) (on-table tnf3) (clear ihq5)"
] |
file_31041
|
GOAL: (on-table hji2) (on-table sag1) (on ucx3 hji2) (clear lya4) (on lya4 ucx3) (holding qrq5) (clear sag1)
|
GOAL: (on-table hji2) (on-table sag1) (on ucx3 hji2) (clear lya4) (on lya4 ucx3) (holding qrq5) (clear sag1)
STATE: (clear hji2) (on-table hji2) (on-table sag1) (clear lya4) (holding qrq5) (on-table lya4) (on ucx3 sag1) (clear ucx3)
|
[
[
"stack qrq5 lya4"
],
[
"unstack ucx3 sag1"
],
[
"stack ucx3 hji2"
],
[
"unstack qrq5 lya4"
],
[
"put-down qrq5"
],
[
"pick-up lya4"
],
[
"stack lya4 ucx3"
],
[
"pick-up qrq5"
]
] |
[
"(clear hji2) (arm-empty) (on qrq5 lya4) (on-table hji2) (on-table sag1) (on-table lya4) (on ucx3 sag1) (clear ucx3) (clear qrq5)",
"(clear hji2) (on qrq5 lya4) (on-table hji2) (on-table sag1) (on-table lya4) (holding ucx3) (clear sag1) (clear qrq5)",
"(arm-empty) (on qrq5 lya4) (on-table hji2) (on-table sag1) (on ucx3 hji2) (on-table lya4) (clear ucx3) (clear sag1) (clear qrq5)",
"(on-table hji2) (on-table sag1) (on ucx3 hji2) (clear lya4) (holding qrq5) (on-table lya4) (clear ucx3) (clear sag1)",
"(arm-empty) (on-table hji2) (on-table qrq5) (on-table sag1) (on ucx3 hji2) (clear lya4) (on-table lya4) (clear ucx3) (clear sag1) (clear qrq5)",
"(on-table hji2) (on-table qrq5) (on-table sag1) (holding lya4) (on ucx3 hji2) (clear ucx3) (clear sag1) (clear qrq5)",
"(arm-empty) (on-table hji2) (on-table qrq5) (on-table sag1) (on ucx3 hji2) (clear lya4) (on lya4 ucx3) (clear sag1) (clear qrq5)",
"(on-table hji2) (on-table sag1) (on ucx3 hji2) (clear lya4) (on lya4 ucx3) (holding qrq5) (clear sag1)"
] |
file_9016
|
GOAL: (clear xse2) (on icf1 jbw3) (on ozc4 icf1) (on-table xse2) (arm-empty) (clear ozc4) (on-table jbw3)
|
GOAL: (clear xse2) (on icf1 jbw3) (on ozc4 icf1) (on-table xse2) (arm-empty) (clear ozc4) (on-table jbw3)
STATE: (arm-empty) (on icf1 ozc4) (on ozc4 xse2) (on xse2 jbw3) (clear icf1) (on-table jbw3)
|
[
[
"unstack icf1 ozc4"
],
[
"put-down icf1"
],
[
"unstack ozc4 xse2"
],
[
"stack ozc4 icf1"
],
[
"unstack xse2 jbw3"
],
[
"put-down xse2"
],
[
"unstack ozc4 icf1"
],
[
"put-down ozc4"
],
[
"pick-up icf1"
],
[
"stack icf1 jbw3"
],
[
"pick-up ozc4"
],
[
"stack ozc4 icf1"
]
] |
[
"(holding icf1) (clear ozc4) (on ozc4 xse2) (on xse2 jbw3) (on-table jbw3)",
"(on-table icf1) (arm-empty) (on xse2 jbw3) (on ozc4 xse2) (clear ozc4) (clear icf1) (on-table jbw3)",
"(holding ozc4) (clear xse2) (on-table icf1) (on xse2 jbw3) (clear icf1) (on-table jbw3)",
"(clear xse2) (on ozc4 icf1) (arm-empty) (on-table icf1) (clear ozc4) (on xse2 jbw3) (on-table jbw3)",
"(on ozc4 icf1) (clear ozc4) (on-table icf1) (holding xse2) (clear jbw3) (on-table jbw3)",
"(on ozc4 icf1) (arm-empty) (on-table xse2) (clear ozc4) (clear xse2) (on-table icf1) (clear jbw3) (on-table jbw3)",
"(clear xse2) (on-table xse2) (on-table icf1) (holding ozc4) (clear jbw3) (clear icf1) (on-table jbw3)",
"(arm-empty) (on-table xse2) (clear ozc4) (clear xse2) (on-table icf1) (on-table ozc4) (clear jbw3) (clear icf1) (on-table jbw3)",
"(holding icf1) (clear xse2) (on-table xse2) (clear ozc4) (on-table ozc4) (clear jbw3) (on-table jbw3)",
"(clear xse2) (on icf1 jbw3) (arm-empty) (on-table xse2) (clear ozc4) (on-table ozc4) (clear icf1) (on-table jbw3)",
"(clear xse2) (on icf1 jbw3) (on-table xse2) (holding ozc4) (clear icf1) (on-table jbw3)",
"(clear xse2) (on icf1 jbw3) (on ozc4 icf1) (on-table xse2) (arm-empty) (clear ozc4) (on-table jbw3)"
] |
file_183827
|
GOAL: (on-table bsy5) (on-table ujk1) (on lxd4 bsy5) (clear lxd4) (holding ooz2) (on bay3 ujk1) (clear bay3)
|
GOAL: (on-table bsy5) (on-table ujk1) (on lxd4 bsy5) (clear lxd4) (holding ooz2) (on bay3 ujk1) (clear bay3)
STATE: (clear ooz2) (arm-empty) (on-table bsy5) (on-table ujk1) (on lxd4 bsy5) (on ooz2 lxd4) (clear bay3) (clear ujk1) (on-table bay3)
|
[
[
"pick-up bay3"
],
[
"stack bay3 ujk1"
],
[
"unstack ooz2 lxd4"
]
] |
[
"(clear ooz2) (on-table bsy5) (on-table ujk1) (on lxd4 bsy5) (on ooz2 lxd4) (holding bay3) (clear ujk1)",
"(clear ooz2) (arm-empty) (on-table bsy5) (on-table ujk1) (on lxd4 bsy5) (on ooz2 lxd4) (on bay3 ujk1) (clear bay3)",
"(on-table bsy5) (on-table ujk1) (on lxd4 bsy5) (clear lxd4) (holding ooz2) (on bay3 ujk1) (clear bay3)"
] |
file_137431
|
GOAL: (clear dwz2) (on nvw3 mcr5) (arm-empty) (on-table dwz2) (on-table mcr5) (on-table nna4) (on vnr1 nna4) (clear nvw3) (clear vnr1)
|
GOAL: (clear dwz2) (on nvw3 mcr5) (arm-empty) (on-table dwz2) (on-table mcr5) (on-table nna4) (on vnr1 nna4) (clear nvw3) (clear vnr1)
STATE: (holding vnr1) (on-table dwz2) (on-table mcr5) (on nvw3 dwz2) (clear nna4) (on-table nna4) (clear nvw3) (clear mcr5)
|
[
[
"stack vnr1 nna4"
],
[
"unstack nvw3 dwz2"
],
[
"stack nvw3 mcr5"
]
] |
[
"(arm-empty) (on-table dwz2) (on-table mcr5) (on nvw3 dwz2) (on-table nna4) (on vnr1 nna4) (clear nvw3) (clear vnr1) (clear mcr5)",
"(clear dwz2) (on-table dwz2) (on-table mcr5) (on-table nna4) (on vnr1 nna4) (holding nvw3) (clear vnr1) (clear mcr5)",
"(clear dwz2) (on nvw3 mcr5) (arm-empty) (on-table dwz2) (on-table mcr5) (on-table nna4) (on vnr1 nna4) (clear nvw3) (clear vnr1)"
] |
file_191422
|
GOAL: (on cpy1 nvv3) (on etb4 cpy1) (on jve5 etb4) (holding wtg2) (on-table nvv3) (clear jve5)
|
GOAL: (on cpy1 nvv3) (on etb4 cpy1) (on jve5 etb4) (holding wtg2) (on-table nvv3) (clear jve5)
STATE: (arm-empty) (on-table wtg2) (on etb4 jve5) (on jve5 wtg2) (on cpy1 etb4) (clear nvv3) (clear cpy1) (on-table nvv3)
|
[
[
"unstack cpy1 etb4"
],
[
"stack cpy1 nvv3"
],
[
"unstack etb4 jve5"
],
[
"stack etb4 cpy1"
],
[
"unstack jve5 wtg2"
],
[
"stack jve5 etb4"
],
[
"pick-up wtg2"
]
] |
[
"(holding cpy1) (on-table wtg2) (on etb4 jve5) (on jve5 wtg2) (clear etb4) (clear nvv3) (on-table nvv3)",
"(on cpy1 nvv3) (arm-empty) (on-table wtg2) (on etb4 jve5) (on jve5 wtg2) (clear etb4) (clear cpy1) (on-table nvv3)",
"(on cpy1 nvv3) (on-table wtg2) (holding etb4) (on jve5 wtg2) (clear cpy1) (on-table nvv3) (clear jve5)",
"(on cpy1 nvv3) (on etb4 cpy1) (on-table wtg2) (arm-empty) (on jve5 wtg2) (clear etb4) (on-table nvv3) (clear jve5)",
"(clear wtg2) (on cpy1 nvv3) (on etb4 cpy1) (on-table wtg2) (clear etb4) (holding jve5) (on-table nvv3)",
"(clear wtg2) (on cpy1 nvv3) (on etb4 cpy1) (on-table wtg2) (on jve5 etb4) (arm-empty) (on-table nvv3) (clear jve5)",
"(on cpy1 nvv3) (on etb4 cpy1) (on jve5 etb4) (holding wtg2) (on-table nvv3) (clear jve5)"
] |
file_78121
|
GOAL: (clear cja2) (arm-empty) (on-table anr1) (on cja2 kmt4) (on-table kmt4) (on wgf3 anr1) (clear wgf3)
|
GOAL: (clear cja2) (arm-empty) (on-table anr1) (on cja2 kmt4) (on-table kmt4) (on wgf3 anr1) (clear wgf3)
STATE: (on-table anr1) (clear kmt4) (on kmt4 wgf3) (holding cja2) (on wgf3 anr1)
|
[
[
"put-down cja2"
],
[
"unstack kmt4 wgf3"
],
[
"put-down kmt4"
],
[
"pick-up cja2"
],
[
"stack cja2 kmt4"
]
] |
[
"(on kmt4 wgf3) (on wgf3 anr1) (clear cja2) (arm-empty) (on-table cja2) (on-table anr1) (clear kmt4)",
"(holding kmt4) (clear cja2) (on-table cja2) (on wgf3 anr1) (clear wgf3) (on-table anr1)",
"(arm-empty) (on-table cja2) (clear kmt4) (on wgf3 anr1) (clear cja2) (on-table anr1) (on-table kmt4) (clear wgf3)",
"(on-table anr1) (clear kmt4) (on-table kmt4) (holding cja2) (on wgf3 anr1) (clear wgf3)",
"(clear cja2) (arm-empty) (on-table anr1) (on cja2 kmt4) (on-table kmt4) (on wgf3 anr1) (clear wgf3)"
] |
file_131118
|
GOAL: (clear nnc2) (arm-empty) (on-table bcj1) (clear ruv4) (on-table ruv4) (on nnc2 bcj1) (clear kuy3) (on-table kuy3)
|
GOAL: (clear nnc2) (arm-empty) (on-table bcj1) (clear ruv4) (on-table ruv4) (on nnc2 bcj1) (clear kuy3) (on-table kuy3)
STATE: (clear nnc2) (arm-empty) (on-table nnc2) (on-table ruv4) (on bcj1 ruv4) (clear kuy3) (clear bcj1) (on-table kuy3)
|
[
[
"pick-up nnc2"
],
[
"stack nnc2 kuy3"
],
[
"unstack bcj1 ruv4"
],
[
"put-down bcj1"
],
[
"unstack nnc2 kuy3"
],
[
"stack nnc2 bcj1"
]
] |
[
"(holding nnc2) (on-table ruv4) (on bcj1 ruv4) (clear kuy3) (clear bcj1) (on-table kuy3)",
"(clear nnc2) (arm-empty) (on-table ruv4) (on bcj1 ruv4) (on nnc2 kuy3) (clear bcj1) (on-table kuy3)",
"(clear ruv4) (holding bcj1) (clear nnc2) (on-table ruv4) (on nnc2 kuy3) (on-table kuy3)",
"(arm-empty) (clear ruv4) (clear nnc2) (on-table bcj1) (on-table ruv4) (on nnc2 kuy3) (clear bcj1) (on-table kuy3)",
"(on-table bcj1) (clear ruv4) (on-table ruv4) (holding nnc2) (clear kuy3) (clear bcj1) (on-table kuy3)",
"(clear nnc2) (arm-empty) (on-table bcj1) (clear ruv4) (on-table ruv4) (on nnc2 bcj1) (clear kuy3) (on-table kuy3)"
] |
file_28238
|
GOAL: (on odm3 jvz4) (arm-empty) (on-table pde2) (on rrd5 odm3) (on-table jvz4) (on wzx1 pde2) (clear wzx1) (clear rrd5)
|
GOAL: (on odm3 jvz4) (arm-empty) (on-table pde2) (on rrd5 odm3) (on-table jvz4) (on wzx1 pde2) (clear wzx1) (clear rrd5)
STATE: (clear pde2) (on odm3 rrd5) (arm-empty) (on-table rrd5) (on-table wzx1) (on jvz4 odm3) (on pde2 jvz4) (clear wzx1)
|
[
[
"unstack pde2 jvz4"
],
[
"put-down pde2"
],
[
"unstack jvz4 odm3"
],
[
"put-down jvz4"
],
[
"pick-up pde2"
],
[
"stack pde2 wzx1"
],
[
"unstack odm3 rrd5"
],
[
"stack odm3 jvz4"
],
[
"pick-up rrd5"
],
[
"stack rrd5 odm3"
],
[
"unstack pde2 wzx1"
],
[
"put-down pde2"
],
[
"pick-up wzx1"
],
[
"stack wzx1 pde2"
]
] |
[
"(on odm3 rrd5) (on-table rrd5) (on-table wzx1) (clear jvz4) (on jvz4 odm3) (holding pde2) (clear wzx1)",
"(on odm3 rrd5) (arm-empty) (on-table pde2) (on-table rrd5) (clear jvz4) (clear pde2) (on-table wzx1) (on jvz4 odm3) (clear wzx1)",
"(on odm3 rrd5) (clear pde2) (on-table pde2) (on-table rrd5) (on-table wzx1) (holding jvz4) (clear odm3) (clear wzx1)",
"(on odm3 rrd5) (clear pde2) (arm-empty) (on-table pde2) (on-table rrd5) (on-table wzx1) (clear jvz4) (on-table jvz4) (clear odm3) (clear wzx1)",
"(on odm3 rrd5) (on-table rrd5) (on-table wzx1) (clear jvz4) (on-table jvz4) (holding pde2) (clear odm3) (clear wzx1)",
"(on odm3 rrd5) (clear pde2) (arm-empty) (on-table rrd5) (on-table wzx1) (clear jvz4) (on-table jvz4) (on pde2 wzx1) (clear odm3)",
"(clear pde2) (on-table rrd5) (on-table wzx1) (clear jvz4) (on-table jvz4) (on pde2 wzx1) (holding odm3) (clear rrd5)",
"(on odm3 jvz4) (clear pde2) (arm-empty) (on-table rrd5) (on-table wzx1) (on-table jvz4) (on pde2 wzx1) (clear odm3) (clear rrd5)",
"(on odm3 jvz4) (clear pde2) (on-table wzx1) (holding rrd5) (on-table jvz4) (on pde2 wzx1) (clear odm3)",
"(on odm3 jvz4) (clear pde2) (arm-empty) (on-table wzx1) (on rrd5 odm3) (on-table jvz4) (on pde2 wzx1) (clear rrd5)",
"(on odm3 jvz4) (on-table wzx1) (on rrd5 odm3) (on-table jvz4) (holding pde2) (clear wzx1) (clear rrd5)",
"(arm-empty) (on-table pde2) (on rrd5 odm3) (clear rrd5) (on odm3 jvz4) (clear pde2) (on-table wzx1) (on-table jvz4) (clear wzx1)",
"(holding wzx1) (on odm3 jvz4) (clear pde2) (on-table pde2) (on rrd5 odm3) (on-table jvz4) (clear rrd5)",
"(on odm3 jvz4) (arm-empty) (on-table pde2) (on rrd5 odm3) (on-table jvz4) (on wzx1 pde2) (clear wzx1) (clear rrd5)"
] |
file_149275
|
GOAL: (clear lzu2) (on-table lzu2) (on-table jea1) (clear urg4) (holding jdi5) (on-table urg4) (clear bjo3) (clear jea1) (on-table bjo3)
|
GOAL: (clear lzu2) (on-table lzu2) (on-table jea1) (clear urg4) (holding jdi5) (on-table urg4) (clear bjo3) (clear jea1) (on-table bjo3)
STATE: (clear lzu2) (arm-empty) (on jdi5 urg4) (on-table jea1) (on urg4 bjo3) (on bjo3 jea1) (on lzu2 jdi5)
|
[
[
"unstack lzu2 jdi5"
],
[
"put-down lzu2"
],
[
"unstack jdi5 urg4"
],
[
"stack jdi5 lzu2"
],
[
"unstack urg4 bjo3"
],
[
"put-down urg4"
],
[
"unstack bjo3 jea1"
],
[
"put-down bjo3"
],
[
"unstack jdi5 lzu2"
]
] |
[
"(on jdi5 urg4) (on bjo3 jea1) (clear jdi5) (on-table jea1) (on urg4 bjo3) (holding lzu2)",
"(arm-empty) (on jdi5 urg4) (on-table lzu2) (on bjo3 jea1) (clear jdi5) (clear lzu2) (on-table jea1) (on urg4 bjo3)",
"(clear lzu2) (on-table lzu2) (on-table jea1) (clear urg4) (on urg4 bjo3) (holding jdi5) (on bjo3 jea1)",
"(arm-empty) (on-table lzu2) (on-table jea1) (on jdi5 lzu2) (clear urg4) (on urg4 bjo3) (on bjo3 jea1) (clear jdi5)",
"(on-table lzu2) (on-table jea1) (holding urg4) (on jdi5 lzu2) (on bjo3 jea1) (clear bjo3) (clear jdi5)",
"(arm-empty) (on-table lzu2) (on jdi5 lzu2) (clear urg4) (on bjo3 jea1) (clear jdi5) (on-table jea1) (on-table urg4) (clear bjo3)",
"(on-table lzu2) (on-table jea1) (on jdi5 lzu2) (clear urg4) (on-table urg4) (holding bjo3) (clear jea1) (clear jdi5)",
"(arm-empty) (on-table lzu2) (on-table jea1) (on jdi5 lzu2) (clear urg4) (on-table urg4) (clear bjo3) (clear jea1) (on-table bjo3) (clear jdi5)",
"(clear lzu2) (on-table lzu2) (on-table jea1) (clear urg4) (holding jdi5) (on-table urg4) (clear bjo3) (clear jea1) (on-table bjo3)"
] |
file_105397
|
GOAL: (on fva1 ayu5) (arm-empty) (on-table ayu5) (on len3 lpu2) (on-table vaq4) (on lpu2 vaq4) (clear len3) (clear fva1)
|
GOAL: (on fva1 ayu5) (arm-empty) (on-table ayu5) (on len3 lpu2) (on-table vaq4) (on lpu2 vaq4) (clear len3) (clear fva1)
STATE: (on fva1 ayu5) (on len3 vaq4) (arm-empty) (on-table ayu5) (on vaq4 lpu2) (on lpu2 fva1) (clear len3)
|
[
[
"unstack len3 vaq4"
],
[
"put-down len3"
],
[
"unstack vaq4 lpu2"
],
[
"put-down vaq4"
],
[
"unstack lpu2 fva1"
],
[
"stack lpu2 vaq4"
],
[
"pick-up len3"
],
[
"stack len3 lpu2"
]
] |
[
"(on fva1 ayu5) (on-table ayu5) (clear vaq4) (on lpu2 fva1) (on vaq4 lpu2) (holding len3)",
"(on fva1 ayu5) (arm-empty) (on-table ayu5) (on vaq4 lpu2) (on lpu2 fva1) (clear len3) (clear vaq4) (on-table len3)",
"(on fva1 ayu5) (clear lpu2) (on-table ayu5) (holding vaq4) (on lpu2 fva1) (clear len3) (on-table len3)",
"(on fva1 ayu5) (arm-empty) (on-table ayu5) (clear vaq4) (on lpu2 fva1) (clear lpu2) (on-table vaq4) (clear len3) (on-table len3)",
"(on fva1 ayu5) (on-table ayu5) (clear vaq4) (on-table vaq4) (holding lpu2) (clear len3) (clear fva1) (on-table len3)",
"(on fva1 ayu5) (clear lpu2) (arm-empty) (on-table ayu5) (on-table vaq4) (on lpu2 vaq4) (clear len3) (clear fva1) (on-table len3)",
"(on fva1 ayu5) (clear lpu2) (on-table ayu5) (on-table vaq4) (on lpu2 vaq4) (holding len3) (clear fva1)",
"(on fva1 ayu5) (arm-empty) (on-table ayu5) (on len3 lpu2) (on-table vaq4) (on lpu2 vaq4) (clear len3) (clear fva1)"
] |
file_39013
|
GOAL: (holding hyb1) (on gbd3 qcm4) (clear sjm2) (on goq5 gbd3) (on-table qcm4) (on sjm2 goq5)
|
GOAL: (holding hyb1) (on gbd3 qcm4) (clear sjm2) (on goq5 gbd3) (on-table qcm4) (on sjm2 goq5)
STATE: (on gbd3 qcm4) (clear sjm2) (on hyb1 gbd3) (arm-empty) (on-table sjm2) (on-table goq5) (on-table qcm4) (clear hyb1) (clear goq5)
|
[
[
"unstack hyb1 gbd3"
],
[
"stack hyb1 sjm2"
],
[
"pick-up goq5"
],
[
"stack goq5 gbd3"
],
[
"unstack hyb1 sjm2"
],
[
"put-down hyb1"
],
[
"pick-up sjm2"
],
[
"stack sjm2 goq5"
],
[
"pick-up hyb1"
]
] |
[
"(holding hyb1) (on gbd3 qcm4) (clear sjm2) (on-table sjm2) (on-table goq5) (on-table qcm4) (clear gbd3) (clear goq5)",
"(on gbd3 qcm4) (arm-empty) (on-table sjm2) (on-table goq5) (on-table qcm4) (clear gbd3) (on hyb1 sjm2) (clear hyb1) (clear goq5)",
"(on gbd3 qcm4) (on-table sjm2) (holding goq5) (on-table qcm4) (clear gbd3) (on hyb1 sjm2) (clear hyb1)",
"(on gbd3 qcm4) (arm-empty) (on-table sjm2) (on goq5 gbd3) (on-table qcm4) (on hyb1 sjm2) (clear hyb1) (clear goq5)",
"(holding hyb1) (on gbd3 qcm4) (clear sjm2) (on-table sjm2) (on goq5 gbd3) (on-table qcm4) (clear goq5)",
"(arm-empty) (on-table sjm2) (on goq5 gbd3) (clear goq5) (on gbd3 qcm4) (clear sjm2) (on-table hyb1) (on-table qcm4) (clear hyb1)",
"(on gbd3 qcm4) (on-table hyb1) (on goq5 gbd3) (on-table qcm4) (holding sjm2) (clear hyb1) (clear goq5)",
"(on gbd3 qcm4) (clear sjm2) (arm-empty) (on-table hyb1) (on goq5 gbd3) (on-table qcm4) (on sjm2 goq5) (clear hyb1)",
"(holding hyb1) (on gbd3 qcm4) (clear sjm2) (on goq5 gbd3) (on-table qcm4) (on sjm2 goq5)"
] |
file_120424
|
GOAL: (on hsk1 bqo5) (on cyi3 cem4) (on-table bqo5) (on-table cem4) (holding xmv2) (clear cyi3) (clear hsk1)
|
GOAL: (on hsk1 bqo5) (on cyi3 cem4) (on-table bqo5) (on-table cem4) (holding xmv2) (clear cyi3) (clear hsk1)
STATE: (holding hsk1) (on-table xmv2) (on-table bqo5) (on cyi3 xmv2) (clear cem4) (on-table cem4) (clear cyi3) (clear bqo5)
|
[
[
"stack hsk1 bqo5"
],
[
"unstack cyi3 xmv2"
],
[
"stack cyi3 cem4"
],
[
"pick-up xmv2"
]
] |
[
"(on hsk1 bqo5) (arm-empty) (on-table xmv2) (on-table bqo5) (on cyi3 xmv2) (clear cem4) (on-table cem4) (clear cyi3) (clear hsk1)",
"(on hsk1 bqo5) (clear xmv2) (on-table xmv2) (on-table bqo5) (clear cem4) (on-table cem4) (holding cyi3) (clear hsk1)",
"(on hsk1 bqo5) (clear xmv2) (on cyi3 cem4) (arm-empty) (on-table xmv2) (on-table bqo5) (on-table cem4) (clear cyi3) (clear hsk1)",
"(on hsk1 bqo5) (on cyi3 cem4) (on-table bqo5) (on-table cem4) (holding xmv2) (clear cyi3) (clear hsk1)"
] |
file_191591
|
GOAL: (on axt5 huq4) (on-table hbj1) (on-table huq4) (holding zdt2) (on jrb3 hbj1) (clear jrb3) (clear axt5)
|
GOAL: (on axt5 huq4) (on-table hbj1) (on-table huq4) (holding zdt2) (on jrb3 hbj1) (clear jrb3) (clear axt5)
STATE: (clear zdt2) (on axt5 huq4) (on-table zdt2) (on-table hbj1) (on-table huq4) (holding jrb3) (clear hbj1) (clear axt5)
|
[
[
"stack jrb3 hbj1"
],
[
"pick-up zdt2"
]
] |
[
"(clear zdt2) (arm-empty) (on axt5 huq4) (on-table zdt2) (on-table hbj1) (on-table huq4) (on jrb3 hbj1) (clear jrb3) (clear axt5)",
"(on axt5 huq4) (on-table hbj1) (on-table huq4) (holding zdt2) (on jrb3 hbj1) (clear jrb3) (clear axt5)"
] |
file_196236
|
GOAL: (on hoo4 mfj3) (arm-empty) (on-table aic2) (on qrw1 hoo4) (on mfj3 aic2) (clear qrw1)
|
GOAL: (on hoo4 mfj3) (arm-empty) (on-table aic2) (on qrw1 hoo4) (on mfj3 aic2) (clear qrw1)
STATE: (on qrw1 mfj3) (on-table aic2) (holding hoo4) (on mfj3 aic2) (clear qrw1)
|
[
[
"put-down hoo4"
],
[
"unstack qrw1 mfj3"
],
[
"put-down qrw1"
],
[
"pick-up hoo4"
],
[
"stack hoo4 mfj3"
],
[
"pick-up qrw1"
],
[
"stack qrw1 hoo4"
]
] |
[
"(on-table hoo4) (on qrw1 mfj3) (arm-empty) (on-table aic2) (on mfj3 aic2) (clear hoo4) (clear qrw1)",
"(on-table aic2) (clear hoo4) (holding qrw1) (on mfj3 aic2) (on-table hoo4) (clear mfj3)",
"(arm-empty) (on-table aic2) (clear hoo4) (on-table qrw1) (on mfj3 aic2) (on-table hoo4) (clear mfj3) (clear qrw1)",
"(on-table aic2) (on-table qrw1) (holding hoo4) (on mfj3 aic2) (clear mfj3) (clear qrw1)",
"(on hoo4 mfj3) (arm-empty) (on-table aic2) (on-table qrw1) (on mfj3 aic2) (clear hoo4) (clear qrw1)",
"(holding qrw1) (on hoo4 mfj3) (on-table aic2) (on mfj3 aic2) (clear hoo4)",
"(on hoo4 mfj3) (arm-empty) (on-table aic2) (on qrw1 hoo4) (on mfj3 aic2) (clear qrw1)"
] |
file_28507
|
GOAL: (clear nwr2) (on ocm1 wmo3) (arm-empty) (on-table nwr2) (on-table trt5) (on wff4 trt5) (clear wff4) (clear ocm1) (on-table wmo3)
|
GOAL: (clear nwr2) (on ocm1 wmo3) (arm-empty) (on-table nwr2) (on-table trt5) (on wff4 trt5) (clear wff4) (clear ocm1) (on-table wmo3)
STATE: (on-table nwr2) (on-table ocm1) (on wmo3 nwr2) (clear wff4) (holding trt5) (on-table wff4) (clear wmo3) (clear ocm1)
|
[
[
"put-down trt5"
],
[
"pick-up wff4"
],
[
"stack wff4 trt5"
],
[
"unstack wmo3 nwr2"
],
[
"stack wmo3 wff4"
],
[
"pick-up ocm1"
],
[
"stack ocm1 nwr2"
],
[
"unstack wmo3 wff4"
],
[
"put-down wmo3"
],
[
"unstack ocm1 nwr2"
],
[
"stack ocm1 wmo3"
]
] |
[
"(arm-empty) (on-table nwr2) (on-table trt5) (on-table ocm1) (on wmo3 nwr2) (clear wff4) (on-table wff4) (clear wmo3) (clear ocm1) (clear trt5)",
"(on-table nwr2) (on-table trt5) (on-table ocm1) (holding wff4) (on wmo3 nwr2) (clear wmo3) (clear ocm1) (clear trt5)",
"(arm-empty) (on-table nwr2) (on-table trt5) (on-table ocm1) (on wff4 trt5) (on wmo3 nwr2) (clear wff4) (clear wmo3) (clear ocm1)",
"(clear nwr2) (on-table nwr2) (on-table trt5) (on-table ocm1) (on wff4 trt5) (clear wff4) (holding wmo3) (clear ocm1)",
"(on wmo3 wff4) (clear nwr2) (arm-empty) (on-table nwr2) (on-table trt5) (on-table ocm1) (on wff4 trt5) (clear wmo3) (clear ocm1)",
"(holding ocm1) (on wmo3 wff4) (clear nwr2) (on-table nwr2) (on-table trt5) (on wff4 trt5) (clear wmo3)",
"(on wmo3 wff4) (arm-empty) (on-table nwr2) (on-table trt5) (on wff4 trt5) (clear wmo3) (on ocm1 nwr2) (clear ocm1)",
"(on-table nwr2) (on-table trt5) (on wff4 trt5) (clear wff4) (on ocm1 nwr2) (clear ocm1) (holding wmo3)",
"(arm-empty) (on-table nwr2) (on-table trt5) (on wff4 trt5) (clear wff4) (on ocm1 nwr2) (clear wmo3) (clear ocm1) (on-table wmo3)",
"(holding ocm1) (clear nwr2) (on-table nwr2) (on-table trt5) (on wff4 trt5) (clear wff4) (clear wmo3) (on-table wmo3)",
"(clear nwr2) (on ocm1 wmo3) (arm-empty) (on-table nwr2) (on-table trt5) (on wff4 trt5) (clear wff4) (clear ocm1) (on-table wmo3)"
] |
file_152313
|
GOAL: (clear xzq2) (on-table gra5) (on-table zwd1) (on-table tym4) (on xzq2 tym4) (holding xio3) (clear zwd1) (clear gra5)
|
GOAL: (clear xzq2) (on-table gra5) (on-table zwd1) (on-table tym4) (on xzq2 tym4) (holding xio3) (clear zwd1) (clear gra5)
STATE: (on zwd1 gra5) (clear xzq2) (arm-empty) (on-table gra5) (on tym4 xio3) (on xio3 zwd1) (on xzq2 tym4)
|
[
[
"unstack xzq2 tym4"
],
[
"put-down xzq2"
],
[
"unstack tym4 xio3"
],
[
"put-down tym4"
],
[
"pick-up xzq2"
],
[
"stack xzq2 tym4"
],
[
"unstack xio3 zwd1"
],
[
"stack xio3 xzq2"
],
[
"unstack zwd1 gra5"
],
[
"put-down zwd1"
],
[
"unstack xio3 xzq2"
]
] |
[
"(on tym4 xio3) (on zwd1 gra5) (on-table gra5) (on xio3 zwd1) (clear tym4) (holding xzq2)",
"(on zwd1 gra5) (arm-empty) (on-table xzq2) (on-table gra5) (clear tym4) (on xio3 zwd1) (clear xzq2) (on tym4 xio3)",
"(on zwd1 gra5) (clear xzq2) (on-table xzq2) (on-table gra5) (holding tym4) (on xio3 zwd1) (clear xio3)",
"(on zwd1 gra5) (arm-empty) (on-table xzq2) (on-table gra5) (clear tym4) (on xio3 zwd1) (clear xzq2) (on-table tym4) (clear xio3)",
"(on zwd1 gra5) (on-table gra5) (clear tym4) (on-table tym4) (holding xzq2) (on xio3 zwd1) (clear xio3)",
"(on zwd1 gra5) (arm-empty) (on-table gra5) (on xio3 zwd1) (on xzq2 tym4) (clear xzq2) (on-table tym4) (clear xio3)",
"(on zwd1 gra5) (clear xzq2) (on-table gra5) (on xzq2 tym4) (on-table tym4) (holding xio3) (clear zwd1)",
"(on zwd1 gra5) (arm-empty) (on-table gra5) (on xio3 xzq2) (on-table tym4) (on xzq2 tym4) (clear xio3) (clear zwd1)",
"(holding zwd1) (on-table gra5) (on xio3 xzq2) (on-table tym4) (on xzq2 tym4) (clear xio3) (clear gra5)",
"(arm-empty) (on-table gra5) (on xzq2 tym4) (clear gra5) (on-table zwd1) (on xio3 xzq2) (on-table tym4) (clear xio3) (clear zwd1)",
"(clear xzq2) (on-table gra5) (on-table zwd1) (on-table tym4) (on xzq2 tym4) (holding xio3) (clear zwd1) (clear gra5)"
] |
file_90557
|
GOAL: (on-table xhy5) (on csp4 xhy5) (on-table dmt1) (clear csp4) (holding ivn2) (clear qcl3) (clear dmt1) (on-table qcl3)
|
GOAL: (on-table xhy5) (on csp4 xhy5) (on-table dmt1) (clear csp4) (holding ivn2) (clear qcl3) (clear dmt1) (on-table qcl3)
STATE: (clear ivn2) (arm-empty) (on-table xhy5) (on-table dmt1) (on csp4 xhy5) (on ivn2 csp4) (clear qcl3) (clear dmt1) (on-table qcl3)
|
[
[
"pick-up dmt1"
],
[
"stack dmt1 qcl3"
],
[
"unstack ivn2 csp4"
],
[
"put-down ivn2"
],
[
"unstack dmt1 qcl3"
],
[
"put-down dmt1"
],
[
"pick-up ivn2"
]
] |
[
"(holding dmt1) (clear ivn2) (on-table xhy5) (on csp4 xhy5) (on ivn2 csp4) (clear qcl3) (on-table qcl3)",
"(clear ivn2) (on dmt1 qcl3) (arm-empty) (on-table xhy5) (on csp4 xhy5) (on ivn2 csp4) (clear dmt1) (on-table qcl3)",
"(on dmt1 qcl3) (on-table xhy5) (on csp4 xhy5) (clear csp4) (holding ivn2) (clear dmt1) (on-table qcl3)",
"(on dmt1 qcl3) (arm-empty) (on-table ivn2) (on-table xhy5) (on csp4 xhy5) (clear csp4) (clear ivn2) (clear dmt1) (on-table qcl3)",
"(holding dmt1) (clear ivn2) (on-table ivn2) (on-table xhy5) (on csp4 xhy5) (clear csp4) (clear qcl3) (on-table qcl3)",
"(clear ivn2) (arm-empty) (on-table ivn2) (on-table xhy5) (on csp4 xhy5) (on-table dmt1) (clear csp4) (clear qcl3) (clear dmt1) (on-table qcl3)",
"(on-table xhy5) (on csp4 xhy5) (on-table dmt1) (clear csp4) (holding ivn2) (clear qcl3) (clear dmt1) (on-table qcl3)"
] |
file_137628
|
GOAL: (holding zqw1) (on-table hgk2) (on-table ngp5) (on bva3 hgk2) (clear ulw4) (on-table ulw4) (clear bva3) (clear ngp5)
|
GOAL: (holding zqw1) (on-table hgk2) (on-table ngp5) (on bva3 hgk2) (clear ulw4) (on-table ulw4) (clear bva3) (clear ngp5)
STATE: (on zqw1 ngp5) (on-table hgk2) (holding ulw4) (on bva3 hgk2) (on ngp5 bva3) (clear zqw1)
|
[
[
"put-down ulw4"
],
[
"unstack zqw1 ngp5"
],
[
"stack zqw1 ulw4"
],
[
"unstack ngp5 bva3"
],
[
"put-down ngp5"
],
[
"unstack zqw1 ulw4"
]
] |
[
"(on zqw1 ngp5) (arm-empty) (on-table hgk2) (clear ulw4) (on ngp5 bva3) (on bva3 hgk2) (on-table ulw4) (clear zqw1)",
"(holding zqw1) (on-table hgk2) (on bva3 hgk2) (clear ulw4) (on ngp5 bva3) (on-table ulw4) (clear ngp5)",
"(arm-empty) (on-table hgk2) (on bva3 hgk2) (on ngp5 bva3) (on-table ulw4) (on zqw1 ulw4) (clear zqw1) (clear ngp5)",
"(on-table hgk2) (on bva3 hgk2) (holding ngp5) (on-table ulw4) (on zqw1 ulw4) (clear bva3) (clear zqw1)",
"(arm-empty) (on-table hgk2) (on-table ngp5) (clear ngp5) (on bva3 hgk2) (on-table ulw4) (on zqw1 ulw4) (clear bva3) (clear zqw1)",
"(holding zqw1) (on-table hgk2) (on-table ngp5) (on bva3 hgk2) (clear ulw4) (on-table ulw4) (clear bva3) (clear ngp5)"
] |
file_203307
|
GOAL: (on qpl3 rjk4) (on rjk4 gnp1) (arm-empty) (on-table ghq2) (on-table gnp1) (on fhk5 ghq2) (clear qpl3) (clear fhk5)
|
GOAL: (on qpl3 rjk4) (on rjk4 gnp1) (arm-empty) (on-table ghq2) (on-table gnp1) (on fhk5 ghq2) (clear qpl3) (clear fhk5)
STATE: (on qpl3 rjk4) (clear ghq2) (on rjk4 gnp1) (on-table gnp1) (holding fhk5) (on ghq2 qpl3)
|
[
[
"put-down fhk5"
],
[
"unstack ghq2 qpl3"
],
[
"put-down ghq2"
],
[
"pick-up fhk5"
],
[
"stack fhk5 ghq2"
]
] |
[
"(on qpl3 rjk4) (clear ghq2) (on rjk4 gnp1) (arm-empty) (on-table fhk5) (on-table gnp1) (on ghq2 qpl3) (clear fhk5)",
"(on qpl3 rjk4) (on rjk4 gnp1) (on-table fhk5) (on-table gnp1) (holding ghq2) (clear qpl3) (clear fhk5)",
"(on rjk4 gnp1) (arm-empty) (on-table ghq2) (on-table fhk5) (clear fhk5) (on qpl3 rjk4) (clear ghq2) (on-table gnp1) (clear qpl3)",
"(on qpl3 rjk4) (clear ghq2) (on rjk4 gnp1) (on-table ghq2) (on-table gnp1) (holding fhk5) (clear qpl3)",
"(on qpl3 rjk4) (on rjk4 gnp1) (arm-empty) (on-table ghq2) (on-table gnp1) (on fhk5 ghq2) (clear qpl3) (clear fhk5)"
] |
file_163320
|
GOAL: (arm-empty) (on-table phi2) (on-table kyr5) (clear tug4) (on tug4 ezu3) (on cao1 phi2) (clear cao1) (on-table ezu3) (clear kyr5)
|
GOAL: (arm-empty) (on-table phi2) (on-table kyr5) (clear tug4) (on tug4 ezu3) (on cao1 phi2) (clear cao1) (on-table ezu3) (clear kyr5)
STATE: (holding cao1) (on-table phi2) (on-table kyr5) (clear tug4) (on tug4 phi2) (clear ezu3) (on-table ezu3) (clear kyr5)
|
[
[
"stack cao1 kyr5"
],
[
"unstack tug4 phi2"
],
[
"put-down tug4"
],
[
"unstack cao1 kyr5"
],
[
"stack cao1 phi2"
],
[
"pick-up tug4"
],
[
"stack tug4 ezu3"
]
] |
[
"(on cao1 kyr5) (arm-empty) (on-table phi2) (on-table kyr5) (clear tug4) (on tug4 phi2) (clear ezu3) (clear cao1) (on-table ezu3)",
"(on cao1 kyr5) (clear phi2) (on-table phi2) (on-table kyr5) (holding tug4) (clear ezu3) (clear cao1) (on-table ezu3)",
"(on cao1 kyr5) (clear phi2) (arm-empty) (on-table phi2) (on-table kyr5) (clear tug4) (on-table tug4) (clear ezu3) (clear cao1) (on-table ezu3)",
"(holding cao1) (clear phi2) (on-table phi2) (on-table kyr5) (clear tug4) (on-table tug4) (clear ezu3) (on-table ezu3) (clear kyr5)",
"(arm-empty) (on-table phi2) (on-table kyr5) (clear tug4) (on-table tug4) (clear ezu3) (on cao1 phi2) (clear cao1) (on-table ezu3) (clear kyr5)",
"(on-table phi2) (on-table kyr5) (holding tug4) (clear ezu3) (on cao1 phi2) (clear cao1) (on-table ezu3) (clear kyr5)",
"(arm-empty) (on-table phi2) (on-table kyr5) (clear tug4) (on tug4 ezu3) (on cao1 phi2) (clear cao1) (on-table ezu3) (clear kyr5)"
] |
file_217292
|
GOAL: (clear bbx2) (arm-empty) (on-table ejt5) (on-table czr1) (clear zce4) (on zce4 vql3) (on bbx2 czr1) (on-table vql3) (clear ejt5)
|
GOAL: (clear bbx2) (arm-empty) (on-table ejt5) (on-table czr1) (clear zce4) (on zce4 vql3) (on bbx2 czr1) (on-table vql3) (clear ejt5)
STATE: (on-table czr1) (on vql3 bbx2) (holding ejt5) (on-table zce4) (on bbx2 zce4) (clear vql3) (clear czr1)
|
[
[
"stack ejt5 czr1"
],
[
"unstack vql3 bbx2"
],
[
"put-down vql3"
],
[
"unstack bbx2 zce4"
],
[
"put-down bbx2"
],
[
"pick-up zce4"
],
[
"stack zce4 vql3"
],
[
"pick-up bbx2"
],
[
"stack bbx2 zce4"
],
[
"unstack ejt5 czr1"
],
[
"put-down ejt5"
],
[
"unstack bbx2 zce4"
],
[
"stack bbx2 czr1"
]
] |
[
"(arm-empty) (on bbx2 zce4) (clear ejt5) (on-table czr1) (on vql3 bbx2) (on ejt5 czr1) (on-table zce4) (clear vql3)",
"(clear bbx2) (on-table czr1) (on ejt5 czr1) (on-table zce4) (on bbx2 zce4) (holding vql3) (clear ejt5)",
"(arm-empty) (on bbx2 zce4) (clear ejt5) (clear bbx2) (on-table czr1) (on ejt5 czr1) (on-table zce4) (clear vql3) (on-table vql3)",
"(on-table czr1) (clear zce4) (on ejt5 czr1) (on-table zce4) (holding bbx2) (clear vql3) (on-table vql3) (clear ejt5)",
"(clear bbx2) (arm-empty) (on-table bbx2) (on-table czr1) (clear zce4) (on ejt5 czr1) (on-table zce4) (clear vql3) (on-table vql3) (clear ejt5)",
"(clear bbx2) (on-table bbx2) (on-table czr1) (holding zce4) (on ejt5 czr1) (clear vql3) (on-table vql3) (clear ejt5)",
"(clear bbx2) (arm-empty) (on-table bbx2) (on-table czr1) (clear zce4) (on ejt5 czr1) (on zce4 vql3) (on-table vql3) (clear ejt5)",
"(on-table czr1) (clear zce4) (on ejt5 czr1) (on zce4 vql3) (holding bbx2) (on-table vql3) (clear ejt5)",
"(clear bbx2) (arm-empty) (on-table czr1) (on ejt5 czr1) (on zce4 vql3) (on bbx2 zce4) (on-table vql3) (clear ejt5)",
"(clear bbx2) (on-table czr1) (on zce4 vql3) (holding ejt5) (on bbx2 zce4) (clear czr1) (on-table vql3)",
"(arm-empty) (on-table ejt5) (on bbx2 zce4) (clear ejt5) (clear bbx2) (on-table czr1) (on zce4 vql3) (clear czr1) (on-table vql3)",
"(on-table ejt5) (on-table czr1) (clear zce4) (on zce4 vql3) (holding bbx2) (clear czr1) (on-table vql3) (clear ejt5)",
"(clear bbx2) (arm-empty) (on-table ejt5) (on-table czr1) (clear zce4) (on zce4 vql3) (on bbx2 czr1) (on-table vql3) (clear ejt5)"
] |
file_60322
|
GOAL: (clear qwc2) (arm-empty) (on-table qwc2) (on esz5 dfi1) (on-table pob4) (on dfi1 pob4) (clear unq3) (on-table unq3) (clear esz5)
|
GOAL: (clear qwc2) (arm-empty) (on-table qwc2) (on esz5 dfi1) (on-table pob4) (on dfi1 pob4) (clear unq3) (on-table unq3) (clear esz5)
STATE: (holding dfi1) (on-table qwc2) (on unq3 qwc2) (clear pob4) (on esz5 unq3) (on-table pob4) (clear esz5)
|
[
[
"stack dfi1 pob4"
],
[
"unstack esz5 unq3"
],
[
"put-down esz5"
],
[
"unstack unq3 qwc2"
],
[
"stack unq3 dfi1"
],
[
"pick-up esz5"
],
[
"stack esz5 qwc2"
],
[
"unstack unq3 dfi1"
],
[
"put-down unq3"
],
[
"unstack esz5 qwc2"
],
[
"stack esz5 dfi1"
]
] |
[
"(arm-empty) (on-table qwc2) (on unq3 qwc2) (on esz5 unq3) (on-table pob4) (on dfi1 pob4) (clear dfi1) (clear esz5)",
"(on-table qwc2) (on unq3 qwc2) (holding esz5) (on-table pob4) (on dfi1 pob4) (clear unq3) (clear dfi1)",
"(arm-empty) (on-table qwc2) (on-table esz5) (clear esz5) (on unq3 qwc2) (on-table pob4) (on dfi1 pob4) (clear unq3) (clear dfi1)",
"(clear qwc2) (on-table qwc2) (on-table esz5) (on-table pob4) (on dfi1 pob4) (holding unq3) (clear dfi1) (clear esz5)",
"(clear qwc2) (arm-empty) (on-table qwc2) (on-table esz5) (on-table pob4) (on dfi1 pob4) (on unq3 dfi1) (clear unq3) (clear esz5)",
"(clear qwc2) (on-table qwc2) (holding esz5) (on-table pob4) (on dfi1 pob4) (on unq3 dfi1) (clear unq3)",
"(arm-empty) (on-table qwc2) (on esz5 qwc2) (on-table pob4) (on dfi1 pob4) (on unq3 dfi1) (clear unq3) (clear esz5)",
"(on-table qwc2) (on esz5 qwc2) (on-table pob4) (on dfi1 pob4) (holding unq3) (clear dfi1) (clear esz5)",
"(arm-empty) (on-table qwc2) (on esz5 qwc2) (clear esz5) (on-table pob4) (on dfi1 pob4) (clear unq3) (clear dfi1) (on-table unq3)",
"(clear qwc2) (on-table qwc2) (holding esz5) (on-table pob4) (on dfi1 pob4) (clear unq3) (clear dfi1) (on-table unq3)",
"(clear qwc2) (arm-empty) (on-table qwc2) (on esz5 dfi1) (on-table pob4) (on dfi1 pob4) (clear unq3) (on-table unq3) (clear esz5)"
] |
file_9957
|
GOAL: (arm-empty) (on pwl5 dtf4) (clear pwl5) (clear rbr2) (on-table vha1) (on-table dtf4) (on rbr2 wnh3) (clear vha1) (on-table wnh3)
|
GOAL: (arm-empty) (on pwl5 dtf4) (clear pwl5) (clear rbr2) (on-table vha1) (on-table dtf4) (on rbr2 wnh3) (clear vha1) (on-table wnh3)
STATE: (on dtf4 vha1) (arm-empty) (on-table pwl5) (clear dtf4) (on rbr2 wnh3) (on vha1 rbr2) (on-table wnh3) (clear pwl5)
|
[
[
"unstack dtf4 vha1"
],
[
"put-down dtf4"
],
[
"pick-up pwl5"
],
[
"stack pwl5 dtf4"
],
[
"unstack vha1 rbr2"
],
[
"put-down vha1"
]
] |
[
"(clear vha1) (on-table pwl5) (holding dtf4) (on rbr2 wnh3) (on vha1 rbr2) (on-table wnh3) (clear pwl5)",
"(arm-empty) (on-table pwl5) (clear dtf4) (on vha1 rbr2) (clear pwl5) (on-table dtf4) (on rbr2 wnh3) (clear vha1) (on-table wnh3)",
"(clear dtf4) (holding pwl5) (on-table dtf4) (on rbr2 wnh3) (on vha1 rbr2) (clear vha1) (on-table wnh3)",
"(clear vha1) (arm-empty) (on pwl5 dtf4) (on-table dtf4) (on rbr2 wnh3) (on vha1 rbr2) (on-table wnh3) (clear pwl5)",
"(holding vha1) (clear rbr2) (on pwl5 dtf4) (on-table dtf4) (on rbr2 wnh3) (on-table wnh3) (clear pwl5)",
"(arm-empty) (on pwl5 dtf4) (clear pwl5) (clear rbr2) (on-table vha1) (on-table dtf4) (on rbr2 wnh3) (clear vha1) (on-table wnh3)"
] |
file_90794
|
GOAL: (holding flh1) (on qix3 pne4) (on-table usx2) (on kvm5 qix3) (on pne4 usx2) (clear kvm5)
|
GOAL: (holding flh1) (on qix3 pne4) (on-table usx2) (on kvm5 qix3) (on pne4 usx2) (clear kvm5)
STATE: (on qix3 pne4) (arm-empty) (on-table usx2) (on-table flh1) (on kvm5 qix3) (on pne4 usx2) (clear flh1) (clear kvm5)
|
[
[
"pick-up flh1"
]
] |
[
"(holding flh1) (on qix3 pne4) (on-table usx2) (on kvm5 qix3) (on pne4 usx2) (clear kvm5)"
] |
file_36303
|
GOAL: (on qus3 xmd4) (clear gnn2) (arm-empty) (on-table ybo1) (on srh5 ybo1) (on-table xmd4) (on gnn2 qus3) (clear srh5)
|
GOAL: (on qus3 xmd4) (clear gnn2) (arm-empty) (on-table ybo1) (on srh5 ybo1) (on-table xmd4) (on gnn2 qus3) (clear srh5)
STATE: (holding xmd4) (on-table ybo1) (on qus3 gnn2) (on srh5 ybo1) (on gnn2 srh5) (clear qus3)
|
[
[
"put-down xmd4"
],
[
"unstack qus3 gnn2"
],
[
"stack qus3 xmd4"
],
[
"unstack gnn2 srh5"
],
[
"stack gnn2 qus3"
]
] |
[
"(arm-empty) (clear xmd4) (on gnn2 srh5) (on-table ybo1) (on qus3 gnn2) (on srh5 ybo1) (on-table xmd4) (clear qus3)",
"(clear gnn2) (on-table ybo1) (clear xmd4) (on srh5 ybo1) (on-table xmd4) (on gnn2 srh5) (holding qus3)",
"(on qus3 xmd4) (clear gnn2) (arm-empty) (on-table ybo1) (on srh5 ybo1) (on-table xmd4) (on gnn2 srh5) (clear qus3)",
"(on qus3 xmd4) (on-table ybo1) (on srh5 ybo1) (on-table xmd4) (holding gnn2) (clear qus3) (clear srh5)",
"(on qus3 xmd4) (clear gnn2) (arm-empty) (on-table ybo1) (on srh5 ybo1) (on-table xmd4) (on gnn2 qus3) (clear srh5)"
] |
file_26701
|
GOAL: (on jzf3 qtn5) (clear qfo2) (arm-empty) (on-table qtn5) (on-table nhi1) (on-table tat4) (on qfo2 tat4) (clear jzf3) (clear nhi1)
|
GOAL: (on jzf3 qtn5) (clear qfo2) (arm-empty) (on-table qtn5) (on-table nhi1) (on-table tat4) (on qfo2 tat4) (clear jzf3) (clear nhi1)
STATE: (holding nhi1) (on jzf3 tat4) (clear qfo2) (on-table qtn5) (on-table tat4) (on qfo2 jzf3) (clear qtn5)
|
[
[
"put-down nhi1"
],
[
"unstack qfo2 jzf3"
],
[
"stack qfo2 nhi1"
],
[
"unstack jzf3 tat4"
],
[
"stack jzf3 qtn5"
],
[
"unstack qfo2 nhi1"
],
[
"stack qfo2 tat4"
]
] |
[
"(arm-empty) (on-table qtn5) (clear qtn5) (on jzf3 tat4) (clear qfo2) (on-table nhi1) (on-table tat4) (on qfo2 jzf3) (clear nhi1)",
"(on jzf3 tat4) (on-table qtn5) (on-table nhi1) (on-table tat4) (holding qfo2) (clear jzf3) (clear nhi1) (clear qtn5)",
"(on jzf3 tat4) (clear qfo2) (arm-empty) (on-table qtn5) (on-table nhi1) (on-table tat4) (on qfo2 nhi1) (clear jzf3) (clear qtn5)",
"(clear qfo2) (on-table qtn5) (on-table nhi1) (clear tat4) (on-table tat4) (on qfo2 nhi1) (holding jzf3) (clear qtn5)",
"(clear qfo2) (on jzf3 qtn5) (arm-empty) (on-table qtn5) (on-table nhi1) (clear tat4) (on-table tat4) (on qfo2 nhi1) (clear jzf3)",
"(on jzf3 qtn5) (on-table qtn5) (on-table nhi1) (clear tat4) (on-table tat4) (holding qfo2) (clear jzf3) (clear nhi1)",
"(on jzf3 qtn5) (clear qfo2) (arm-empty) (on-table qtn5) (on-table nhi1) (on-table tat4) (on qfo2 tat4) (clear jzf3) (clear nhi1)"
] |
file_214482
|
GOAL: (clear mns2) (on-table mns2) (on-table nge5) (holding bhb4) (on-table wlx1) (on tkh3 wlx1) (clear tkh3) (clear nge5)
|
GOAL: (clear mns2) (on-table mns2) (on-table nge5) (holding bhb4) (on-table wlx1) (on tkh3 wlx1) (clear tkh3) (clear nge5)
STATE: (on nge5 bhb4) (on-table wlx1) (on bhb4 mns2) (on mns2 wlx1) (holding tkh3) (clear nge5)
|
[
[
"put-down tkh3"
],
[
"unstack nge5 bhb4"
],
[
"put-down nge5"
],
[
"unstack bhb4 mns2"
],
[
"stack bhb4 nge5"
],
[
"unstack mns2 wlx1"
],
[
"stack mns2 bhb4"
],
[
"pick-up tkh3"
],
[
"stack tkh3 wlx1"
],
[
"unstack mns2 bhb4"
],
[
"put-down mns2"
],
[
"unstack bhb4 nge5"
]
] |
[
"(arm-empty) (on nge5 bhb4) (on mns2 wlx1) (clear nge5) (on-table wlx1) (on bhb4 mns2) (clear tkh3) (on-table tkh3)",
"(on-table wlx1) (clear bhb4) (holding nge5) (on bhb4 mns2) (on mns2 wlx1) (clear tkh3) (on-table tkh3)",
"(arm-empty) (on-table nge5) (clear bhb4) (on mns2 wlx1) (clear nge5) (on-table wlx1) (on bhb4 mns2) (clear tkh3) (on-table tkh3)",
"(clear mns2) (on-table nge5) (on-table wlx1) (holding bhb4) (on mns2 wlx1) (clear tkh3) (on-table tkh3) (clear nge5)",
"(clear mns2) (arm-empty) (on-table nge5) (on-table wlx1) (on bhb4 nge5) (clear bhb4) (on mns2 wlx1) (clear tkh3) (on-table tkh3)",
"(on-table nge5) (on-table wlx1) (on bhb4 nge5) (clear bhb4) (holding mns2) (clear tkh3) (clear wlx1) (on-table tkh3)",
"(clear mns2) (arm-empty) (on-table nge5) (on-table wlx1) (on bhb4 nge5) (on mns2 bhb4) (clear tkh3) (clear wlx1) (on-table tkh3)",
"(clear mns2) (on-table nge5) (on-table wlx1) (on bhb4 nge5) (on mns2 bhb4) (holding tkh3) (clear wlx1)",
"(clear mns2) (arm-empty) (on-table nge5) (on-table wlx1) (on bhb4 nge5) (on mns2 bhb4) (on tkh3 wlx1) (clear tkh3)",
"(on-table nge5) (on-table wlx1) (on bhb4 nge5) (clear bhb4) (holding mns2) (on tkh3 wlx1) (clear tkh3)",
"(arm-empty) (on-table mns2) (on-table nge5) (on bhb4 nge5) (clear bhb4) (on tkh3 wlx1) (clear mns2) (on-table wlx1) (clear tkh3)",
"(clear mns2) (on-table mns2) (on-table nge5) (holding bhb4) (on-table wlx1) (on tkh3 wlx1) (clear tkh3) (clear nge5)"
] |
file_81721
|
GOAL: (clear faj2) (arm-empty) (on-table bsr1) (clear zye4) (on ews5 bsr1) (on-table zye4) (on faj2 sgt3) (on-table sgt3) (clear ews5)
|
GOAL: (clear faj2) (arm-empty) (on-table bsr1) (clear zye4) (on ews5 bsr1) (on-table zye4) (on faj2 sgt3) (on-table sgt3) (clear ews5)
STATE: (on sgt3 zye4) (clear faj2) (arm-empty) (on zye4 ews5) (on-table bsr1) (on ews5 bsr1) (on faj2 sgt3)
|
[
[
"unstack faj2 sgt3"
],
[
"put-down faj2"
],
[
"unstack sgt3 zye4"
],
[
"put-down sgt3"
],
[
"unstack zye4 ews5"
],
[
"put-down zye4"
],
[
"pick-up faj2"
],
[
"stack faj2 sgt3"
]
] |
[
"(on zye4 ews5) (on sgt3 zye4) (on-table bsr1) (on ews5 bsr1) (holding faj2) (clear sgt3)",
"(arm-empty) (on-table faj2) (on zye4 ews5) (on sgt3 zye4) (clear faj2) (on-table bsr1) (on ews5 bsr1) (clear sgt3)",
"(clear faj2) (on-table faj2) (on zye4 ews5) (on-table bsr1) (clear zye4) (on ews5 bsr1) (holding sgt3)",
"(arm-empty) (on-table faj2) (on zye4 ews5) (clear zye4) (clear faj2) (on-table bsr1) (on ews5 bsr1) (clear sgt3) (on-table sgt3)",
"(clear faj2) (on-table faj2) (on-table bsr1) (holding zye4) (on ews5 bsr1) (clear sgt3) (on-table sgt3) (clear ews5)",
"(clear faj2) (arm-empty) (on-table faj2) (on-table bsr1) (clear zye4) (on ews5 bsr1) (on-table zye4) (clear sgt3) (on-table sgt3) (clear ews5)",
"(on-table bsr1) (clear zye4) (on ews5 bsr1) (on-table zye4) (holding faj2) (clear sgt3) (on-table sgt3) (clear ews5)",
"(clear faj2) (arm-empty) (on-table bsr1) (clear zye4) (on ews5 bsr1) (on-table zye4) (on faj2 sgt3) (on-table sgt3) (clear ews5)"
] |
file_48731
|
GOAL: (arm-empty) (on yax5 dke4) (on-table jif1) (on ozy3 jif1) (on dke4 fid2) (on fid2 ozy3) (clear yax5)
|
GOAL: (arm-empty) (on yax5 dke4) (on-table jif1) (on ozy3 jif1) (on dke4 fid2) (on fid2 ozy3) (clear yax5)
STATE: (holding jif1) (on-table yax5) (on dke4 yax5) (on ozy3 fid2) (on fid2 dke4) (clear ozy3)
|
[
[
"put-down jif1"
],
[
"unstack ozy3 fid2"
],
[
"stack ozy3 jif1"
],
[
"unstack fid2 dke4"
],
[
"stack fid2 ozy3"
],
[
"unstack dke4 yax5"
],
[
"stack dke4 fid2"
],
[
"pick-up yax5"
],
[
"stack yax5 dke4"
]
] |
[
"(arm-empty) (on-table yax5) (on dke4 yax5) (on fid2 dke4) (on-table jif1) (on ozy3 fid2) (clear ozy3) (clear jif1)",
"(clear fid2) (on-table yax5) (on dke4 yax5) (on-table jif1) (on fid2 dke4) (holding ozy3) (clear jif1)",
"(clear fid2) (arm-empty) (on-table yax5) (on-table jif1) (on dke4 yax5) (on fid2 dke4) (on ozy3 jif1) (clear ozy3)",
"(on-table yax5) (on-table jif1) (on dke4 yax5) (clear dke4) (holding fid2) (on ozy3 jif1) (clear ozy3)",
"(clear fid2) (arm-empty) (on-table yax5) (on-table jif1) (on dke4 yax5) (clear dke4) (on ozy3 jif1) (on fid2 ozy3)",
"(clear fid2) (on-table yax5) (on-table jif1) (holding dke4) (on ozy3 jif1) (on fid2 ozy3) (clear yax5)",
"(arm-empty) (on-table yax5) (on-table jif1) (clear dke4) (on ozy3 jif1) (on dke4 fid2) (on fid2 ozy3) (clear yax5)",
"(on-table jif1) (clear dke4) (on ozy3 jif1) (holding yax5) (on dke4 fid2) (on fid2 ozy3)",
"(arm-empty) (on yax5 dke4) (on-table jif1) (on ozy3 jif1) (on dke4 fid2) (on fid2 ozy3) (clear yax5)"
] |
file_138335
|
GOAL: (on gdq1 eal5) (clear ndk2) (arm-empty) (on-table ndk2) (on-table eal5) (clear cek4) (on-table cek4) (clear tax3) (clear gdq1) (on-table tax3)
|
GOAL: (on gdq1 eal5) (clear ndk2) (arm-empty) (on-table ndk2) (on-table eal5) (clear cek4) (on-table cek4) (clear tax3) (clear gdq1) (on-table tax3)
STATE: (on gdq1 eal5) (on-table eal5) (clear cek4) (on-table cek4) (holding ndk2) (on tax3 gdq1) (clear tax3)
|
[
[
"put-down ndk2"
],
[
"unstack tax3 gdq1"
],
[
"put-down tax3"
]
] |
[
"(on gdq1 eal5) (arm-empty) (on-table ndk2) (on-table eal5) (clear cek4) (on tax3 gdq1) (clear ndk2) (on-table cek4) (clear tax3)",
"(on gdq1 eal5) (clear ndk2) (on-table ndk2) (on-table eal5) (clear cek4) (on-table cek4) (holding tax3) (clear gdq1)",
"(on gdq1 eal5) (clear ndk2) (arm-empty) (on-table ndk2) (on-table eal5) (clear cek4) (on-table cek4) (clear tax3) (clear gdq1) (on-table tax3)"
] |
file_210070
|
GOAL: (on-table cve2) (clear fho4) (on mtq1 cve2) (on-table fho4) (holding gyl3) (clear mtq1)
|
GOAL: (on-table cve2) (clear fho4) (on mtq1 cve2) (on-table fho4) (holding gyl3) (clear mtq1)
STATE: (on gyl3 fho4) (clear cve2) (arm-empty) (on-table mtq1) (on-table fho4) (on cve2 gyl3) (clear mtq1)
|
[
[
"unstack cve2 gyl3"
],
[
"put-down cve2"
],
[
"pick-up mtq1"
],
[
"stack mtq1 cve2"
],
[
"unstack gyl3 fho4"
]
] |
[
"(on gyl3 fho4) (on-table mtq1) (on-table fho4) (holding cve2) (clear gyl3) (clear mtq1)",
"(arm-empty) (on-table cve2) (on gyl3 fho4) (clear cve2) (on-table mtq1) (on-table fho4) (clear gyl3) (clear mtq1)",
"(holding mtq1) (on gyl3 fho4) (clear cve2) (on-table cve2) (on-table fho4) (clear gyl3)",
"(on gyl3 fho4) (arm-empty) (on-table cve2) (on-table fho4) (clear gyl3) (on mtq1 cve2) (clear mtq1)",
"(on-table cve2) (clear fho4) (on mtq1 cve2) (on-table fho4) (holding gyl3) (clear mtq1)"
] |
file_88513
|
GOAL: (arm-empty) (on-table wva5) (on pux2 xgx1) (clear wva5) (on kzj3 rop4) (clear pux2) (on-table xgx1) (on-table rop4) (clear kzj3)
|
GOAL: (arm-empty) (on-table wva5) (on pux2 xgx1) (clear wva5) (on kzj3 rop4) (clear pux2) (on-table xgx1) (on-table rop4) (clear kzj3)
STATE: (on kzj3 rop4) (on xgx1 kzj3) (arm-empty) (on wva5 pux2) (on-table rop4) (on pux2 xgx1) (clear wva5)
|
[
[
"unstack wva5 pux2"
],
[
"put-down wva5"
],
[
"unstack pux2 xgx1"
],
[
"put-down pux2"
],
[
"pick-up wva5"
],
[
"stack wva5 pux2"
],
[
"unstack xgx1 kzj3"
],
[
"put-down xgx1"
],
[
"unstack wva5 pux2"
],
[
"stack wva5 kzj3"
],
[
"pick-up pux2"
],
[
"stack pux2 xgx1"
],
[
"unstack wva5 kzj3"
],
[
"put-down wva5"
]
] |
[
"(on xgx1 kzj3) (holding wva5) (on pux2 xgx1) (on kzj3 rop4) (clear pux2) (on-table rop4)",
"(on xgx1 kzj3) (arm-empty) (on-table wva5) (on pux2 xgx1) (clear wva5) (on kzj3 rop4) (clear pux2) (on-table rop4)",
"(on kzj3 rop4) (on xgx1 kzj3) (on-table wva5) (on-table rop4) (holding pux2) (clear xgx1) (clear wva5)",
"(on xgx1 kzj3) (arm-empty) (on-table pux2) (on-table wva5) (clear wva5) (on kzj3 rop4) (clear pux2) (on-table rop4) (clear xgx1)",
"(on kzj3 rop4) (clear pux2) (on xgx1 kzj3) (on-table pux2) (holding wva5) (on-table rop4) (clear xgx1)",
"(on kzj3 rop4) (on xgx1 kzj3) (arm-empty) (on-table pux2) (on wva5 pux2) (on-table rop4) (clear xgx1) (clear wva5)",
"(holding xgx1) (on kzj3 rop4) (on-table pux2) (on wva5 pux2) (on-table rop4) (clear kzj3) (clear wva5)",
"(arm-empty) (on-table pux2) (on wva5 pux2) (clear wva5) (on kzj3 rop4) (on-table xgx1) (on-table rop4) (clear kzj3) (clear xgx1)",
"(on kzj3 rop4) (clear pux2) (on-table pux2) (on-table xgx1) (holding wva5) (on-table rop4) (clear kzj3) (clear xgx1)",
"(on kzj3 rop4) (clear pux2) (arm-empty) (on-table pux2) (on-table xgx1) (on wva5 kzj3) (on-table rop4) (clear xgx1) (clear wva5)",
"(on kzj3 rop4) (on-table xgx1) (on wva5 kzj3) (on-table rop4) (holding pux2) (clear xgx1) (clear wva5)",
"(on kzj3 rop4) (clear pux2) (arm-empty) (on-table xgx1) (on wva5 kzj3) (on-table rop4) (on pux2 xgx1) (clear wva5)",
"(on kzj3 rop4) (clear pux2) (on-table xgx1) (holding wva5) (on-table rop4) (on pux2 xgx1) (clear kzj3)",
"(arm-empty) (on-table wva5) (on pux2 xgx1) (clear wva5) (on kzj3 rop4) (clear pux2) (on-table xgx1) (on-table rop4) (clear kzj3)"
] |
file_28969
|
GOAL: (clear hrj2) (on vfq5 czn4) (on-table uom1) (on-table czn4) (on hrj2 uom1) (holding crh3) (clear vfq5)
|
GOAL: (clear hrj2) (on vfq5 czn4) (on-table uom1) (on-table czn4) (on hrj2 uom1) (holding crh3) (clear vfq5)
STATE: (holding uom1) (on crh3 czn4) (clear hrj2) (on-table vfq5) (on-table czn4) (on hrj2 crh3) (clear vfq5)
|
[
[
"put-down uom1"
],
[
"unstack hrj2 crh3"
],
[
"stack hrj2 uom1"
],
[
"unstack crh3 czn4"
],
[
"stack crh3 hrj2"
],
[
"pick-up vfq5"
],
[
"stack vfq5 czn4"
],
[
"unstack crh3 hrj2"
]
] |
[
"(arm-empty) (on-table vfq5) (clear vfq5) (on crh3 czn4) (clear hrj2) (on-table uom1) (on-table czn4) (on hrj2 crh3) (clear uom1)",
"(on crh3 czn4) (on-table vfq5) (on-table uom1) (on-table czn4) (holding hrj2) (clear crh3) (clear uom1) (clear vfq5)",
"(on crh3 czn4) (clear hrj2) (arm-empty) (on-table vfq5) (on-table uom1) (on-table czn4) (on hrj2 uom1) (clear crh3) (clear vfq5)",
"(clear hrj2) (on-table vfq5) (on-table uom1) (clear czn4) (on-table czn4) (on hrj2 uom1) (holding crh3) (clear vfq5)",
"(arm-empty) (on-table vfq5) (on-table uom1) (on crh3 hrj2) (clear czn4) (on-table czn4) (on hrj2 uom1) (clear crh3) (clear vfq5)",
"(on-table uom1) (on crh3 hrj2) (clear czn4) (holding vfq5) (on-table czn4) (on hrj2 uom1) (clear crh3)",
"(arm-empty) (on vfq5 czn4) (on-table uom1) (on crh3 hrj2) (on-table czn4) (on hrj2 uom1) (clear crh3) (clear vfq5)",
"(clear hrj2) (on vfq5 czn4) (on-table uom1) (on-table czn4) (on hrj2 uom1) (holding crh3) (clear vfq5)"
] |
file_214272
|
GOAL: (on iui1 kaa5) (clear xef2) (on bhh4 iui1) (on-table xef2) (on-table kaa5) (clear bhh4) (holding scl3)
|
GOAL: (on iui1 kaa5) (clear xef2) (on bhh4 iui1) (on-table xef2) (on-table kaa5) (clear bhh4) (holding scl3)
STATE: (clear xef2) (arm-empty) (on-table xef2) (on bhh4 kaa5) (on kaa5 scl3) (on iui1 bhh4) (clear iui1) (on-table scl3)
|
[
[
"unstack iui1 bhh4"
],
[
"put-down iui1"
],
[
"unstack bhh4 kaa5"
],
[
"stack bhh4 xef2"
],
[
"pick-up iui1"
],
[
"stack iui1 bhh4"
],
[
"unstack kaa5 scl3"
],
[
"put-down kaa5"
],
[
"unstack iui1 bhh4"
],
[
"stack iui1 kaa5"
],
[
"unstack bhh4 xef2"
],
[
"stack bhh4 iui1"
],
[
"pick-up scl3"
]
] |
[
"(holding iui1) (clear xef2) (on-table xef2) (on bhh4 kaa5) (clear bhh4) (on kaa5 scl3) (on-table scl3)",
"(arm-empty) (on-table xef2) (on bhh4 kaa5) (clear bhh4) (on kaa5 scl3) (clear xef2) (on-table iui1) (clear iui1) (on-table scl3)",
"(clear xef2) (on-table xef2) (on-table iui1) (holding bhh4) (on kaa5 scl3) (clear iui1) (on-table scl3) (clear kaa5)",
"(arm-empty) (on-table xef2) (on-table iui1) (clear bhh4) (on kaa5 scl3) (on bhh4 xef2) (clear iui1) (on-table scl3) (clear kaa5)",
"(holding iui1) (on-table xef2) (clear bhh4) (on kaa5 scl3) (on bhh4 xef2) (on-table scl3) (clear kaa5)",
"(arm-empty) (on-table xef2) (on kaa5 scl3) (on iui1 bhh4) (on bhh4 xef2) (clear iui1) (on-table scl3) (clear kaa5)",
"(on-table xef2) (holding kaa5) (on iui1 bhh4) (on bhh4 xef2) (clear scl3) (clear iui1) (on-table scl3)",
"(arm-empty) (on-table xef2) (on-table kaa5) (clear kaa5) (on iui1 bhh4) (on bhh4 xef2) (clear scl3) (clear iui1) (on-table scl3)",
"(holding iui1) (on-table xef2) (on-table kaa5) (clear bhh4) (on bhh4 xef2) (clear scl3) (on-table scl3) (clear kaa5)",
"(on iui1 kaa5) (arm-empty) (on-table xef2) (on-table kaa5) (clear bhh4) (on bhh4 xef2) (clear scl3) (clear iui1) (on-table scl3)",
"(on iui1 kaa5) (clear xef2) (on-table xef2) (on-table kaa5) (holding bhh4) (clear scl3) (clear iui1) (on-table scl3)",
"(on iui1 kaa5) (clear xef2) (on bhh4 iui1) (arm-empty) (on-table xef2) (on-table kaa5) (clear bhh4) (clear scl3) (on-table scl3)",
"(on iui1 kaa5) (clear xef2) (on bhh4 iui1) (on-table xef2) (on-table kaa5) (clear bhh4) (holding scl3)"
] |
file_193262
|
GOAL: (on pvd1 voe3) (on xud4 pvd1) (on-table yet2) (arm-empty) (on ffx5 yet2) (clear xud4) (on-table voe3) (clear ffx5)
|
GOAL: (on pvd1 voe3) (on xud4 pvd1) (on-table yet2) (arm-empty) (on ffx5 yet2) (clear xud4) (on-table voe3) (clear ffx5)
STATE: (on pvd1 voe3) (arm-empty) (on xud4 ffx5) (on ffx5 yet2) (clear xud4) (on yet2 pvd1) (on-table voe3)
|
[
[
"unstack xud4 ffx5"
],
[
"put-down xud4"
],
[
"unstack ffx5 yet2"
],
[
"stack ffx5 xud4"
],
[
"unstack yet2 pvd1"
],
[
"put-down yet2"
],
[
"unstack ffx5 xud4"
],
[
"stack ffx5 yet2"
],
[
"pick-up xud4"
],
[
"stack xud4 pvd1"
]
] |
[
"(on pvd1 voe3) (holding xud4) (on ffx5 yet2) (on yet2 pvd1) (clear ffx5) (on-table voe3)",
"(on pvd1 voe3) (arm-empty) (on ffx5 yet2) (clear xud4) (on yet2 pvd1) (clear ffx5) (on-table xud4) (on-table voe3)",
"(clear yet2) (on pvd1 voe3) (clear xud4) (holding ffx5) (on-table xud4) (on yet2 pvd1) (on-table voe3)",
"(clear yet2) (on pvd1 voe3) (on ffx5 xud4) (arm-empty) (on-table xud4) (on yet2 pvd1) (on-table voe3) (clear ffx5)",
"(on pvd1 voe3) (on ffx5 xud4) (on-table xud4) (holding yet2) (clear pvd1) (on-table voe3) (clear ffx5)",
"(on pvd1 voe3) (on ffx5 xud4) (on-table yet2) (arm-empty) (clear ffx5) (clear yet2) (on-table xud4) (clear pvd1) (on-table voe3)",
"(clear yet2) (on pvd1 voe3) (on-table yet2) (clear xud4) (holding ffx5) (on-table xud4) (clear pvd1) (on-table voe3)",
"(on pvd1 voe3) (arm-empty) (on-table yet2) (on ffx5 yet2) (clear xud4) (on-table xud4) (clear pvd1) (on-table voe3) (clear ffx5)",
"(on pvd1 voe3) (on-table yet2) (holding xud4) (on ffx5 yet2) (clear pvd1) (on-table voe3) (clear ffx5)",
"(on pvd1 voe3) (on xud4 pvd1) (on-table yet2) (arm-empty) (on ffx5 yet2) (clear xud4) (on-table voe3) (clear ffx5)"
] |
file_184886
|
GOAL: (on uck3 pkf5) (clear fst2) (arm-empty) (on pkf5 fgb1) (on-table rra4) (on fgb1 rra4) (on fst2 uck3)
|
GOAL: (on uck3 pkf5) (clear fst2) (arm-empty) (on pkf5 fgb1) (on-table rra4) (on fgb1 rra4) (on fst2 uck3)
STATE: (holding fgb1) (on-table fst2) (on uck3 fst2) (clear rra4) (on pkf5 uck3) (on-table rra4) (clear pkf5)
|
[
[
"stack fgb1 rra4"
],
[
"unstack pkf5 uck3"
],
[
"stack pkf5 fgb1"
],
[
"unstack uck3 fst2"
],
[
"stack uck3 pkf5"
],
[
"pick-up fst2"
],
[
"stack fst2 uck3"
]
] |
[
"(arm-empty) (on-table fst2) (on uck3 fst2) (on pkf5 uck3) (on-table rra4) (on fgb1 rra4) (clear fgb1) (clear pkf5)",
"(on-table fst2) (on uck3 fst2) (holding pkf5) (on-table rra4) (on fgb1 rra4) (clear uck3) (clear fgb1)",
"(arm-empty) (on-table fst2) (on uck3 fst2) (on pkf5 fgb1) (on-table rra4) (on fgb1 rra4) (clear uck3) (clear pkf5)",
"(clear fst2) (on-table fst2) (on pkf5 fgb1) (on-table rra4) (on fgb1 rra4) (holding uck3) (clear pkf5)",
"(clear fst2) (on uck3 pkf5) (arm-empty) (on-table fst2) (on pkf5 fgb1) (on-table rra4) (on fgb1 rra4) (clear uck3)",
"(on uck3 pkf5) (holding fst2) (on pkf5 fgb1) (on-table rra4) (on fgb1 rra4) (clear uck3)",
"(on uck3 pkf5) (clear fst2) (arm-empty) (on pkf5 fgb1) (on-table rra4) (on fgb1 rra4) (on fst2 uck3)"
] |
file_9910
|
GOAL: (on-table zhg4) (on one2 zhg4) (on sjg1 one2) (clear sjg1) (holding lyb3)
|
GOAL: (on-table zhg4) (on one2 zhg4) (on sjg1 one2) (clear sjg1) (holding lyb3)
STATE: (clear one2) (arm-empty) (on-table sjg1) (clear zhg4) (on-table zhg4) (on one2 lyb3) (clear sjg1) (on-table lyb3)
|
[
[
"unstack one2 lyb3"
],
[
"stack one2 zhg4"
],
[
"pick-up sjg1"
],
[
"stack sjg1 one2"
],
[
"pick-up lyb3"
]
] |
[
"(on-table sjg1) (clear zhg4) (on-table zhg4) (holding one2) (clear lyb3) (clear sjg1) (on-table lyb3)",
"(clear one2) (arm-empty) (on-table sjg1) (on-table zhg4) (on one2 zhg4) (clear lyb3) (clear sjg1) (on-table lyb3)",
"(holding sjg1) (clear one2) (on-table zhg4) (on one2 zhg4) (clear lyb3) (on-table lyb3)",
"(arm-empty) (on-table zhg4) (on one2 zhg4) (clear lyb3) (on sjg1 one2) (clear sjg1) (on-table lyb3)",
"(on-table zhg4) (on one2 zhg4) (on sjg1 one2) (clear sjg1) (holding lyb3)"
] |
file_32667
|
GOAL: (on czo3 fkq5) (arm-empty) (on fkq5 qos4) (on-table kod2) (on-table qos4) (clear czo3) (on rop1 kod2) (clear rop1)
|
GOAL: (on czo3 fkq5) (arm-empty) (on fkq5 qos4) (on-table kod2) (on-table qos4) (clear czo3) (on rop1 kod2) (clear rop1)
STATE: (on czo3 qos4) (on qos4 rop1) (arm-empty) (on-table kod2) (on-table fkq5) (clear czo3) (on rop1 kod2) (clear fkq5)
|
[
[
"unstack czo3 qos4"
],
[
"stack czo3 fkq5"
],
[
"unstack qos4 rop1"
],
[
"put-down qos4"
],
[
"unstack czo3 fkq5"
],
[
"stack czo3 rop1"
],
[
"pick-up fkq5"
],
[
"stack fkq5 qos4"
],
[
"unstack czo3 rop1"
],
[
"stack czo3 fkq5"
]
] |
[
"(on qos4 rop1) (on-table kod2) (on-table fkq5) (clear qos4) (on rop1 kod2) (holding czo3) (clear fkq5)",
"(on czo3 fkq5) (on qos4 rop1) (arm-empty) (on-table kod2) (on-table fkq5) (clear qos4) (clear czo3) (on rop1 kod2)",
"(on czo3 fkq5) (on-table kod2) (on-table fkq5) (holding qos4) (clear czo3) (on rop1 kod2) (clear rop1)",
"(on czo3 fkq5) (arm-empty) (on-table kod2) (on-table fkq5) (clear qos4) (on rop1 kod2) (on-table qos4) (clear czo3) (clear rop1)",
"(on-table kod2) (on-table fkq5) (clear qos4) (on-table qos4) (on rop1 kod2) (clear rop1) (holding czo3) (clear fkq5)",
"(arm-empty) (on-table kod2) (on-table fkq5) (clear qos4) (on-table qos4) (on czo3 rop1) (clear czo3) (on rop1 kod2) (clear fkq5)",
"(on-table kod2) (clear qos4) (holding fkq5) (on-table qos4) (on czo3 rop1) (clear czo3) (on rop1 kod2)",
"(arm-empty) (on fkq5 qos4) (on-table kod2) (on-table qos4) (on czo3 rop1) (clear czo3) (on rop1 kod2) (clear fkq5)",
"(on fkq5 qos4) (on-table kod2) (on-table qos4) (on rop1 kod2) (clear rop1) (holding czo3) (clear fkq5)",
"(on czo3 fkq5) (arm-empty) (on fkq5 qos4) (on-table kod2) (on-table qos4) (clear czo3) (on rop1 kod2) (clear rop1)"
] |
file_84533
|
GOAL: (on-table qti2) (on map5 qti2) (on-table nad4) (on ibx1 nad4) (holding sjd3) (clear ibx1) (clear map5)
|
GOAL: (on-table qti2) (on map5 qti2) (on-table nad4) (on ibx1 nad4) (holding sjd3) (clear ibx1) (clear map5)
STATE: (holding ibx1) (clear qti2) (on-table qti2) (on-table map5) (clear nad4) (on-table nad4) (clear sjd3) (on-table sjd3) (clear map5)
|
[
[
"stack ibx1 nad4"
],
[
"pick-up map5"
],
[
"stack map5 qti2"
],
[
"pick-up sjd3"
]
] |
[
"(clear qti2) (arm-empty) (on-table qti2) (on-table map5) (on-table nad4) (on ibx1 nad4) (clear sjd3) (clear ibx1) (on-table sjd3) (clear map5)",
"(clear qti2) (on-table qti2) (holding map5) (on-table nad4) (on ibx1 nad4) (clear sjd3) (clear ibx1) (on-table sjd3)",
"(arm-empty) (on-table qti2) (on map5 qti2) (on-table nad4) (on ibx1 nad4) (clear sjd3) (clear ibx1) (on-table sjd3) (clear map5)",
"(on-table qti2) (on map5 qti2) (on-table nad4) (on ibx1 nad4) (holding sjd3) (clear ibx1) (clear map5)"
] |
file_25432
|
GOAL: (on ags1 egs5) (clear qmo2) (arm-empty) (on-table egs5) (on-table dpw4) (on qmo2 dpw4) (clear lqq3) (clear ags1) (on-table lqq3)
|
GOAL: (on ags1 egs5) (clear qmo2) (arm-empty) (on-table egs5) (on-table dpw4) (on qmo2 dpw4) (clear lqq3) (clear ags1) (on-table lqq3)
STATE: (arm-empty) (on-table ags1) (on egs5 qmo2) (on-table dpw4) (on qmo2 dpw4) (clear lqq3) (clear ags1) (on-table lqq3) (clear egs5)
|
[
[
"pick-up ags1"
],
[
"stack ags1 lqq3"
],
[
"unstack egs5 qmo2"
],
[
"put-down egs5"
],
[
"unstack ags1 lqq3"
],
[
"stack ags1 egs5"
]
] |
[
"(holding ags1) (on egs5 qmo2) (on-table dpw4) (on qmo2 dpw4) (clear lqq3) (on-table lqq3) (clear egs5)",
"(on ags1 lqq3) (arm-empty) (on egs5 qmo2) (on-table dpw4) (on qmo2 dpw4) (clear ags1) (on-table lqq3) (clear egs5)",
"(clear qmo2) (on ags1 lqq3) (holding egs5) (on-table dpw4) (on qmo2 dpw4) (clear ags1) (on-table lqq3)",
"(on ags1 lqq3) (arm-empty) (on-table egs5) (on qmo2 dpw4) (clear egs5) (clear qmo2) (on-table dpw4) (clear ags1) (on-table lqq3)",
"(holding ags1) (clear qmo2) (on-table egs5) (on-table dpw4) (on qmo2 dpw4) (clear lqq3) (on-table lqq3) (clear egs5)",
"(on ags1 egs5) (clear qmo2) (arm-empty) (on-table egs5) (on-table dpw4) (on qmo2 dpw4) (clear lqq3) (clear ags1) (on-table lqq3)"
] |
file_134714
|
GOAL: (holding fcr1) (on-table flp2) (on uiw5 flp2) (clear mxq4) (on-table mxq4) (clear fdh3) (on-table fdh3) (clear uiw5)
|
GOAL: (holding fcr1) (on-table flp2) (on uiw5 flp2) (clear mxq4) (on-table mxq4) (clear fdh3) (on-table fdh3) (clear uiw5)
STATE: (on fcr1 fdh3) (arm-empty) (clear mxq4) (on uiw5 fcr1) (on mxq4 flp2) (on flp2 uiw5) (on-table fdh3)
|
[
[
"unstack mxq4 flp2"
],
[
"put-down mxq4"
],
[
"unstack flp2 uiw5"
],
[
"put-down flp2"
],
[
"unstack uiw5 fcr1"
],
[
"stack uiw5 flp2"
],
[
"unstack fcr1 fdh3"
]
] |
[
"(on uiw5 fcr1) (clear flp2) (on fcr1 fdh3) (holding mxq4) (on flp2 uiw5) (on-table fdh3)",
"(on fcr1 fdh3) (arm-empty) (clear mxq4) (on flp2 uiw5) (clear flp2) (on uiw5 fcr1) (on-table mxq4) (on-table fdh3)",
"(on fcr1 fdh3) (clear mxq4) (on uiw5 fcr1) (on-table mxq4) (holding flp2) (on-table fdh3) (clear uiw5)",
"(on fcr1 fdh3) (arm-empty) (on-table flp2) (clear mxq4) (clear uiw5) (clear flp2) (on uiw5 fcr1) (on-table mxq4) (on-table fdh3)",
"(clear flp2) (on fcr1 fdh3) (on-table flp2) (clear mxq4) (holding uiw5) (on-table mxq4) (clear fcr1) (on-table fdh3)",
"(on fcr1 fdh3) (arm-empty) (on-table flp2) (on uiw5 flp2) (clear mxq4) (on-table mxq4) (clear fcr1) (on-table fdh3) (clear uiw5)",
"(holding fcr1) (on-table flp2) (on uiw5 flp2) (clear mxq4) (on-table mxq4) (clear fdh3) (on-table fdh3) (clear uiw5)"
] |
file_155050
|
GOAL: (clear vvi2) (arm-empty) (on ysr5 amd4) (on-table vvi2) (on-table cez1) (on amd4 oby3) (clear cez1) (on-table oby3) (clear ysr5)
|
GOAL: (clear vvi2) (arm-empty) (on ysr5 amd4) (on-table vvi2) (on-table cez1) (on amd4 oby3) (clear cez1) (on-table oby3) (clear ysr5)
STATE: (on-table ysr5) (on cez1 amd4) (on amd4 oby3) (holding vvi2) (clear cez1) (on-table oby3) (clear ysr5)
|
[
[
"put-down vvi2"
],
[
"unstack cez1 amd4"
],
[
"put-down cez1"
],
[
"pick-up ysr5"
],
[
"stack ysr5 amd4"
]
] |
[
"(arm-empty) (on-table vvi2) (on-table ysr5) (clear ysr5) (clear vvi2) (on amd4 oby3) (on cez1 amd4) (clear cez1) (on-table oby3)",
"(holding cez1) (clear vvi2) (on-table vvi2) (on-table ysr5) (clear amd4) (on amd4 oby3) (on-table oby3) (clear ysr5)",
"(clear vvi2) (arm-empty) (on-table vvi2) (on-table ysr5) (on-table cez1) (clear amd4) (on amd4 oby3) (clear cez1) (on-table oby3) (clear ysr5)",
"(clear vvi2) (on-table vvi2) (on-table cez1) (clear amd4) (on amd4 oby3) (holding ysr5) (clear cez1) (on-table oby3)",
"(clear vvi2) (arm-empty) (on ysr5 amd4) (on-table vvi2) (on-table cez1) (on amd4 oby3) (clear cez1) (on-table oby3) (clear ysr5)"
] |
file_6752
|
GOAL: (on iwt1 kfs5) (arm-empty) (on-table lzf2) (on kfs5 lzf2) (clear bap4) (on-table bap4) (clear qho3) (clear iwt1) (on-table qho3)
|
GOAL: (on iwt1 kfs5) (arm-empty) (on-table lzf2) (on kfs5 lzf2) (clear bap4) (on-table bap4) (clear qho3) (clear iwt1) (on-table qho3)
STATE: (on qho3 bap4) (clear lzf2) (on iwt1 qho3) (arm-empty) (on-table lzf2) (on-table kfs5) (on-table bap4) (clear iwt1) (clear kfs5)
|
[
[
"pick-up kfs5"
],
[
"stack kfs5 lzf2"
],
[
"unstack iwt1 qho3"
],
[
"stack iwt1 kfs5"
],
[
"unstack qho3 bap4"
],
[
"put-down qho3"
]
] |
[
"(on qho3 bap4) (clear lzf2) (on iwt1 qho3) (on-table lzf2) (holding kfs5) (on-table bap4) (clear iwt1)",
"(on qho3 bap4) (on iwt1 qho3) (arm-empty) (on-table lzf2) (on kfs5 lzf2) (on-table bap4) (clear iwt1) (clear kfs5)",
"(holding iwt1) (on qho3 bap4) (on-table lzf2) (on kfs5 lzf2) (on-table bap4) (clear qho3) (clear kfs5)",
"(on qho3 bap4) (on iwt1 kfs5) (arm-empty) (on-table lzf2) (on kfs5 lzf2) (on-table bap4) (clear qho3) (clear iwt1)",
"(on iwt1 kfs5) (on-table lzf2) (on kfs5 lzf2) (clear bap4) (on-table bap4) (holding qho3) (clear iwt1)",
"(on iwt1 kfs5) (arm-empty) (on-table lzf2) (on kfs5 lzf2) (clear bap4) (on-table bap4) (clear qho3) (clear iwt1) (on-table qho3)"
] |
file_120599
|
GOAL: (arm-empty) (on odq5 poi3) (on-table xup4) (on ndg2 xup4) (on vln1 ndg2) (clear vln1) (on-table poi3) (clear odq5)
|
GOAL: (arm-empty) (on odq5 poi3) (on-table xup4) (on ndg2 xup4) (on vln1 ndg2) (clear vln1) (on-table poi3) (clear odq5)
STATE: (arm-empty) (clear xup4) (on odq5 poi3) (on-table xup4) (on ndg2 odq5) (on vln1 ndg2) (clear vln1) (on-table poi3)
|
[
[
"unstack vln1 ndg2"
],
[
"put-down vln1"
],
[
"unstack ndg2 odq5"
],
[
"stack ndg2 xup4"
],
[
"pick-up vln1"
],
[
"stack vln1 ndg2"
]
] |
[
"(holding vln1) (clear ndg2) (clear xup4) (on odq5 poi3) (on-table xup4) (on ndg2 odq5) (on-table poi3)",
"(arm-empty) (clear xup4) (on odq5 poi3) (on ndg2 odq5) (clear ndg2) (on-table vln1) (on-table xup4) (clear vln1) (on-table poi3)",
"(on-table vln1) (clear xup4) (on odq5 poi3) (on-table xup4) (holding ndg2) (clear vln1) (on-table poi3) (clear odq5)",
"(clear ndg2) (arm-empty) (on-table vln1) (on odq5 poi3) (on-table xup4) (on ndg2 xup4) (clear vln1) (on-table poi3) (clear odq5)",
"(holding vln1) (clear ndg2) (on odq5 poi3) (on-table xup4) (on ndg2 xup4) (on-table poi3) (clear odq5)",
"(arm-empty) (on odq5 poi3) (on-table xup4) (on ndg2 xup4) (on vln1 ndg2) (clear vln1) (on-table poi3) (clear odq5)"
] |
file_130456
|
GOAL: (on zne1 pmd5) (clear pgq2) (on-table pmd5) (holding ywd4) (on pgq2 swj3) (clear zne1) (on-table swj3)
|
GOAL: (on zne1 pmd5) (clear pgq2) (on-table pmd5) (holding ywd4) (on pgq2 swj3) (clear zne1) (on-table swj3)
STATE: (on zne1 pmd5) (clear pgq2) (on ywd4 zne1) (on swj3 ywd4) (arm-empty) (on-table pmd5) (on pgq2 swj3)
|
[
[
"unstack pgq2 swj3"
],
[
"put-down pgq2"
],
[
"unstack swj3 ywd4"
],
[
"put-down swj3"
],
[
"pick-up pgq2"
],
[
"stack pgq2 swj3"
],
[
"unstack ywd4 zne1"
]
] |
[
"(on zne1 pmd5) (on ywd4 zne1) (on-table pmd5) (on swj3 ywd4) (holding pgq2) (clear swj3)",
"(on zne1 pmd5) (on ywd4 zne1) (arm-empty) (on-table pgq2) (on-table pmd5) (on swj3 ywd4) (clear pgq2) (clear swj3)",
"(on zne1 pmd5) (on ywd4 zne1) (on-table pgq2) (on-table pmd5) (clear pgq2) (clear ywd4) (holding swj3)",
"(on zne1 pmd5) (on ywd4 zne1) (arm-empty) (on-table pgq2) (on-table pmd5) (clear ywd4) (clear pgq2) (clear swj3) (on-table swj3)",
"(on zne1 pmd5) (on ywd4 zne1) (on-table pmd5) (clear ywd4) (holding pgq2) (clear swj3) (on-table swj3)",
"(on zne1 pmd5) (clear pgq2) (on ywd4 zne1) (arm-empty) (on-table pmd5) (clear ywd4) (on pgq2 swj3) (on-table swj3)",
"(on zne1 pmd5) (clear pgq2) (on-table pmd5) (holding ywd4) (on pgq2 swj3) (clear zne1) (on-table swj3)"
] |
file_41425
|
GOAL: (holding uzn1) (clear mex2) (on-table hxo5) (on-table fly4) (on mex2 fly4) (clear plj3) (on-table plj3) (clear hxo5)
|
GOAL: (holding uzn1) (clear mex2) (on-table hxo5) (on-table fly4) (on mex2 fly4) (clear plj3) (on-table plj3) (clear hxo5)
STATE: (on uzn1 hxo5) (arm-empty) (clear fly4) (on hxo5 plj3) (on fly4 mex2) (on mex2 uzn1) (on-table plj3)
|
[
[
"unstack fly4 mex2"
],
[
"put-down fly4"
],
[
"unstack mex2 uzn1"
],
[
"stack mex2 fly4"
],
[
"unstack uzn1 hxo5"
],
[
"stack uzn1 mex2"
],
[
"unstack hxo5 plj3"
],
[
"put-down hxo5"
],
[
"unstack uzn1 mex2"
]
] |
[
"(on uzn1 hxo5) (clear mex2) (on-table plj3) (holding fly4) (on mex2 uzn1) (on hxo5 plj3)",
"(on uzn1 hxo5) (arm-empty) (clear fly4) (on hxo5 plj3) (on mex2 uzn1) (clear mex2) (on-table fly4) (on-table plj3)",
"(on uzn1 hxo5) (clear fly4) (on hxo5 plj3) (on-table fly4) (holding mex2) (clear uzn1) (on-table plj3)",
"(on uzn1 hxo5) (clear mex2) (arm-empty) (on hxo5 plj3) (on-table fly4) (on mex2 fly4) (clear uzn1) (on-table plj3)",
"(holding uzn1) (clear mex2) (on hxo5 plj3) (on-table fly4) (on mex2 fly4) (on-table plj3) (clear hxo5)",
"(arm-empty) (on hxo5 plj3) (on-table fly4) (on mex2 fly4) (on uzn1 mex2) (clear uzn1) (on-table plj3) (clear hxo5)",
"(holding hxo5) (on-table fly4) (on mex2 fly4) (clear plj3) (on uzn1 mex2) (clear uzn1) (on-table plj3)",
"(arm-empty) (on-table hxo5) (on mex2 fly4) (on uzn1 mex2) (clear hxo5) (on-table fly4) (clear plj3) (clear uzn1) (on-table plj3)",
"(holding uzn1) (clear mex2) (on-table hxo5) (on-table fly4) (on mex2 fly4) (clear plj3) (on-table plj3) (clear hxo5)"
] |
file_205638
|
GOAL: (on bql4 uxm1) (on lmz5 bql4) (on-table uxm1) (holding yoi2) (clear uqq3) (on-table uqq3) (clear lmz5)
|
GOAL: (on bql4 uxm1) (on lmz5 bql4) (on-table uxm1) (holding yoi2) (clear uqq3) (on-table uqq3) (clear lmz5)
STATE: (on uqq3 bql4) (clear yoi2) (arm-empty) (on-table yoi2) (on bql4 lmz5) (on-table lmz5) (on-table uxm1) (clear uqq3) (clear uxm1)
|
[
[
"pick-up uxm1"
],
[
"stack uxm1 yoi2"
],
[
"unstack uqq3 bql4"
],
[
"put-down uqq3"
],
[
"unstack uxm1 yoi2"
],
[
"put-down uxm1"
],
[
"unstack bql4 lmz5"
],
[
"stack bql4 uxm1"
],
[
"pick-up yoi2"
],
[
"stack yoi2 uqq3"
],
[
"pick-up lmz5"
],
[
"stack lmz5 bql4"
],
[
"unstack yoi2 uqq3"
]
] |
[
"(holding uxm1) (on uqq3 bql4) (clear yoi2) (on-table yoi2) (on bql4 lmz5) (on-table lmz5) (clear uqq3)",
"(on uqq3 bql4) (arm-empty) (on-table yoi2) (on bql4 lmz5) (on-table lmz5) (clear uqq3) (on uxm1 yoi2) (clear uxm1)",
"(on-table yoi2) (on bql4 lmz5) (on-table lmz5) (clear bql4) (on uxm1 yoi2) (clear uxm1) (holding uqq3)",
"(arm-empty) (on-table yoi2) (on bql4 lmz5) (on-table lmz5) (clear bql4) (on uxm1 yoi2) (clear uqq3) (clear uxm1) (on-table uqq3)",
"(holding uxm1) (clear yoi2) (on-table yoi2) (on bql4 lmz5) (on-table lmz5) (clear bql4) (clear uqq3) (on-table uqq3)",
"(clear yoi2) (arm-empty) (on-table yoi2) (on bql4 lmz5) (on-table lmz5) (on-table uxm1) (clear bql4) (clear uqq3) (clear uxm1) (on-table uqq3)",
"(clear yoi2) (on-table yoi2) (on-table lmz5) (on-table uxm1) (holding bql4) (clear uqq3) (clear uxm1) (on-table uqq3) (clear lmz5)",
"(clear yoi2) (on bql4 uxm1) (arm-empty) (on-table yoi2) (on-table lmz5) (on-table uxm1) (clear bql4) (clear uqq3) (on-table uqq3) (clear lmz5)",
"(on bql4 uxm1) (on-table lmz5) (on-table uxm1) (clear bql4) (holding yoi2) (clear uqq3) (on-table uqq3) (clear lmz5)",
"(clear yoi2) (on bql4 uxm1) (arm-empty) (on-table lmz5) (on-table uxm1) (clear bql4) (on yoi2 uqq3) (on-table uqq3) (clear lmz5)",
"(clear yoi2) (on bql4 uxm1) (on-table uxm1) (clear bql4) (holding lmz5) (on yoi2 uqq3) (on-table uqq3)",
"(clear yoi2) (on bql4 uxm1) (on lmz5 bql4) (arm-empty) (on-table uxm1) (on yoi2 uqq3) (on-table uqq3) (clear lmz5)",
"(on bql4 uxm1) (on lmz5 bql4) (on-table uxm1) (holding yoi2) (clear uqq3) (on-table uqq3) (clear lmz5)"
] |
file_176503
|
GOAL: (on nie3 jmv5) (arm-empty) (on-table sxg2) (on-table jmv5) (clear unl4) (on-table wyo1) (on unl4 sxg2) (clear nie3) (clear wyo1)
|
GOAL: (on nie3 jmv5) (arm-empty) (on-table sxg2) (on-table jmv5) (clear unl4) (on-table wyo1) (on unl4 sxg2) (clear nie3) (clear wyo1)
STATE: (arm-empty) (on-table sxg2) (on unl4 sxg2) (on jmv5 nie3) (on wyo1 unl4) (on nie3 wyo1) (clear jmv5)
|
[
[
"unstack jmv5 nie3"
],
[
"put-down jmv5"
],
[
"unstack nie3 wyo1"
],
[
"stack nie3 jmv5"
],
[
"unstack wyo1 unl4"
],
[
"put-down wyo1"
]
] |
[
"(on-table sxg2) (holding jmv5) (on nie3 wyo1) (on wyo1 unl4) (on unl4 sxg2) (clear nie3)",
"(arm-empty) (on-table sxg2) (on-table jmv5) (on nie3 wyo1) (clear jmv5) (on wyo1 unl4) (on unl4 sxg2) (clear nie3)",
"(on-table sxg2) (on-table jmv5) (on unl4 sxg2) (on wyo1 unl4) (holding nie3) (clear wyo1) (clear jmv5)",
"(on nie3 jmv5) (arm-empty) (on-table sxg2) (on-table jmv5) (on wyo1 unl4) (on unl4 sxg2) (clear nie3) (clear wyo1)",
"(holding wyo1) (on nie3 jmv5) (on-table sxg2) (on-table jmv5) (clear unl4) (on unl4 sxg2) (clear nie3)",
"(on nie3 jmv5) (arm-empty) (on-table sxg2) (on-table jmv5) (clear unl4) (on-table wyo1) (on unl4 sxg2) (clear nie3) (clear wyo1)"
] |
file_143732
|
GOAL: (clear upt2) (arm-empty) (on-table upt2) (on hxh4 utp3) (on hxk1 hxh4) (clear hxk1) (on-table utp3)
|
GOAL: (clear upt2) (arm-empty) (on-table upt2) (on hxh4 utp3) (on hxk1 hxh4) (clear hxk1) (on-table utp3)
STATE: (on utp3 hxh4) (on hxk1 utp3) (arm-empty) (on-table upt2) (on hxh4 upt2) (clear hxk1)
|
[
[
"unstack hxk1 utp3"
],
[
"put-down hxk1"
],
[
"unstack utp3 hxh4"
],
[
"put-down utp3"
],
[
"unstack hxh4 upt2"
],
[
"put-down hxh4"
],
[
"pick-up hxk1"
],
[
"stack hxk1 upt2"
],
[
"pick-up hxh4"
],
[
"stack hxh4 utp3"
],
[
"unstack hxk1 upt2"
],
[
"stack hxk1 hxh4"
]
] |
[
"(holding hxk1) (on utp3 hxh4) (on-table upt2) (on hxh4 upt2) (clear utp3)",
"(on utp3 hxh4) (arm-empty) (on-table upt2) (on hxh4 upt2) (clear utp3) (on-table hxk1) (clear hxk1)",
"(on-table upt2) (clear hxh4) (on-table hxk1) (on hxh4 upt2) (holding utp3) (clear hxk1)",
"(on hxh4 upt2) (arm-empty) (on-table upt2) (on-table hxk1) (clear utp3) (clear hxh4) (clear hxk1) (on-table utp3)",
"(clear upt2) (on-table upt2) (on-table hxk1) (holding hxh4) (clear utp3) (clear hxk1) (on-table utp3)",
"(arm-empty) (on-table upt2) (clear hxh4) (clear upt2) (on-table hxk1) (on-table hxh4) (clear utp3) (clear hxk1) (on-table utp3)",
"(holding hxk1) (clear upt2) (on-table upt2) (clear hxh4) (on-table hxh4) (clear utp3) (on-table utp3)",
"(arm-empty) (on-table upt2) (clear hxh4) (on-table hxh4) (clear utp3) (on hxk1 upt2) (clear hxk1) (on-table utp3)",
"(on-table upt2) (holding hxh4) (clear utp3) (on hxk1 upt2) (clear hxk1) (on-table utp3)",
"(arm-empty) (on-table upt2) (clear hxh4) (on hxh4 utp3) (on hxk1 upt2) (clear hxk1) (on-table utp3)",
"(on-table upt2) (clear hxh4) (holding hxk1) (clear upt2) (on hxh4 utp3) (on-table utp3)",
"(clear upt2) (arm-empty) (on-table upt2) (on hxh4 utp3) (on hxk1 hxh4) (clear hxk1) (on-table utp3)"
] |
file_226812
|
GOAL: (arm-empty) (on-table fuj2) (on-table sbw1) (on xxw5 fuj2) (clear clb4) (on clb4 hrd3) (clear sbw1) (on-table hrd3) (clear xxw5)
|
GOAL: (arm-empty) (on-table fuj2) (on-table sbw1) (on xxw5 fuj2) (clear clb4) (on clb4 hrd3) (clear sbw1) (on-table hrd3) (clear xxw5)
STATE: (clear fuj2) (on hrd3 xxw5) (arm-empty) (on-table sbw1) (on xxw5 sbw1) (on clb4 hrd3) (on fuj2 clb4)
|
[
[
"unstack fuj2 clb4"
],
[
"put-down fuj2"
],
[
"unstack clb4 hrd3"
],
[
"stack clb4 fuj2"
],
[
"unstack hrd3 xxw5"
],
[
"put-down hrd3"
],
[
"unstack clb4 fuj2"
],
[
"stack clb4 hrd3"
],
[
"unstack xxw5 sbw1"
],
[
"stack xxw5 fuj2"
]
] |
[
"(on hrd3 xxw5) (clear clb4) (on-table sbw1) (on xxw5 sbw1) (on clb4 hrd3) (holding fuj2)",
"(on hrd3 xxw5) (arm-empty) (on-table fuj2) (clear clb4) (clear fuj2) (on-table sbw1) (on xxw5 sbw1) (on clb4 hrd3)",
"(on hrd3 xxw5) (clear fuj2) (on-table fuj2) (on-table sbw1) (holding clb4) (on xxw5 sbw1) (clear hrd3)",
"(on hrd3 xxw5) (arm-empty) (on-table fuj2) (on-table sbw1) (clear clb4) (on xxw5 sbw1) (on clb4 fuj2) (clear hrd3)",
"(on-table fuj2) (on-table sbw1) (clear clb4) (on xxw5 sbw1) (on clb4 fuj2) (holding hrd3) (clear xxw5)",
"(arm-empty) (on-table fuj2) (clear clb4) (clear xxw5) (on-table sbw1) (on xxw5 sbw1) (on clb4 fuj2) (clear hrd3) (on-table hrd3)",
"(clear fuj2) (on-table fuj2) (on-table sbw1) (holding clb4) (on xxw5 sbw1) (clear hrd3) (on-table hrd3) (clear xxw5)",
"(clear fuj2) (arm-empty) (on-table fuj2) (on-table sbw1) (clear clb4) (on xxw5 sbw1) (on clb4 hrd3) (on-table hrd3) (clear xxw5)",
"(clear fuj2) (on-table fuj2) (on-table sbw1) (clear clb4) (on clb4 hrd3) (holding xxw5) (clear sbw1) (on-table hrd3)",
"(arm-empty) (on-table fuj2) (on-table sbw1) (on xxw5 fuj2) (clear clb4) (on clb4 hrd3) (clear sbw1) (on-table hrd3) (clear xxw5)"
] |
file_175611
|
GOAL: (clear zto2) (on-table ioa1) (clear fqo4) (holding ahq5) (on-table fqo4) (on zto2 egk3) (clear ioa1) (on-table egk3)
|
GOAL: (clear zto2) (on-table ioa1) (clear fqo4) (holding ahq5) (on-table fqo4) (on zto2 egk3) (clear ioa1) (on-table egk3)
STATE: (holding zto2) (on ahq5 ioa1) (on-table fqo4) (on ioa1 fqo4) (clear egk3) (on-table egk3) (clear ahq5)
|
[
[
"stack zto2 egk3"
],
[
"unstack ahq5 ioa1"
],
[
"stack ahq5 zto2"
],
[
"unstack ioa1 fqo4"
],
[
"put-down ioa1"
],
[
"unstack ahq5 zto2"
]
] |
[
"(clear zto2) (arm-empty) (on ahq5 ioa1) (on-table fqo4) (on ioa1 fqo4) (on zto2 egk3) (on-table egk3) (clear ahq5)",
"(clear zto2) (holding ahq5) (on-table fqo4) (on ioa1 fqo4) (on zto2 egk3) (clear ioa1) (on-table egk3)",
"(arm-empty) (on ahq5 zto2) (on-table fqo4) (on ioa1 fqo4) (on zto2 egk3) (clear ioa1) (on-table egk3) (clear ahq5)",
"(holding ioa1) (on ahq5 zto2) (clear fqo4) (on-table fqo4) (on zto2 egk3) (on-table egk3) (clear ahq5)",
"(arm-empty) (on ahq5 zto2) (clear fqo4) (clear ahq5) (on-table ioa1) (on-table fqo4) (on zto2 egk3) (clear ioa1) (on-table egk3)",
"(clear zto2) (on-table ioa1) (clear fqo4) (holding ahq5) (on-table fqo4) (on zto2 egk3) (clear ioa1) (on-table egk3)"
] |
file_179333
|
GOAL: (on skz3 dfk4) (clear ujy2) (on dfk4 ktk1) (arm-empty) (on-table jff5) (on-table ktk1) (on ujy2 jff5) (clear skz3)
|
GOAL: (on skz3 dfk4) (clear ujy2) (on dfk4 ktk1) (arm-empty) (on-table jff5) (on-table ktk1) (on ujy2 jff5) (clear skz3)
STATE: (clear ujy2) (on-table jff5) (on-table ktk1) (on-table dfk4) (on ujy2 dfk4) (holding skz3) (clear ktk1) (clear jff5)
|
[
[
"stack skz3 jff5"
],
[
"unstack ujy2 dfk4"
],
[
"put-down ujy2"
],
[
"pick-up dfk4"
],
[
"stack dfk4 ktk1"
],
[
"unstack skz3 jff5"
],
[
"stack skz3 dfk4"
],
[
"pick-up ujy2"
],
[
"stack ujy2 jff5"
]
] |
[
"(clear ujy2) (on skz3 jff5) (arm-empty) (on-table jff5) (on-table ktk1) (on-table dfk4) (on ujy2 dfk4) (clear skz3) (clear ktk1)",
"(on skz3 jff5) (on-table jff5) (on-table ktk1) (clear dfk4) (on-table dfk4) (holding ujy2) (clear skz3) (clear ktk1)",
"(on skz3 jff5) (clear ujy2) (arm-empty) (on-table ujy2) (on-table jff5) (on-table ktk1) (clear dfk4) (on-table dfk4) (clear skz3) (clear ktk1)",
"(on skz3 jff5) (clear ujy2) (on-table ujy2) (on-table jff5) (on-table ktk1) (holding dfk4) (clear skz3) (clear ktk1)",
"(on skz3 jff5) (clear ujy2) (on dfk4 ktk1) (on-table ujy2) (on-table jff5) (on-table ktk1) (arm-empty) (clear dfk4) (clear skz3)",
"(clear ujy2) (on dfk4 ktk1) (on-table ujy2) (on-table jff5) (on-table ktk1) (clear dfk4) (holding skz3) (clear jff5)",
"(on skz3 dfk4) (clear ujy2) (on dfk4 ktk1) (arm-empty) (on-table ujy2) (on-table jff5) (on-table ktk1) (clear skz3) (clear jff5)",
"(on skz3 dfk4) (on dfk4 ktk1) (on-table jff5) (on-table ktk1) (holding ujy2) (clear skz3) (clear jff5)",
"(on skz3 dfk4) (clear ujy2) (on dfk4 ktk1) (arm-empty) (on-table jff5) (on-table ktk1) (on ujy2 jff5) (clear skz3)"
] |
file_126070
|
GOAL: (holding sqe1) (on-table whv2) (on jho5 whv2) (clear flx4) (on flx4 vif3) (on-table vif3) (clear jho5)
|
GOAL: (holding sqe1) (on-table whv2) (on jho5 whv2) (clear flx4) (on flx4 vif3) (on-table vif3) (clear jho5)
STATE: (arm-empty) (on-table whv2) (on-table sqe1) (on jho5 whv2) (clear flx4) (on-table flx4) (clear vif3) (clear sqe1) (on-table vif3) (clear jho5)
|
[
[
"pick-up flx4"
],
[
"stack flx4 vif3"
],
[
"pick-up sqe1"
]
] |
[
"(on-table whv2) (on-table sqe1) (holding flx4) (on jho5 whv2) (clear vif3) (clear sqe1) (on-table vif3) (clear jho5)",
"(arm-empty) (on-table whv2) (on-table sqe1) (on jho5 whv2) (clear flx4) (on flx4 vif3) (clear sqe1) (on-table vif3) (clear jho5)",
"(holding sqe1) (on-table whv2) (on jho5 whv2) (clear flx4) (on flx4 vif3) (on-table vif3) (clear jho5)"
] |
file_70557
|
GOAL: (on tbk1 drp5) (clear nwr2) (arm-empty) (on-table nwr2) (on-table drp5) (clear mlh4) (on mlh4 nbe3) (on nbe3 tbk1)
|
GOAL: (on tbk1 drp5) (clear nwr2) (arm-empty) (on-table nwr2) (on-table drp5) (clear mlh4) (on mlh4 nbe3) (on nbe3 tbk1)
STATE: (on tbk1 drp5) (clear nwr2) (on-table nwr2) (on-table drp5) (holding mlh4) (on nbe3 tbk1) (clear nbe3)
|
[
[
"stack mlh4 nbe3"
]
] |
[
"(on tbk1 drp5) (clear nwr2) (arm-empty) (on-table nwr2) (on-table drp5) (clear mlh4) (on mlh4 nbe3) (on nbe3 tbk1)"
] |
file_186017
|
GOAL: (arm-empty) (on-table hlg5) (on zzc3 hrp1) (on hkf2 vtd4) (clear hlg5) (clear hkf2) (on-table hrp1) (on-table vtd4) (clear zzc3)
|
GOAL: (arm-empty) (on-table hlg5) (on zzc3 hrp1) (on hkf2 vtd4) (clear hlg5) (clear hkf2) (on-table hrp1) (on-table vtd4) (clear zzc3)
STATE: (on zzc3 hlg5) (on hrp1 zzc3) (arm-empty) (on hlg5 vtd4) (on-table hkf2) (on vtd4 hkf2) (clear hrp1)
|
[
[
"unstack hrp1 zzc3"
],
[
"put-down hrp1"
],
[
"unstack zzc3 hlg5"
],
[
"stack zzc3 hrp1"
],
[
"unstack hlg5 vtd4"
],
[
"stack hlg5 zzc3"
],
[
"unstack vtd4 hkf2"
],
[
"put-down vtd4"
],
[
"pick-up hkf2"
],
[
"stack hkf2 vtd4"
],
[
"unstack hlg5 zzc3"
],
[
"put-down hlg5"
]
] |
[
"(on zzc3 hlg5) (on hlg5 vtd4) (on-table hkf2) (holding hrp1) (on vtd4 hkf2) (clear zzc3)",
"(on zzc3 hlg5) (arm-empty) (on hlg5 vtd4) (on-table hkf2) (on-table hrp1) (on vtd4 hkf2) (clear zzc3) (clear hrp1)",
"(on hlg5 vtd4) (on-table hkf2) (on-table hrp1) (on vtd4 hkf2) (holding zzc3) (clear hrp1) (clear hlg5)",
"(arm-empty) (on hlg5 vtd4) (on-table hkf2) (on-table hrp1) (on zzc3 hrp1) (on vtd4 hkf2) (clear zzc3) (clear hlg5)",
"(on-table hkf2) (on-table hrp1) (clear vtd4) (on zzc3 hrp1) (holding hlg5) (on vtd4 hkf2) (clear zzc3)",
"(arm-empty) (on-table hkf2) (on-table hrp1) (clear vtd4) (on hlg5 zzc3) (on zzc3 hrp1) (on vtd4 hkf2) (clear hlg5)",
"(clear hkf2) (on-table hkf2) (on-table hrp1) (holding vtd4) (on hlg5 zzc3) (on zzc3 hrp1) (clear hlg5)",
"(arm-empty) (on-table hkf2) (clear vtd4) (on hlg5 zzc3) (on zzc3 hrp1) (clear hlg5) (clear hkf2) (on-table hrp1) (on-table vtd4)",
"(on-table hrp1) (clear vtd4) (on hlg5 zzc3) (on-table vtd4) (holding hkf2) (on zzc3 hrp1) (clear hlg5)",
"(clear hkf2) (arm-empty) (on-table hrp1) (on hkf2 vtd4) (on hlg5 zzc3) (on-table vtd4) (on zzc3 hrp1) (clear hlg5)",
"(clear hkf2) (on-table hrp1) (on hkf2 vtd4) (holding hlg5) (on-table vtd4) (on zzc3 hrp1) (clear zzc3)",
"(arm-empty) (on-table hlg5) (on zzc3 hrp1) (on hkf2 vtd4) (clear hlg5) (clear hkf2) (on-table hrp1) (on-table vtd4) (clear zzc3)"
] |
file_470
|
GOAL: (arm-empty) (on-table bft2) (on-table sux5) (clear vkw4) (on nsn3 uhv1) (clear sux5) (clear bft2) (on-table uhv1) (on vkw4 nsn3)
|
GOAL: (arm-empty) (on-table bft2) (on-table sux5) (clear vkw4) (on nsn3 uhv1) (clear sux5) (clear bft2) (on-table uhv1) (on vkw4 nsn3)
STATE: (clear bft2) (on-table bft2) (on-table uhv1) (clear vkw4) (on vkw4 nsn3) (holding sux5) (on nsn3 uhv1)
|
[
[
"put-down sux5"
]
] |
[
"(arm-empty) (on-table bft2) (on-table sux5) (clear vkw4) (on nsn3 uhv1) (clear sux5) (clear bft2) (on-table uhv1) (on vkw4 nsn3)"
] |
file_208500
|
GOAL: (holding yyk1) (clear qjo2) (on xuh5 dgi4) (on-table dgi4) (on qjo2 pli3) (on-table pli3) (clear xuh5)
|
GOAL: (holding yyk1) (clear qjo2) (on xuh5 dgi4) (on-table dgi4) (on qjo2 pli3) (on-table pli3) (clear xuh5)
STATE: (clear qjo2) (on dgi4 yyk1) (arm-empty) (on-table xuh5) (on-table yyk1) (on qjo2 dgi4) (clear pli3) (on-table pli3) (clear xuh5)
|
[
[
"unstack qjo2 dgi4"
],
[
"stack qjo2 pli3"
],
[
"unstack dgi4 yyk1"
],
[
"put-down dgi4"
],
[
"pick-up xuh5"
],
[
"stack xuh5 dgi4"
],
[
"pick-up yyk1"
]
] |
[
"(on dgi4 yyk1) (on-table xuh5) (on-table yyk1) (clear dgi4) (holding qjo2) (clear pli3) (on-table pli3) (clear xuh5)",
"(clear qjo2) (on dgi4 yyk1) (arm-empty) (on-table xuh5) (on-table yyk1) (clear dgi4) (on qjo2 pli3) (on-table pli3) (clear xuh5)",
"(clear qjo2) (on-table xuh5) (on-table yyk1) (holding dgi4) (on qjo2 pli3) (clear yyk1) (on-table pli3) (clear xuh5)",
"(clear qjo2) (arm-empty) (on-table xuh5) (on-table yyk1) (clear dgi4) (on-table dgi4) (on qjo2 pli3) (clear yyk1) (on-table pli3) (clear xuh5)",
"(clear qjo2) (on-table yyk1) (clear dgi4) (holding xuh5) (on-table dgi4) (on qjo2 pli3) (clear yyk1) (on-table pli3)",
"(clear qjo2) (arm-empty) (on xuh5 dgi4) (on-table yyk1) (on-table dgi4) (on qjo2 pli3) (clear yyk1) (on-table pli3) (clear xuh5)",
"(holding yyk1) (clear qjo2) (on xuh5 dgi4) (on-table dgi4) (on qjo2 pli3) (on-table pli3) (clear xuh5)"
] |
file_39394
|
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