goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (on tkc3 hrx5) (clear sqd2) (on-table sqd2) (on-table ixj1) (holding njn4) (on hrx5 ixj1) (clear tkc3)
|
GOAL: (on tkc3 hrx5) (clear sqd2) (on-table sqd2) (on-table ixj1) (holding njn4) (on hrx5 ixj1) (clear tkc3)
STATE: (on tkc3 hrx5) (arm-empty) (on-table sqd2) (on hrx5 ixj1) (on ixj1 njn4) (on njn4 sqd2) (clear tkc3)
|
[
[
"unstack tkc3 hrx5"
],
[
"put-down tkc3"
],
[
"unstack hrx5 ixj1"
],
[
"stack hrx5 tkc3"
],
[
"unstack ixj1 njn4"
],
[
"put-down ixj1"
],
[
"unstack hrx5 tkc3"
],
[
"stack hrx5 ixj1"
],
[
"pick-up tkc3"
],
[
"stack tkc3 hrx5"
],
[
"unstack njn4 sqd2"
]
] |
[
"(on-table sqd2) (clear hrx5) (on hrx5 ixj1) (on ixj1 njn4) (on njn4 sqd2) (holding tkc3)",
"(arm-empty) (on-table sqd2) (clear hrx5) (on hrx5 ixj1) (on ixj1 njn4) (on njn4 sqd2) (clear tkc3) (on-table tkc3)",
"(on-table sqd2) (holding hrx5) (on ixj1 njn4) (on njn4 sqd2) (clear tkc3) (clear ixj1) (on-table tkc3)",
"(arm-empty) (on-table sqd2) (on hrx5 tkc3) (on ixj1 njn4) (on njn4 sqd2) (clear ixj1) (on-table tkc3) (clear hrx5)",
"(holding ixj1) (on-table sqd2) (clear njn4) (on hrx5 tkc3) (on njn4 sqd2) (on-table tkc3) (clear hrx5)",
"(arm-empty) (on-table sqd2) (clear njn4) (on hrx5 tkc3) (clear hrx5) (on-table ixj1) (on njn4 sqd2) (clear ixj1) (on-table tkc3)",
"(on-table sqd2) (on-table ixj1) (clear njn4) (holding hrx5) (on njn4 sqd2) (clear tkc3) (clear ixj1) (on-table tkc3)",
"(arm-empty) (on-table sqd2) (on-table ixj1) (clear njn4) (on hrx5 ixj1) (on njn4 sqd2) (clear tkc3) (on-table tkc3) (clear hrx5)",
"(on-table sqd2) (on-table ixj1) (clear njn4) (on hrx5 ixj1) (on njn4 sqd2) (holding tkc3) (clear hrx5)",
"(on tkc3 hrx5) (arm-empty) (on-table sqd2) (on-table ixj1) (clear njn4) (on hrx5 ixj1) (on njn4 sqd2) (clear tkc3)",
"(on tkc3 hrx5) (clear sqd2) (on-table sqd2) (on-table ixj1) (holding njn4) (on hrx5 ixj1) (clear tkc3)"
] |
file_205333
|
GOAL: (on prj4 rlu2) (arm-empty) (on-table rlu2) (on-table rta1) (clear iim3) (clear prj4) (clear rta1) (on-table iim3)
|
GOAL: (on prj4 rlu2) (arm-empty) (on-table rlu2) (on-table rta1) (clear iim3) (clear prj4) (clear rta1) (on-table iim3)
STATE: (clear rlu2) (arm-empty) (on-table rlu2) (on-table rta1) (clear prj4) (on prj4 iim3) (on iim3 rta1)
|
[
[
"unstack prj4 iim3"
],
[
"stack prj4 rlu2"
],
[
"unstack iim3 rta1"
],
[
"put-down iim3"
]
] |
[
"(holding prj4) (on iim3 rta1) (clear rlu2) (on-table rlu2) (on-table rta1) (clear iim3)",
"(on iim3 rta1) (arm-empty) (clear prj4) (on-table rlu2) (on prj4 rlu2) (clear iim3) (on-table rta1)",
"(on-table rlu2) (clear prj4) (on-table rta1) (on prj4 rlu2) (holding iim3) (clear rta1)",
"(on prj4 rlu2) (arm-empty) (on-table rlu2) (on-table rta1) (clear iim3) (clear prj4) (clear rta1) (on-table iim3)"
] |
file_177964
|
GOAL: (on bau4 tze1) (arm-empty) (on-table rnv5) (on tcp2 bau4) (clear rnv5) (on-table tze1) (on qfl3 tcp2) (clear qfl3)
|
GOAL: (on bau4 tze1) (arm-empty) (on-table rnv5) (on tcp2 bau4) (clear rnv5) (on-table tze1) (on qfl3 tcp2) (clear qfl3)
STATE: (on bau4 tze1) (arm-empty) (on-table tze1) (on qfl3 tcp2) (on rnv5 qfl3) (on tcp2 bau4) (clear rnv5)
|
[
[
"unstack rnv5 qfl3"
],
[
"put-down rnv5"
]
] |
[
"(on bau4 tze1) (holding rnv5) (on tcp2 bau4) (on-table tze1) (on qfl3 tcp2) (clear qfl3)",
"(on bau4 tze1) (arm-empty) (on-table rnv5) (on tcp2 bau4) (clear rnv5) (on-table tze1) (on qfl3 tcp2) (clear qfl3)"
] |
file_198915
|
GOAL: (clear pev2) (on-table nvw1) (holding uoi4) (on pev2 mmz3) (clear nvw1) (on-table mmz3)
|
GOAL: (clear pev2) (on-table nvw1) (holding uoi4) (on pev2 mmz3) (clear nvw1) (on-table mmz3)
STATE: (holding uoi4) (on pev2 mmz3) (on nvw1 pev2) (on-table mmz3) (clear nvw1)
|
[
[
"put-down uoi4"
],
[
"unstack nvw1 pev2"
],
[
"put-down nvw1"
],
[
"pick-up uoi4"
]
] |
[
"(on-table uoi4) (arm-empty) (clear uoi4) (on pev2 mmz3) (on nvw1 pev2) (on-table mmz3) (clear nvw1)",
"(clear uoi4) (holding nvw1) (clear pev2) (on-table uoi4) (on pev2 mmz3) (on-table mmz3)",
"(arm-empty) (clear uoi4) (clear pev2) (on-table nvw1) (on-table uoi4) (on pev2 mmz3) (clear nvw1) (on-table mmz3)",
"(clear pev2) (on-table nvw1) (holding uoi4) (on pev2 mmz3) (clear nvw1) (on-table mmz3)"
] |
file_190583
|
GOAL: (arm-empty) (on-table zak2) (on-table xov5) (on oan4 xov5) (clear zak2) (on zap1 oan4) (clear sin3) (clear zap1) (on-table sin3)
|
GOAL: (arm-empty) (on-table zak2) (on-table xov5) (on oan4 xov5) (clear zak2) (on zap1 oan4) (clear sin3) (clear zap1) (on-table sin3)
STATE: (on-table xov5) (on oan4 xov5) (holding zak2) (on zap1 oan4) (on sin3 zap1) (clear sin3)
|
[
[
"put-down zak2"
],
[
"unstack sin3 zap1"
],
[
"put-down sin3"
]
] |
[
"(arm-empty) (on-table zak2) (on-table xov5) (on oan4 xov5) (on sin3 zap1) (clear zak2) (on zap1 oan4) (clear sin3)",
"(clear zak2) (on-table zak2) (on-table xov5) (on oan4 xov5) (on zap1 oan4) (holding sin3) (clear zap1)",
"(arm-empty) (on-table zak2) (on-table xov5) (on oan4 xov5) (clear zak2) (on zap1 oan4) (clear sin3) (clear zap1) (on-table sin3)"
] |
file_20144
|
GOAL: (holding akg1) (on pyw3 hdi4) (clear qiz2) (on ald5 pyw3) (on-table hdi4) (on qiz2 ald5)
|
GOAL: (holding akg1) (on pyw3 hdi4) (clear qiz2) (on ald5 pyw3) (on-table hdi4) (on qiz2 ald5)
STATE: (on-table akg1) (on ald5 qiz2) (clear hdi4) (on-table hdi4) (on qiz2 akg1) (holding pyw3) (clear ald5)
|
[
[
"stack pyw3 hdi4"
],
[
"unstack ald5 qiz2"
],
[
"stack ald5 pyw3"
],
[
"unstack qiz2 akg1"
],
[
"stack qiz2 ald5"
],
[
"pick-up akg1"
]
] |
[
"(on pyw3 hdi4) (arm-empty) (on-table akg1) (on ald5 qiz2) (on-table hdi4) (on qiz2 akg1) (clear pyw3) (clear ald5)",
"(on pyw3 hdi4) (clear qiz2) (on-table akg1) (holding ald5) (on-table hdi4) (on qiz2 akg1) (clear pyw3)",
"(on pyw3 hdi4) (clear qiz2) (arm-empty) (on-table akg1) (on ald5 pyw3) (on-table hdi4) (on qiz2 akg1) (clear ald5)",
"(on pyw3 hdi4) (on-table akg1) (on ald5 pyw3) (on-table hdi4) (holding qiz2) (clear akg1) (clear ald5)",
"(on pyw3 hdi4) (clear qiz2) (arm-empty) (on-table akg1) (on ald5 pyw3) (on-table hdi4) (on qiz2 ald5) (clear akg1)",
"(holding akg1) (on pyw3 hdi4) (clear qiz2) (on ald5 pyw3) (on-table hdi4) (on qiz2 ald5)"
] |
file_3936
|
GOAL: (on gdq1 fzb5) (arm-empty) (on fzb5 wfs2) (on wfs2 ofj4) (on-table ofj4) (on nkh3 gdq1) (clear nkh3)
|
GOAL: (on gdq1 fzb5) (arm-empty) (on fzb5 wfs2) (on wfs2 ofj4) (on-table ofj4) (on nkh3 gdq1) (clear nkh3)
STATE: (clear wfs2) (holding ofj4) (on-table gdq1) (on fzb5 nkh3) (on nkh3 gdq1) (on wfs2 fzb5)
|
[
[
"put-down ofj4"
],
[
"unstack wfs2 fzb5"
],
[
"stack wfs2 ofj4"
],
[
"unstack fzb5 nkh3"
],
[
"stack fzb5 wfs2"
],
[
"unstack nkh3 gdq1"
],
[
"put-down nkh3"
],
[
"pick-up gdq1"
],
[
"stack gdq1 fzb5"
],
[
"pick-up nkh3"
],
[
"stack nkh3 gdq1"
]
] |
[
"(arm-empty) (clear ofj4) (on fzb5 nkh3) (on nkh3 gdq1) (on wfs2 fzb5) (clear wfs2) (on-table gdq1) (on-table ofj4)",
"(on-table gdq1) (clear ofj4) (on fzb5 nkh3) (on-table ofj4) (holding wfs2) (on nkh3 gdq1) (clear fzb5)",
"(clear wfs2) (arm-empty) (on-table gdq1) (on wfs2 ofj4) (on fzb5 nkh3) (on-table ofj4) (on nkh3 gdq1) (clear fzb5)",
"(clear wfs2) (on-table gdq1) (on wfs2 ofj4) (holding fzb5) (on-table ofj4) (on nkh3 gdq1) (clear nkh3)",
"(arm-empty) (on-table gdq1) (on fzb5 wfs2) (on wfs2 ofj4) (on-table ofj4) (on nkh3 gdq1) (clear nkh3) (clear fzb5)",
"(on-table gdq1) (on fzb5 wfs2) (on wfs2 ofj4) (on-table ofj4) (holding nkh3) (clear gdq1) (clear fzb5)",
"(arm-empty) (on fzb5 wfs2) (on wfs2 ofj4) (clear fzb5) (on-table gdq1) (on-table ofj4) (clear nkh3) (clear gdq1) (on-table nkh3)",
"(holding gdq1) (on fzb5 wfs2) (on-table ofj4) (on wfs2 ofj4) (clear nkh3) (on-table nkh3) (clear fzb5)",
"(on gdq1 fzb5) (arm-empty) (on fzb5 wfs2) (on-table ofj4) (on wfs2 ofj4) (clear nkh3) (clear gdq1) (on-table nkh3)",
"(on gdq1 fzb5) (on fzb5 wfs2) (on-table ofj4) (on wfs2 ofj4) (holding nkh3) (clear gdq1)",
"(on gdq1 fzb5) (arm-empty) (on fzb5 wfs2) (on wfs2 ofj4) (on-table ofj4) (on nkh3 gdq1) (clear nkh3)"
] |
file_124717
|
GOAL: (on-table lgr2) (on ago5 lgr2) (on-table uaq4) (on iqr1 uaq4) (holding bbs3) (clear iqr1) (clear ago5)
|
GOAL: (on-table lgr2) (on ago5 lgr2) (on-table uaq4) (on iqr1 uaq4) (holding bbs3) (clear iqr1) (clear ago5)
STATE: (clear lgr2) (on ago5 iqr1) (on-table uaq4) (on iqr1 uaq4) (on lgr2 ago5) (holding bbs3)
|
[
[
"put-down bbs3"
],
[
"unstack lgr2 ago5"
],
[
"put-down lgr2"
],
[
"unstack ago5 iqr1"
],
[
"stack ago5 lgr2"
],
[
"pick-up bbs3"
]
] |
[
"(arm-empty) (on lgr2 ago5) (clear lgr2) (on ago5 iqr1) (on-table uaq4) (on iqr1 uaq4) (clear bbs3) (on-table bbs3)",
"(holding lgr2) (on ago5 iqr1) (on-table uaq4) (on iqr1 uaq4) (clear bbs3) (on-table bbs3) (clear ago5)",
"(arm-empty) (on-table lgr2) (clear ago5) (clear lgr2) (on ago5 iqr1) (on-table uaq4) (on iqr1 uaq4) (clear bbs3) (on-table bbs3)",
"(clear lgr2) (on-table lgr2) (holding ago5) (on-table uaq4) (on iqr1 uaq4) (clear bbs3) (clear iqr1) (on-table bbs3)",
"(arm-empty) (on-table lgr2) (on ago5 lgr2) (on-table uaq4) (on iqr1 uaq4) (clear bbs3) (clear iqr1) (on-table bbs3) (clear ago5)",
"(on-table lgr2) (on ago5 lgr2) (on-table uaq4) (on iqr1 uaq4) (holding bbs3) (clear iqr1) (clear ago5)"
] |
file_56829
|
GOAL: (arm-empty) (on-table slb2) (on-table zjr1) (on gka3 slb2) (clear ygm4) (on ygm4 gka3) (clear zjr1)
|
GOAL: (arm-empty) (on-table slb2) (on-table zjr1) (on gka3 slb2) (clear ygm4) (on ygm4 gka3) (clear zjr1)
STATE: (on ygm4 zjr1) (on-table zjr1) (clear ygm4) (holding slb2) (clear gka3) (on-table gka3)
|
[
[
"put-down slb2"
],
[
"pick-up gka3"
],
[
"stack gka3 slb2"
],
[
"unstack ygm4 zjr1"
],
[
"stack ygm4 gka3"
]
] |
[
"(on ygm4 zjr1) (arm-empty) (on-table slb2) (clear ygm4) (clear slb2) (on-table zjr1) (clear gka3) (on-table gka3)",
"(clear slb2) (on ygm4 zjr1) (on-table slb2) (on-table zjr1) (clear ygm4) (holding gka3)",
"(on ygm4 zjr1) (arm-empty) (on-table slb2) (on-table zjr1) (on gka3 slb2) (clear ygm4) (clear gka3)",
"(on-table slb2) (holding ygm4) (on-table zjr1) (on gka3 slb2) (clear gka3) (clear zjr1)",
"(arm-empty) (on-table slb2) (on-table zjr1) (on gka3 slb2) (clear ygm4) (on ygm4 gka3) (clear zjr1)"
] |
file_63275
|
GOAL: (on-table php2) (clear snb4) (holding uha1) (on snb4 php2) (clear kvy3) (on-table kvy3)
|
GOAL: (on-table php2) (clear snb4) (holding uha1) (on snb4 php2) (clear kvy3) (on-table kvy3)
STATE: (clear php2) (on snb4 uha1) (on uha1 kvy3) (arm-empty) (on php2 snb4) (on-table kvy3)
|
[
[
"unstack php2 snb4"
],
[
"put-down php2"
],
[
"unstack snb4 uha1"
],
[
"stack snb4 php2"
],
[
"unstack uha1 kvy3"
]
] |
[
"(on snb4 uha1) (on uha1 kvy3) (holding php2) (clear snb4) (on-table kvy3)",
"(clear php2) (on snb4 uha1) (on uha1 kvy3) (on-table php2) (arm-empty) (clear snb4) (on-table kvy3)",
"(on uha1 kvy3) (on-table php2) (holding snb4) (clear php2) (clear uha1) (on-table kvy3)",
"(on uha1 kvy3) (arm-empty) (on-table php2) (on snb4 php2) (clear snb4) (clear uha1) (on-table kvy3)",
"(on-table php2) (clear snb4) (holding uha1) (on snb4 php2) (clear kvy3) (on-table kvy3)"
] |
file_210909
|
GOAL: (arm-empty) (on-table mpx5) (on cib3 vqh1) (on kro2 lqo4) (clear mpx5) (clear kro2) (on-table vqh1) (on lqo4 cib3)
|
GOAL: (arm-empty) (on-table mpx5) (on cib3 vqh1) (on kro2 lqo4) (clear mpx5) (clear kro2) (on-table vqh1) (on lqo4 cib3)
STATE: (on lqo4 vqh1) (on-table mpx5) (clear lqo4) (on kro2 mpx5) (holding cib3) (on vqh1 kro2)
|
[
[
"put-down cib3"
],
[
"unstack lqo4 vqh1"
],
[
"stack lqo4 cib3"
],
[
"unstack vqh1 kro2"
],
[
"put-down vqh1"
],
[
"unstack lqo4 cib3"
],
[
"stack lqo4 kro2"
],
[
"pick-up cib3"
],
[
"stack cib3 vqh1"
],
[
"unstack lqo4 kro2"
],
[
"stack lqo4 cib3"
],
[
"unstack kro2 mpx5"
],
[
"stack kro2 lqo4"
]
] |
[
"(on lqo4 vqh1) (arm-empty) (on-table mpx5) (on kro2 mpx5) (clear cib3) (clear lqo4) (on vqh1 kro2) (on-table cib3)",
"(on-table mpx5) (holding lqo4) (on kro2 mpx5) (clear cib3) (on vqh1 kro2) (clear vqh1) (on-table cib3)",
"(arm-empty) (on-table mpx5) (clear lqo4) (on lqo4 cib3) (on kro2 mpx5) (on vqh1 kro2) (clear vqh1) (on-table cib3)",
"(holding vqh1) (clear kro2) (on-table mpx5) (clear lqo4) (on lqo4 cib3) (on kro2 mpx5) (on-table cib3)",
"(arm-empty) (on-table mpx5) (clear lqo4) (on kro2 mpx5) (clear kro2) (on-table vqh1) (on lqo4 cib3) (clear vqh1) (on-table cib3)",
"(clear kro2) (on-table mpx5) (on-table vqh1) (holding lqo4) (on kro2 mpx5) (clear cib3) (clear vqh1) (on-table cib3)",
"(arm-empty) (on-table mpx5) (on-table vqh1) (clear lqo4) (on lqo4 kro2) (on kro2 mpx5) (clear cib3) (clear vqh1) (on-table cib3)",
"(on-table mpx5) (on-table vqh1) (clear lqo4) (on lqo4 kro2) (on kro2 mpx5) (holding cib3) (clear vqh1)",
"(arm-empty) (on-table mpx5) (on-table vqh1) (clear lqo4) (on cib3 vqh1) (on lqo4 kro2) (on kro2 mpx5) (clear cib3)",
"(clear kro2) (on-table mpx5) (on-table vqh1) (holding lqo4) (on cib3 vqh1) (on kro2 mpx5) (clear cib3)",
"(arm-empty) (on-table mpx5) (clear lqo4) (on cib3 vqh1) (on kro2 mpx5) (clear kro2) (on-table vqh1) (on lqo4 cib3)",
"(on-table mpx5) (on-table vqh1) (clear lqo4) (on lqo4 cib3) (holding kro2) (on cib3 vqh1) (clear mpx5)",
"(arm-empty) (on-table mpx5) (on cib3 vqh1) (on kro2 lqo4) (clear mpx5) (clear kro2) (on-table vqh1) (on lqo4 cib3)"
] |
file_12804
|
GOAL: (on-table vgx5) (on-table jzm1) (clear asp4) (on asp4 sdt3) (holding jon2) (clear jzm1) (on-table sdt3) (clear vgx5)
|
GOAL: (on-table vgx5) (on-table jzm1) (clear asp4) (on asp4 sdt3) (holding jon2) (clear jzm1) (on-table sdt3) (clear vgx5)
STATE: (arm-empty) (on-table jzm1) (on vgx5 jon2) (on asp4 sdt3) (on jon2 asp4) (clear jzm1) (on-table sdt3) (clear vgx5)
|
[
[
"unstack vgx5 jon2"
],
[
"put-down vgx5"
],
[
"unstack jon2 asp4"
]
] |
[
"(clear jon2) (on-table jzm1) (on asp4 sdt3) (holding vgx5) (on jon2 asp4) (clear jzm1) (on-table sdt3)",
"(arm-empty) (on-table vgx5) (on jon2 asp4) (clear vgx5) (clear jon2) (on-table jzm1) (on asp4 sdt3) (clear jzm1) (on-table sdt3)",
"(on-table vgx5) (on-table jzm1) (clear asp4) (on asp4 sdt3) (holding jon2) (clear jzm1) (on-table sdt3) (clear vgx5)"
] |
file_200778
|
GOAL: (on wnw1 mfa5) (arm-empty) (on-table xak2) (on mfa5 xak2) (clear qmn4) (on qmn4 emg3) (clear wnw1) (on-table emg3)
|
GOAL: (on wnw1 mfa5) (arm-empty) (on-table xak2) (on mfa5 xak2) (clear qmn4) (on qmn4 emg3) (clear wnw1) (on-table emg3)
STATE: (on-table xak2) (on qmn4 mfa5) (on-table wnw1) (on mfa5 xak2) (clear qmn4) (holding emg3) (clear wnw1)
|
[
[
"put-down emg3"
],
[
"unstack qmn4 mfa5"
],
[
"stack qmn4 emg3"
],
[
"pick-up wnw1"
],
[
"stack wnw1 mfa5"
]
] |
[
"(arm-empty) (on-table xak2) (on qmn4 mfa5) (on mfa5 xak2) (clear qmn4) (on-table wnw1) (clear emg3) (clear wnw1) (on-table emg3)",
"(on-table xak2) (on-table wnw1) (holding qmn4) (on mfa5 xak2) (clear emg3) (clear wnw1) (on-table emg3) (clear mfa5)",
"(arm-empty) (on-table xak2) (on-table wnw1) (on mfa5 xak2) (clear qmn4) (on qmn4 emg3) (clear wnw1) (on-table emg3) (clear mfa5)",
"(holding wnw1) (on-table xak2) (on mfa5 xak2) (clear qmn4) (on qmn4 emg3) (on-table emg3) (clear mfa5)",
"(on wnw1 mfa5) (arm-empty) (on-table xak2) (on mfa5 xak2) (clear qmn4) (on qmn4 emg3) (clear wnw1) (on-table emg3)"
] |
file_80216
|
GOAL: (on xgl3 goq4) (arm-empty) (on-table jns2) (on pxc5 geu1) (on-table goq4) (clear xgl3) (on geu1 jns2) (clear pxc5)
|
GOAL: (on xgl3 goq4) (arm-empty) (on-table jns2) (on pxc5 geu1) (on-table goq4) (clear xgl3) (on geu1 jns2) (clear pxc5)
STATE: (clear jns2) (on-table jns2) (on pxc5 geu1) (on-table goq4) (on geu1 goq4) (holding xgl3) (clear pxc5)
|
[
[
"stack xgl3 jns2"
],
[
"unstack pxc5 geu1"
],
[
"put-down pxc5"
],
[
"unstack geu1 goq4"
],
[
"put-down geu1"
],
[
"unstack xgl3 jns2"
],
[
"stack xgl3 goq4"
],
[
"pick-up geu1"
],
[
"stack geu1 jns2"
],
[
"pick-up pxc5"
],
[
"stack pxc5 geu1"
]
] |
[
"(arm-empty) (on-table jns2) (on xgl3 jns2) (on pxc5 geu1) (on-table goq4) (on geu1 goq4) (clear xgl3) (clear pxc5)",
"(on-table jns2) (on xgl3 jns2) (holding pxc5) (on-table goq4) (on geu1 goq4) (clear xgl3) (clear geu1)",
"(arm-empty) (on-table jns2) (on-table pxc5) (clear pxc5) (on xgl3 jns2) (on-table goq4) (on geu1 goq4) (clear xgl3) (clear geu1)",
"(holding geu1) (on-table jns2) (on-table pxc5) (on xgl3 jns2) (clear goq4) (on-table goq4) (clear xgl3) (clear pxc5)",
"(arm-empty) (on-table jns2) (on-table pxc5) (on-table geu1) (on xgl3 jns2) (clear goq4) (on-table goq4) (clear xgl3) (clear geu1) (clear pxc5)",
"(clear jns2) (on-table jns2) (on-table pxc5) (on-table geu1) (clear goq4) (on-table goq4) (holding xgl3) (clear geu1) (clear pxc5)",
"(on xgl3 goq4) (clear jns2) (arm-empty) (on-table jns2) (on-table pxc5) (on-table geu1) (on-table goq4) (clear xgl3) (clear geu1) (clear pxc5)",
"(holding geu1) (on xgl3 goq4) (clear jns2) (on-table jns2) (on-table pxc5) (on-table goq4) (clear xgl3) (clear pxc5)",
"(on xgl3 goq4) (arm-empty) (on-table jns2) (on-table pxc5) (on-table goq4) (clear xgl3) (on geu1 jns2) (clear geu1) (clear pxc5)",
"(on xgl3 goq4) (on-table jns2) (holding pxc5) (on-table goq4) (clear xgl3) (on geu1 jns2) (clear geu1)",
"(on xgl3 goq4) (arm-empty) (on-table jns2) (on pxc5 geu1) (on-table goq4) (clear xgl3) (on geu1 jns2) (clear pxc5)"
] |
file_65593
|
GOAL: (on fsu4 chu3) (on zyu5 pnm1) (arm-empty) (on lbo2 fsu4) (on pnm1 lbo2) (on-table chu3) (clear zyu5)
|
GOAL: (on fsu4 chu3) (on zyu5 pnm1) (arm-empty) (on lbo2 fsu4) (on pnm1 lbo2) (on-table chu3) (clear zyu5)
STATE: (clear lbo2) (arm-empty) (on-table lbo2) (on fsu4 zyu5) (on-table pnm1) (on-table zyu5) (clear fsu4) (clear chu3) (clear pnm1) (on-table chu3)
|
[
[
"unstack fsu4 zyu5"
],
[
"stack fsu4 chu3"
],
[
"pick-up pnm1"
],
[
"stack pnm1 zyu5"
],
[
"pick-up lbo2"
],
[
"stack lbo2 fsu4"
],
[
"unstack pnm1 zyu5"
],
[
"stack pnm1 lbo2"
],
[
"pick-up zyu5"
],
[
"stack zyu5 pnm1"
]
] |
[
"(clear lbo2) (on-table lbo2) (on-table pnm1) (on-table zyu5) (holding fsu4) (clear chu3) (clear pnm1) (on-table chu3) (clear zyu5)",
"(clear lbo2) (arm-empty) (on-table lbo2) (on-table zyu5) (on-table pnm1) (clear fsu4) (on fsu4 chu3) (clear pnm1) (on-table chu3) (clear zyu5)",
"(holding pnm1) (clear lbo2) (on-table lbo2) (on-table zyu5) (clear fsu4) (on fsu4 chu3) (on-table chu3) (clear zyu5)",
"(on pnm1 zyu5) (clear lbo2) (arm-empty) (on-table lbo2) (on-table zyu5) (clear fsu4) (on fsu4 chu3) (clear pnm1) (on-table chu3)",
"(on pnm1 zyu5) (on-table zyu5) (clear fsu4) (on fsu4 chu3) (holding lbo2) (clear pnm1) (on-table chu3)",
"(on pnm1 zyu5) (clear lbo2) (arm-empty) (on-table zyu5) (on fsu4 chu3) (on lbo2 fsu4) (clear pnm1) (on-table chu3)",
"(holding pnm1) (clear lbo2) (on-table zyu5) (on fsu4 chu3) (on lbo2 fsu4) (on-table chu3) (clear zyu5)",
"(arm-empty) (on-table zyu5) (on fsu4 chu3) (on lbo2 fsu4) (on pnm1 lbo2) (clear pnm1) (on-table chu3) (clear zyu5)",
"(on fsu4 chu3) (holding zyu5) (on lbo2 fsu4) (on pnm1 lbo2) (clear pnm1) (on-table chu3)",
"(on fsu4 chu3) (on zyu5 pnm1) (arm-empty) (on lbo2 fsu4) (on pnm1 lbo2) (on-table chu3) (clear zyu5)"
] |
file_21318
|
GOAL: (on ofk3 fwb4) (arm-empty) (on-table nzp2) (on fwb4 cfr5) (on cfr5 dzj1) (clear ofk3) (on dzj1 nzp2)
|
GOAL: (on ofk3 fwb4) (arm-empty) (on-table nzp2) (on fwb4 cfr5) (on cfr5 dzj1) (clear ofk3) (on dzj1 nzp2)
STATE: (on ofk3 cfr5) (arm-empty) (on-table nzp2) (clear fwb4) (on cfr5 dzj1) (on-table fwb4) (clear ofk3) (on dzj1 nzp2)
|
[
[
"unstack ofk3 cfr5"
],
[
"put-down ofk3"
],
[
"pick-up fwb4"
],
[
"stack fwb4 cfr5"
],
[
"pick-up ofk3"
],
[
"stack ofk3 fwb4"
]
] |
[
"(on-table nzp2) (clear fwb4) (on cfr5 dzj1) (on-table fwb4) (on dzj1 nzp2) (holding ofk3) (clear cfr5)",
"(arm-empty) (on-table nzp2) (clear fwb4) (on dzj1 nzp2) (clear cfr5) (on cfr5 dzj1) (on-table fwb4) (clear ofk3) (on-table ofk3)",
"(on-table nzp2) (holding fwb4) (on cfr5 dzj1) (clear ofk3) (on dzj1 nzp2) (on-table ofk3) (clear cfr5)",
"(arm-empty) (on-table nzp2) (on fwb4 cfr5) (clear fwb4) (on cfr5 dzj1) (clear ofk3) (on dzj1 nzp2) (on-table ofk3)",
"(on-table nzp2) (on fwb4 cfr5) (clear fwb4) (on cfr5 dzj1) (on dzj1 nzp2) (holding ofk3)",
"(on ofk3 fwb4) (arm-empty) (on-table nzp2) (on fwb4 cfr5) (on cfr5 dzj1) (clear ofk3) (on dzj1 nzp2)"
] |
file_14112
|
GOAL: (arm-empty) (on-table huz5) (on-table emo1) (on jft4 huz5) (on zks3 zfi2) (clear jft4) (on zfi2 emo1) (clear zks3)
|
GOAL: (arm-empty) (on-table huz5) (on-table emo1) (on jft4 huz5) (on zks3 zfi2) (clear jft4) (on zfi2 emo1) (clear zks3)
STATE: (on zks3 jft4) (on-table huz5) (on-table emo1) (on jft4 huz5) (holding zfi2) (clear zks3) (clear emo1)
|
[
[
"stack zfi2 emo1"
],
[
"unstack zks3 jft4"
],
[
"stack zks3 zfi2"
]
] |
[
"(arm-empty) (on-table huz5) (on jft4 huz5) (on zfi2 emo1) (on zks3 jft4) (clear zfi2) (on-table emo1) (clear zks3)",
"(clear zfi2) (on-table huz5) (on jft4 huz5) (on-table emo1) (clear jft4) (on zfi2 emo1) (holding zks3)",
"(arm-empty) (on-table huz5) (on-table emo1) (on jft4 huz5) (on zks3 zfi2) (clear jft4) (on zfi2 emo1) (clear zks3)"
] |
file_189028
|
GOAL: (clear hxr2) (on-table hxr2) (on-table rqo1) (holding vkx4) (on sta5 rqo1) (clear gbt3) (on-table gbt3) (clear sta5)
|
GOAL: (clear hxr2) (on-table hxr2) (on-table rqo1) (holding vkx4) (on sta5 rqo1) (clear gbt3) (on-table gbt3) (clear sta5)
STATE: (on-table rqo1) (clear vkx4) (on sta5 rqo1) (on-table vkx4) (holding hxr2) (clear gbt3) (on-table gbt3) (clear sta5)
|
[
[
"put-down hxr2"
],
[
"pick-up vkx4"
]
] |
[
"(clear hxr2) (arm-empty) (on-table hxr2) (on-table rqo1) (clear vkx4) (on sta5 rqo1) (on-table vkx4) (clear gbt3) (on-table gbt3) (clear sta5)",
"(clear hxr2) (on-table hxr2) (on-table rqo1) (holding vkx4) (on sta5 rqo1) (clear gbt3) (on-table gbt3) (clear sta5)"
] |
file_210418
|
GOAL: (on jxl3 dbl4) (clear yrl2) (on dbl4 ojr1) (on-table ojr1) (holding lqd5) (on yrl2 jxl3)
|
GOAL: (on jxl3 dbl4) (clear yrl2) (on dbl4 ojr1) (on-table ojr1) (holding lqd5) (on yrl2 jxl3)
STATE: (on jxl3 dbl4) (on ojr1 jxl3) (on-table lqd5) (on-table dbl4) (holding yrl2) (clear ojr1) (clear lqd5)
|
[
[
"stack yrl2 lqd5"
],
[
"unstack ojr1 jxl3"
],
[
"put-down ojr1"
],
[
"unstack jxl3 dbl4"
],
[
"stack jxl3 yrl2"
],
[
"pick-up dbl4"
],
[
"stack dbl4 ojr1"
],
[
"unstack jxl3 yrl2"
],
[
"stack jxl3 dbl4"
],
[
"unstack yrl2 lqd5"
],
[
"stack yrl2 jxl3"
],
[
"pick-up lqd5"
]
] |
[
"(on jxl3 dbl4) (clear yrl2) (on ojr1 jxl3) (arm-empty) (on-table lqd5) (on-table dbl4) (on yrl2 lqd5) (clear ojr1)",
"(holding ojr1) (on jxl3 dbl4) (clear yrl2) (on-table lqd5) (on-table dbl4) (on yrl2 lqd5) (clear jxl3)",
"(arm-empty) (on-table lqd5) (on yrl2 lqd5) (on jxl3 dbl4) (clear yrl2) (on-table ojr1) (on-table dbl4) (clear jxl3) (clear ojr1)",
"(clear yrl2) (on-table lqd5) (on-table ojr1) (clear dbl4) (on-table dbl4) (on yrl2 lqd5) (holding jxl3) (clear ojr1)",
"(arm-empty) (on-table lqd5) (on-table ojr1) (on jxl3 yrl2) (clear dbl4) (on-table dbl4) (on yrl2 lqd5) (clear jxl3) (clear ojr1)",
"(on-table lqd5) (on-table ojr1) (holding dbl4) (on jxl3 yrl2) (on yrl2 lqd5) (clear jxl3) (clear ojr1)",
"(on dbl4 ojr1) (arm-empty) (on-table lqd5) (on-table ojr1) (on jxl3 yrl2) (clear dbl4) (on yrl2 lqd5) (clear jxl3)",
"(clear yrl2) (on dbl4 ojr1) (on-table lqd5) (on-table ojr1) (clear dbl4) (on yrl2 lqd5) (holding jxl3)",
"(on jxl3 dbl4) (clear yrl2) (on dbl4 ojr1) (arm-empty) (on-table lqd5) (on-table ojr1) (on yrl2 lqd5) (clear jxl3)",
"(on jxl3 dbl4) (on dbl4 ojr1) (on-table lqd5) (on-table ojr1) (holding yrl2) (clear jxl3) (clear lqd5)",
"(on jxl3 dbl4) (clear yrl2) (on dbl4 ojr1) (arm-empty) (on-table lqd5) (on-table ojr1) (on yrl2 jxl3) (clear lqd5)",
"(on jxl3 dbl4) (clear yrl2) (on dbl4 ojr1) (on-table ojr1) (holding lqd5) (on yrl2 jxl3)"
] |
file_39682
|
GOAL: (arm-empty) (on-table gaq2) (on-table zvt1) (on izn3 gaq2) (clear fid4) (on wqo5 izn3) (on-table fid4) (clear zvt1) (clear wqo5)
|
GOAL: (arm-empty) (on-table gaq2) (on-table zvt1) (on izn3 gaq2) (clear fid4) (on wqo5 izn3) (on-table fid4) (clear zvt1) (clear wqo5)
STATE: (on zvt1 wqo5) (on wqo5 fid4) (on-table fid4) (holding gaq2) (on izn3 zvt1) (clear izn3)
|
[
[
"put-down gaq2"
],
[
"unstack izn3 zvt1"
],
[
"stack izn3 gaq2"
],
[
"unstack zvt1 wqo5"
],
[
"put-down zvt1"
],
[
"unstack wqo5 fid4"
],
[
"stack wqo5 izn3"
]
] |
[
"(on zvt1 wqo5) (on-table fid4) (clear gaq2) (on wqo5 fid4) (on-table gaq2) (arm-empty) (on izn3 zvt1) (clear izn3)",
"(on zvt1 wqo5) (clear gaq2) (on wqo5 fid4) (on-table gaq2) (on-table fid4) (holding izn3) (clear zvt1)",
"(on zvt1 wqo5) (arm-empty) (on wqo5 fid4) (on-table gaq2) (on izn3 gaq2) (on-table fid4) (clear izn3) (clear zvt1)",
"(holding zvt1) (on wqo5 fid4) (on-table gaq2) (on izn3 gaq2) (on-table fid4) (clear izn3) (clear wqo5)",
"(arm-empty) (on wqo5 fid4) (on-table gaq2) (clear wqo5) (on-table zvt1) (on izn3 gaq2) (on-table fid4) (clear izn3) (clear zvt1)",
"(on-table gaq2) (on-table zvt1) (on izn3 gaq2) (clear fid4) (holding wqo5) (on-table fid4) (clear izn3) (clear zvt1)",
"(arm-empty) (on-table gaq2) (on-table zvt1) (on izn3 gaq2) (clear fid4) (on wqo5 izn3) (on-table fid4) (clear zvt1) (clear wqo5)"
] |
file_101228
|
GOAL: (holding ejl1) (clear xll2) (on gel5 fgz4) (on-table fgz4) (on xll2 wpo3) (on-table wpo3) (clear gel5)
|
GOAL: (holding ejl1) (clear xll2) (on gel5 fgz4) (on-table fgz4) (on xll2 wpo3) (on-table wpo3) (clear gel5)
STATE: (on fgz4 ejl1) (on gel5 fgz4) (arm-empty) (on xll2 wpo3) (on ejl1 xll2) (on-table wpo3) (clear gel5)
|
[
[
"unstack gel5 fgz4"
],
[
"put-down gel5"
],
[
"unstack fgz4 ejl1"
],
[
"put-down fgz4"
],
[
"pick-up gel5"
],
[
"stack gel5 fgz4"
],
[
"unstack ejl1 xll2"
]
] |
[
"(holding gel5) (on fgz4 ejl1) (clear fgz4) (on xll2 wpo3) (on ejl1 xll2) (on-table wpo3)",
"(on fgz4 ejl1) (arm-empty) (on-table gel5) (clear fgz4) (on ejl1 xll2) (clear gel5) (on xll2 wpo3) (on-table wpo3)",
"(on-table gel5) (holding fgz4) (on xll2 wpo3) (on ejl1 xll2) (clear ejl1) (on-table wpo3) (clear gel5)",
"(arm-empty) (on-table gel5) (clear fgz4) (on ejl1 xll2) (clear gel5) (on-table fgz4) (on xll2 wpo3) (clear ejl1) (on-table wpo3)",
"(clear fgz4) (holding gel5) (on-table fgz4) (on xll2 wpo3) (on ejl1 xll2) (clear ejl1) (on-table wpo3)",
"(clear ejl1) (arm-empty) (on gel5 fgz4) (on-table fgz4) (on xll2 wpo3) (on ejl1 xll2) (on-table wpo3) (clear gel5)",
"(holding ejl1) (clear xll2) (on gel5 fgz4) (on-table fgz4) (on xll2 wpo3) (on-table wpo3) (clear gel5)"
] |
file_64283
|
GOAL: (arm-empty) (on-table frz2) (on-table tpy5) (on-table jqm1) (clear hrz4) (on hrz4 frz2) (clear qzb3) (clear jqm1) (on-table qzb3) (clear tpy5)
|
GOAL: (arm-empty) (on-table frz2) (on-table tpy5) (on-table jqm1) (clear hrz4) (on hrz4 frz2) (clear qzb3) (clear jqm1) (on-table qzb3) (clear tpy5)
STATE: (on qzb3 tpy5) (on jqm1 qzb3) (arm-empty) (on tpy5 hrz4) (on-table frz2) (on hrz4 frz2) (clear jqm1)
|
[
[
"unstack jqm1 qzb3"
],
[
"put-down jqm1"
],
[
"unstack qzb3 tpy5"
],
[
"put-down qzb3"
],
[
"unstack tpy5 hrz4"
],
[
"put-down tpy5"
]
] |
[
"(on qzb3 tpy5) (on tpy5 hrz4) (on-table frz2) (holding jqm1) (on hrz4 frz2) (clear qzb3)",
"(on qzb3 tpy5) (arm-empty) (on tpy5 hrz4) (on-table frz2) (on-table jqm1) (on hrz4 frz2) (clear qzb3) (clear jqm1)",
"(on tpy5 hrz4) (on-table frz2) (on-table jqm1) (on hrz4 frz2) (holding qzb3) (clear jqm1) (clear tpy5)",
"(arm-empty) (on tpy5 hrz4) (on-table frz2) (clear tpy5) (on-table jqm1) (on hrz4 frz2) (clear qzb3) (clear jqm1) (on-table qzb3)",
"(on-table frz2) (on-table jqm1) (clear hrz4) (holding tpy5) (on hrz4 frz2) (clear qzb3) (clear jqm1) (on-table qzb3)",
"(arm-empty) (on-table frz2) (on-table tpy5) (on-table jqm1) (clear hrz4) (on hrz4 frz2) (clear qzb3) (clear jqm1) (on-table qzb3) (clear tpy5)"
] |
file_579
|
GOAL: (holding tfp1) (clear kak2) (on-table kak2) (clear iut4) (on-table iut4) (clear ows3) (on-table ows3)
|
GOAL: (holding tfp1) (clear kak2) (on-table kak2) (clear iut4) (on-table iut4) (clear ows3) (on-table ows3)
STATE: (holding kak2) (on-table iut4) (on tfp1 iut4) (on ows3 tfp1) (clear ows3)
|
[
[
"put-down kak2"
],
[
"unstack ows3 tfp1"
],
[
"put-down ows3"
],
[
"unstack tfp1 iut4"
]
] |
[
"(on-table iut4) (clear kak2) (arm-empty) (on-table kak2) (on ows3 tfp1) (clear ows3) (on tfp1 iut4)",
"(on-table kak2) (clear kak2) (on-table iut4) (on tfp1 iut4) (holding ows3) (clear tfp1)",
"(arm-empty) (on-table kak2) (clear kak2) (on-table iut4) (on tfp1 iut4) (clear ows3) (clear tfp1) (on-table ows3)",
"(holding tfp1) (clear kak2) (on-table kak2) (clear iut4) (on-table iut4) (clear ows3) (on-table ows3)"
] |
file_132922
|
GOAL: (on oex3 asl4) (on asl4 rji1) (arm-empty) (on-table xqb5) (on kiz2 xqb5) (clear oex3) (on rji1 kiz2)
|
GOAL: (on oex3 asl4) (on asl4 rji1) (arm-empty) (on-table xqb5) (on kiz2 xqb5) (clear oex3) (on rji1 kiz2)
STATE: (arm-empty) (on-table xqb5) (on-table rji1) (clear asl4) (on asl4 kiz2) (on kiz2 xqb5) (clear oex3) (clear rji1) (on-table oex3)
|
[
[
"unstack asl4 kiz2"
],
[
"stack asl4 oex3"
],
[
"pick-up rji1"
],
[
"stack rji1 kiz2"
],
[
"unstack asl4 oex3"
],
[
"stack asl4 rji1"
],
[
"pick-up oex3"
],
[
"stack oex3 asl4"
]
] |
[
"(clear kiz2) (on-table xqb5) (on-table rji1) (holding asl4) (on kiz2 xqb5) (clear oex3) (clear rji1) (on-table oex3)",
"(clear kiz2) (arm-empty) (on-table xqb5) (on-table rji1) (clear asl4) (on asl4 oex3) (on kiz2 xqb5) (clear rji1) (on-table oex3)",
"(holding rji1) (clear kiz2) (on-table xqb5) (clear asl4) (on asl4 oex3) (on kiz2 xqb5) (on-table oex3)",
"(arm-empty) (on-table xqb5) (clear asl4) (on asl4 oex3) (on kiz2 xqb5) (on rji1 kiz2) (clear rji1) (on-table oex3)",
"(on-table xqb5) (holding asl4) (on kiz2 xqb5) (clear oex3) (on rji1 kiz2) (clear rji1) (on-table oex3)",
"(on asl4 rji1) (arm-empty) (on-table xqb5) (clear asl4) (on kiz2 xqb5) (clear oex3) (on rji1 kiz2) (on-table oex3)",
"(on asl4 rji1) (on-table xqb5) (clear asl4) (on kiz2 xqb5) (on rji1 kiz2) (holding oex3)",
"(on oex3 asl4) (on asl4 rji1) (arm-empty) (on-table xqb5) (on kiz2 xqb5) (clear oex3) (on rji1 kiz2)"
] |
file_147742
|
GOAL: (holding pcp1) (on-table yun2) (on lww4 oon5) (on oon5 yun2) (clear lww4) (clear cug3) (on-table cug3)
|
GOAL: (holding pcp1) (on-table yun2) (on lww4 oon5) (on oon5 yun2) (clear lww4) (clear cug3) (on-table cug3)
STATE: (arm-empty) (on-table yun2) (on lww4 oon5) (on oon5 yun2) (on pcp1 lww4) (on cug3 pcp1) (clear cug3)
|
[
[
"unstack cug3 pcp1"
],
[
"put-down cug3"
],
[
"unstack pcp1 lww4"
]
] |
[
"(on-table yun2) (on lww4 oon5) (on oon5 yun2) (on pcp1 lww4) (holding cug3) (clear pcp1)",
"(arm-empty) (on-table yun2) (on lww4 oon5) (on oon5 yun2) (on pcp1 lww4) (clear cug3) (clear pcp1) (on-table cug3)",
"(holding pcp1) (on-table yun2) (on lww4 oon5) (on oon5 yun2) (clear lww4) (clear cug3) (on-table cug3)"
] |
file_180605
|
GOAL: (holding suk1) (on ubr5 ezw4) (on-table uyh2) (on ezw4 uyh2) (clear hso3) (on-table hso3) (clear ubr5)
|
GOAL: (holding suk1) (on ubr5 ezw4) (on-table uyh2) (on ezw4 uyh2) (clear hso3) (on-table hso3) (clear ubr5)
STATE: (on-table suk1) (clear ezw4) (on ubr5 suk1) (on-table ezw4) (holding uyh2) (clear hso3) (on-table hso3) (clear ubr5)
|
[
[
"put-down uyh2"
],
[
"pick-up ezw4"
],
[
"stack ezw4 uyh2"
],
[
"unstack ubr5 suk1"
],
[
"stack ubr5 ezw4"
],
[
"pick-up suk1"
]
] |
[
"(clear uyh2) (arm-empty) (on-table uyh2) (on-table suk1) (clear ezw4) (on ubr5 suk1) (on-table ezw4) (clear hso3) (on-table hso3) (clear ubr5)",
"(clear uyh2) (on-table uyh2) (on-table suk1) (holding ezw4) (on ubr5 suk1) (clear hso3) (on-table hso3) (clear ubr5)",
"(arm-empty) (on-table uyh2) (on-table suk1) (clear ezw4) (on ubr5 suk1) (on ezw4 uyh2) (clear hso3) (on-table hso3) (clear ubr5)",
"(on-table uyh2) (on-table suk1) (clear ezw4) (holding ubr5) (on ezw4 uyh2) (clear hso3) (clear suk1) (on-table hso3)",
"(arm-empty) (on ubr5 ezw4) (on-table uyh2) (on-table suk1) (on ezw4 uyh2) (clear hso3) (clear suk1) (on-table hso3) (clear ubr5)",
"(holding suk1) (on ubr5 ezw4) (on-table uyh2) (on ezw4 uyh2) (clear hso3) (on-table hso3) (clear ubr5)"
] |
file_210545
|
GOAL: (holding hyq1) (on kle5 qom4) (on qom4 iqd2) (on iqd2 cum3) (on-table cum3) (clear kle5)
|
GOAL: (holding hyq1) (on kle5 qom4) (on qom4 iqd2) (on iqd2 cum3) (on-table cum3) (clear kle5)
STATE: (clear iqd2) (arm-empty) (on-table kle5) (on-table hyq1) (clear qom4) (on-table qom4) (on iqd2 cum3) (clear hyq1) (on-table cum3) (clear kle5)
|
[
[
"pick-up kle5"
],
[
"stack kle5 hyq1"
],
[
"pick-up qom4"
],
[
"stack qom4 iqd2"
],
[
"unstack kle5 hyq1"
],
[
"stack kle5 qom4"
],
[
"pick-up hyq1"
]
] |
[
"(clear iqd2) (on-table hyq1) (clear qom4) (holding kle5) (on-table qom4) (on iqd2 cum3) (clear hyq1) (on-table cum3)",
"(clear iqd2) (arm-empty) (on-table hyq1) (clear qom4) (on kle5 hyq1) (on-table qom4) (on iqd2 cum3) (on-table cum3) (clear kle5)",
"(clear iqd2) (on-table hyq1) (holding qom4) (on kle5 hyq1) (on iqd2 cum3) (on-table cum3) (clear kle5)",
"(arm-empty) (on-table hyq1) (clear qom4) (on kle5 hyq1) (on qom4 iqd2) (on iqd2 cum3) (on-table cum3) (clear kle5)",
"(on-table hyq1) (clear qom4) (holding kle5) (on qom4 iqd2) (on iqd2 cum3) (clear hyq1) (on-table cum3)",
"(arm-empty) (on kle5 qom4) (on-table hyq1) (on qom4 iqd2) (on iqd2 cum3) (clear hyq1) (on-table cum3) (clear kle5)",
"(holding hyq1) (on kle5 qom4) (on qom4 iqd2) (on iqd2 cum3) (on-table cum3) (clear kle5)"
] |
file_56142
|
GOAL: (on pyq4 tsk5) (on-table ulb1) (clear pyq4) (on tsk5 ulb1) (holding nss2) (clear vac3) (on-table vac3)
|
GOAL: (on pyq4 tsk5) (on-table ulb1) (clear pyq4) (on tsk5 ulb1) (holding nss2) (clear vac3) (on-table vac3)
STATE: (on-table ulb1) (clear pyq4) (on tsk5 vac3) (on-table pyq4) (holding nss2) (clear ulb1) (on-table vac3) (clear tsk5)
|
[
[
"put-down nss2"
],
[
"unstack tsk5 vac3"
],
[
"put-down tsk5"
],
[
"pick-up nss2"
],
[
"stack nss2 vac3"
],
[
"pick-up tsk5"
],
[
"stack tsk5 ulb1"
],
[
"pick-up pyq4"
],
[
"stack pyq4 tsk5"
],
[
"unstack nss2 vac3"
]
] |
[
"(clear nss2) (arm-empty) (on-table nss2) (on-table ulb1) (clear pyq4) (on tsk5 vac3) (on-table pyq4) (clear ulb1) (on-table vac3) (clear tsk5)",
"(clear nss2) (on-table nss2) (on-table ulb1) (clear pyq4) (holding tsk5) (on-table pyq4) (clear vac3) (clear ulb1) (on-table vac3)",
"(clear nss2) (arm-empty) (on-table nss2) (on-table tsk5) (on-table ulb1) (clear pyq4) (on-table pyq4) (clear vac3) (clear ulb1) (on-table vac3) (clear tsk5)",
"(on-table tsk5) (on-table ulb1) (clear pyq4) (on-table pyq4) (holding nss2) (clear vac3) (clear ulb1) (on-table vac3) (clear tsk5)",
"(clear nss2) (arm-empty) (on-table tsk5) (on-table ulb1) (clear pyq4) (on-table pyq4) (on nss2 vac3) (clear ulb1) (on-table vac3) (clear tsk5)",
"(clear nss2) (on-table ulb1) (clear pyq4) (holding tsk5) (on-table pyq4) (on nss2 vac3) (clear ulb1) (on-table vac3)",
"(clear nss2) (arm-empty) (on-table ulb1) (clear pyq4) (on tsk5 ulb1) (on-table pyq4) (on nss2 vac3) (on-table vac3) (clear tsk5)",
"(clear nss2) (on-table ulb1) (holding pyq4) (on tsk5 ulb1) (on nss2 vac3) (on-table vac3) (clear tsk5)",
"(clear nss2) (arm-empty) (on pyq4 tsk5) (on-table ulb1) (clear pyq4) (on tsk5 ulb1) (on nss2 vac3) (on-table vac3)",
"(on pyq4 tsk5) (on-table ulb1) (clear pyq4) (on tsk5 ulb1) (holding nss2) (clear vac3) (on-table vac3)"
] |
file_178923
|
GOAL: (on sqo3 waj4) (clear lja2) (on waj4 crp1) (arm-empty) (on-table crp1) (on dsg5 sqo3) (on lja2 dsg5)
|
GOAL: (on sqo3 waj4) (clear lja2) (on waj4 crp1) (arm-empty) (on-table crp1) (on dsg5 sqo3) (on lja2 dsg5)
STATE: (clear lja2) (arm-empty) (on dsg5 waj4) (on-table crp1) (on waj4 sqo3) (on lja2 dsg5) (clear crp1) (on-table sqo3)
|
[
[
"unstack lja2 dsg5"
],
[
"put-down lja2"
],
[
"unstack dsg5 waj4"
],
[
"stack dsg5 lja2"
],
[
"unstack waj4 sqo3"
],
[
"stack waj4 crp1"
],
[
"pick-up sqo3"
],
[
"stack sqo3 waj4"
],
[
"unstack dsg5 lja2"
],
[
"stack dsg5 sqo3"
],
[
"pick-up lja2"
],
[
"stack lja2 dsg5"
]
] |
[
"(on dsg5 waj4) (on-table crp1) (on waj4 sqo3) (holding lja2) (clear crp1) (on-table sqo3) (clear dsg5)",
"(arm-empty) (on dsg5 waj4) (on-table lja2) (clear dsg5) (clear lja2) (on-table crp1) (on waj4 sqo3) (clear crp1) (on-table sqo3)",
"(clear lja2) (on-table lja2) (on-table crp1) (clear waj4) (on waj4 sqo3) (holding dsg5) (clear crp1) (on-table sqo3)",
"(arm-empty) (on-table lja2) (on-table crp1) (on dsg5 lja2) (clear waj4) (on waj4 sqo3) (clear crp1) (on-table sqo3) (clear dsg5)",
"(on-table lja2) (on-table crp1) (holding waj4) (on dsg5 lja2) (clear sqo3) (clear crp1) (on-table sqo3) (clear dsg5)",
"(on waj4 crp1) (arm-empty) (on-table lja2) (on-table crp1) (on dsg5 lja2) (clear waj4) (clear sqo3) (on-table sqo3) (clear dsg5)",
"(on waj4 crp1) (on-table lja2) (on-table crp1) (on dsg5 lja2) (clear waj4) (holding sqo3) (clear dsg5)",
"(on sqo3 waj4) (on waj4 crp1) (arm-empty) (on-table lja2) (on-table crp1) (on dsg5 lja2) (clear sqo3) (clear dsg5)",
"(on sqo3 waj4) (clear lja2) (on waj4 crp1) (on-table lja2) (on-table crp1) (holding dsg5) (clear sqo3)",
"(on sqo3 waj4) (clear lja2) (on waj4 crp1) (arm-empty) (on-table lja2) (on-table crp1) (on dsg5 sqo3) (clear dsg5)",
"(on sqo3 waj4) (on waj4 crp1) (on-table crp1) (on dsg5 sqo3) (holding lja2) (clear dsg5)",
"(on sqo3 waj4) (clear lja2) (on waj4 crp1) (arm-empty) (on-table crp1) (on dsg5 sqo3) (on lja2 dsg5)"
] |
file_151164
|
GOAL: (on ayi4 dah1) (arm-empty) (on-table dah1) (on oei5 lek2) (clear ayi4) (on lek2 ofq3) (on-table ofq3) (clear oei5)
|
GOAL: (on ayi4 dah1) (arm-empty) (on-table dah1) (on oei5 lek2) (clear ayi4) (on lek2 ofq3) (on-table ofq3) (clear oei5)
STATE: (clear lek2) (arm-empty) (on-table lek2) (on-table oei5) (on-table dah1) (clear ayi4) (on ayi4 ofq3) (clear dah1) (on-table ofq3) (clear oei5)
|
[
[
"unstack ayi4 ofq3"
],
[
"stack ayi4 dah1"
],
[
"pick-up lek2"
],
[
"stack lek2 ofq3"
],
[
"pick-up oei5"
],
[
"stack oei5 lek2"
]
] |
[
"(clear lek2) (on-table lek2) (on-table oei5) (on-table dah1) (holding ayi4) (clear ofq3) (clear dah1) (on-table ofq3) (clear oei5)",
"(clear lek2) (on ayi4 dah1) (arm-empty) (on-table lek2) (on-table oei5) (on-table dah1) (clear ayi4) (clear ofq3) (on-table ofq3) (clear oei5)",
"(on ayi4 dah1) (on-table oei5) (on-table dah1) (clear ayi4) (holding lek2) (clear ofq3) (on-table ofq3) (clear oei5)",
"(clear lek2) (on ayi4 dah1) (arm-empty) (on-table oei5) (on-table dah1) (clear ayi4) (on lek2 ofq3) (on-table ofq3) (clear oei5)",
"(clear lek2) (on ayi4 dah1) (on-table dah1) (clear ayi4) (holding oei5) (on lek2 ofq3) (on-table ofq3)",
"(on ayi4 dah1) (arm-empty) (on-table dah1) (on oei5 lek2) (clear ayi4) (on lek2 ofq3) (on-table ofq3) (clear oei5)"
] |
file_194105
|
GOAL: (clear gra2) (on xnb1 frh3) (arm-empty) (on zhy4 bap5) (on bap5 xnb1) (on gra2 zhy4) (on-table frh3)
|
GOAL: (clear gra2) (on xnb1 frh3) (arm-empty) (on zhy4 bap5) (on bap5 xnb1) (on gra2 zhy4) (on-table frh3)
STATE: (on-table xnb1) (clear zhy4) (on bap5 xnb1) (on-table zhy4) (holding gra2) (clear frh3) (on-table frh3) (clear bap5)
|
[
[
"put-down gra2"
],
[
"unstack bap5 xnb1"
],
[
"put-down bap5"
],
[
"pick-up xnb1"
],
[
"stack xnb1 frh3"
],
[
"pick-up bap5"
],
[
"stack bap5 xnb1"
],
[
"pick-up zhy4"
],
[
"stack zhy4 bap5"
],
[
"pick-up gra2"
],
[
"stack gra2 zhy4"
]
] |
[
"(clear gra2) (arm-empty) (on-table gra2) (on-table xnb1) (clear zhy4) (on bap5 xnb1) (on-table zhy4) (clear frh3) (on-table frh3) (clear bap5)",
"(clear gra2) (on-table gra2) (on-table xnb1) (clear zhy4) (holding bap5) (on-table zhy4) (clear frh3) (clear xnb1) (on-table frh3)",
"(clear gra2) (arm-empty) (on-table gra2) (on-table bap5) (on-table xnb1) (clear zhy4) (on-table zhy4) (clear frh3) (clear xnb1) (on-table frh3) (clear bap5)",
"(holding xnb1) (clear gra2) (on-table gra2) (on-table bap5) (clear zhy4) (on-table zhy4) (clear frh3) (on-table frh3) (clear bap5)",
"(clear gra2) (on xnb1 frh3) (arm-empty) (on-table gra2) (on-table bap5) (clear zhy4) (on-table zhy4) (clear xnb1) (on-table frh3) (clear bap5)",
"(clear gra2) (on xnb1 frh3) (on-table gra2) (clear zhy4) (holding bap5) (on-table zhy4) (clear xnb1) (on-table frh3)",
"(clear gra2) (on xnb1 frh3) (arm-empty) (on-table gra2) (clear zhy4) (on bap5 xnb1) (on-table zhy4) (on-table frh3) (clear bap5)",
"(clear gra2) (on xnb1 frh3) (on-table gra2) (holding zhy4) (on bap5 xnb1) (on-table frh3) (clear bap5)",
"(clear gra2) (on xnb1 frh3) (arm-empty) (on-table gra2) (on zhy4 bap5) (clear zhy4) (on bap5 xnb1) (on-table frh3)",
"(on xnb1 frh3) (on zhy4 bap5) (clear zhy4) (on bap5 xnb1) (holding gra2) (on-table frh3)",
"(clear gra2) (on xnb1 frh3) (arm-empty) (on zhy4 bap5) (on bap5 xnb1) (on gra2 zhy4) (on-table frh3)"
] |
file_210477
|
GOAL: (clear gbc2) (on-table jyx5) (on-table cpm1) (holding rgj4) (on gbc2 jyx5) (clear dmh3) (clear cpm1) (on-table dmh3)
|
GOAL: (clear gbc2) (on-table jyx5) (on-table cpm1) (holding rgj4) (on gbc2 jyx5) (clear dmh3) (clear cpm1) (on-table dmh3)
STATE: (clear gbc2) (on rgj4 cpm1) (arm-empty) (on-table gbc2) (on-table jyx5) (on-table cpm1) (clear rgj4) (clear dmh3) (on-table dmh3) (clear jyx5)
|
[
[
"unstack rgj4 cpm1"
],
[
"put-down rgj4"
],
[
"pick-up gbc2"
],
[
"stack gbc2 cpm1"
],
[
"pick-up rgj4"
],
[
"stack rgj4 dmh3"
],
[
"unstack gbc2 cpm1"
],
[
"stack gbc2 jyx5"
],
[
"unstack rgj4 dmh3"
]
] |
[
"(clear gbc2) (on-table gbc2) (on-table jyx5) (on-table cpm1) (holding rgj4) (clear dmh3) (clear cpm1) (on-table dmh3) (clear jyx5)",
"(clear gbc2) (arm-empty) (on-table gbc2) (on-table jyx5) (on-table cpm1) (clear rgj4) (on-table rgj4) (clear dmh3) (clear cpm1) (on-table dmh3) (clear jyx5)",
"(on-table jyx5) (on-table cpm1) (clear rgj4) (on-table rgj4) (holding gbc2) (clear dmh3) (clear cpm1) (on-table dmh3) (clear jyx5)",
"(clear gbc2) (arm-empty) (on-table jyx5) (on-table cpm1) (clear rgj4) (on-table rgj4) (on gbc2 cpm1) (clear dmh3) (on-table dmh3) (clear jyx5)",
"(clear gbc2) (on-table jyx5) (on-table cpm1) (holding rgj4) (on gbc2 cpm1) (clear dmh3) (on-table dmh3) (clear jyx5)",
"(clear gbc2) (arm-empty) (on-table jyx5) (on-table cpm1) (clear rgj4) (on rgj4 dmh3) (on gbc2 cpm1) (on-table dmh3) (clear jyx5)",
"(on-table jyx5) (on-table cpm1) (clear rgj4) (on rgj4 dmh3) (holding gbc2) (clear cpm1) (on-table dmh3) (clear jyx5)",
"(clear gbc2) (arm-empty) (on-table jyx5) (on-table cpm1) (clear rgj4) (on rgj4 dmh3) (on gbc2 jyx5) (clear cpm1) (on-table dmh3)",
"(clear gbc2) (on-table jyx5) (on-table cpm1) (holding rgj4) (on gbc2 jyx5) (clear dmh3) (clear cpm1) (on-table dmh3)"
] |
file_154607
|
GOAL: (arm-empty) (on-table nap1) (on iep3 fhq2) (clear rir4) (on bnq5 nap1) (on-table rir4) (on fhq2 bnq5) (clear iep3)
|
GOAL: (arm-empty) (on-table nap1) (on iep3 fhq2) (clear rir4) (on bnq5 nap1) (on-table rir4) (on fhq2 bnq5) (clear iep3)
STATE: (on iep3 rir4) (clear fhq2) (arm-empty) (on-table fhq2) (on-table bnq5) (on-table nap1) (on-table rir4) (clear iep3) (clear nap1) (clear bnq5)
|
[
[
"pick-up bnq5"
],
[
"stack bnq5 nap1"
],
[
"pick-up fhq2"
],
[
"stack fhq2 bnq5"
],
[
"unstack iep3 rir4"
],
[
"stack iep3 fhq2"
]
] |
[
"(on iep3 rir4) (clear fhq2) (on-table fhq2) (on-table nap1) (holding bnq5) (on-table rir4) (clear iep3) (clear nap1)",
"(on iep3 rir4) (clear fhq2) (arm-empty) (on-table fhq2) (on-table nap1) (on bnq5 nap1) (on-table rir4) (clear iep3) (clear bnq5)",
"(on iep3 rir4) (on-table nap1) (on bnq5 nap1) (on-table rir4) (holding fhq2) (clear iep3) (clear bnq5)",
"(on iep3 rir4) (clear fhq2) (arm-empty) (on-table nap1) (on bnq5 nap1) (on-table rir4) (on fhq2 bnq5) (clear iep3)",
"(clear fhq2) (on-table nap1) (clear rir4) (on bnq5 nap1) (on-table rir4) (on fhq2 bnq5) (holding iep3)",
"(arm-empty) (on-table nap1) (on iep3 fhq2) (clear rir4) (on bnq5 nap1) (on-table rir4) (on fhq2 bnq5) (clear iep3)"
] |
file_141660
|
GOAL: (clear hhe2) (arm-empty) (on rmg5 nec4) (on-table hhe2) (on-table ugt1) (on nec4 hvl3) (clear ugt1) (on-table hvl3) (clear rmg5)
|
GOAL: (clear hhe2) (arm-empty) (on rmg5 nec4) (on-table hhe2) (on-table ugt1) (on nec4 hvl3) (clear ugt1) (on-table hvl3) (clear rmg5)
STATE: (on ugt1 rmg5) (arm-empty) (on-table hhe2) (on rmg5 hhe2) (clear nec4) (on-table nec4) (clear hvl3) (clear ugt1) (on-table hvl3)
|
[
[
"pick-up nec4"
],
[
"stack nec4 hvl3"
],
[
"unstack ugt1 rmg5"
],
[
"put-down ugt1"
],
[
"unstack rmg5 hhe2"
],
[
"stack rmg5 nec4"
]
] |
[
"(on ugt1 rmg5) (on-table hhe2) (holding nec4) (on rmg5 hhe2) (clear hvl3) (clear ugt1) (on-table hvl3)",
"(on ugt1 rmg5) (arm-empty) (on-table hhe2) (on rmg5 hhe2) (clear nec4) (on nec4 hvl3) (clear ugt1) (on-table hvl3)",
"(holding ugt1) (on-table hhe2) (on rmg5 hhe2) (clear nec4) (on nec4 hvl3) (on-table hvl3) (clear rmg5)",
"(arm-empty) (on-table hhe2) (on rmg5 hhe2) (clear nec4) (clear rmg5) (on-table ugt1) (on nec4 hvl3) (clear ugt1) (on-table hvl3)",
"(clear hhe2) (on-table hhe2) (on-table ugt1) (clear nec4) (on nec4 hvl3) (holding rmg5) (clear ugt1) (on-table hvl3)",
"(clear hhe2) (arm-empty) (on rmg5 nec4) (on-table hhe2) (on-table ugt1) (on nec4 hvl3) (clear ugt1) (on-table hvl3) (clear rmg5)"
] |
file_98559
|
GOAL: (on-table txn5) (on-table kgc1) (clear ifc4) (on ifc4 zhz2) (on zhz2 kgc1) (holding qqb3) (clear txn5)
|
GOAL: (on-table txn5) (on-table kgc1) (clear ifc4) (on ifc4 zhz2) (on zhz2 kgc1) (holding qqb3) (clear txn5)
STATE: (on txn5 ifc4) (on-table kgc1) (on ifc4 zhz2) (on zhz2 kgc1) (holding qqb3) (clear txn5)
|
[
[
"put-down qqb3"
],
[
"unstack txn5 ifc4"
],
[
"put-down txn5"
],
[
"pick-up qqb3"
]
] |
[
"(arm-empty) (on txn5 ifc4) (on zhz2 kgc1) (clear txn5) (on-table kgc1) (on ifc4 zhz2) (clear qqb3) (on-table qqb3)",
"(on-table kgc1) (clear ifc4) (holding txn5) (on ifc4 zhz2) (on zhz2 kgc1) (clear qqb3) (on-table qqb3)",
"(arm-empty) (on-table txn5) (clear ifc4) (on zhz2 kgc1) (clear txn5) (on-table kgc1) (on ifc4 zhz2) (clear qqb3) (on-table qqb3)",
"(on-table txn5) (on-table kgc1) (clear ifc4) (on ifc4 zhz2) (on zhz2 kgc1) (holding qqb3) (clear txn5)"
] |
file_81757
|
GOAL: (clear ikk2) (on nyw4 jrl1) (arm-empty) (on-table ikk2) (on-table fcq5) (on-table jrl1) (clear nyw4) (clear loo3) (on-table loo3) (clear fcq5)
|
GOAL: (clear ikk2) (on nyw4 jrl1) (arm-empty) (on-table ikk2) (on-table fcq5) (on-table jrl1) (clear nyw4) (clear loo3) (on-table loo3) (clear fcq5)
STATE: (on loo3 nyw4) (clear ikk2) (on nyw4 jrl1) (arm-empty) (on-table ikk2) (on-table jrl1) (on fcq5 loo3) (clear fcq5)
|
[
[
"unstack fcq5 loo3"
],
[
"put-down fcq5"
],
[
"pick-up ikk2"
],
[
"stack ikk2 fcq5"
],
[
"unstack loo3 nyw4"
],
[
"put-down loo3"
],
[
"unstack ikk2 fcq5"
],
[
"put-down ikk2"
]
] |
[
"(on loo3 nyw4) (clear ikk2) (on nyw4 jrl1) (on-table ikk2) (on-table jrl1) (holding fcq5) (clear loo3)",
"(on nyw4 jrl1) (arm-empty) (on-table ikk2) (on-table fcq5) (clear fcq5) (on loo3 nyw4) (clear ikk2) (on-table jrl1) (clear loo3)",
"(on loo3 nyw4) (on nyw4 jrl1) (on-table fcq5) (on-table jrl1) (holding ikk2) (clear loo3) (clear fcq5)",
"(on loo3 nyw4) (clear ikk2) (on nyw4 jrl1) (arm-empty) (on-table fcq5) (on-table jrl1) (on ikk2 fcq5) (clear loo3)",
"(clear ikk2) (on nyw4 jrl1) (on-table fcq5) (on-table jrl1) (clear nyw4) (on ikk2 fcq5) (holding loo3)",
"(on nyw4 jrl1) (arm-empty) (on-table fcq5) (clear nyw4) (on ikk2 fcq5) (clear ikk2) (on-table jrl1) (clear loo3) (on-table loo3)",
"(on nyw4 jrl1) (on-table fcq5) (on-table jrl1) (clear nyw4) (holding ikk2) (clear loo3) (on-table loo3) (clear fcq5)",
"(clear ikk2) (on nyw4 jrl1) (arm-empty) (on-table ikk2) (on-table fcq5) (on-table jrl1) (clear nyw4) (clear loo3) (on-table loo3) (clear fcq5)"
] |
file_40890
|
GOAL: (on-table wmp5) (on-table nap1) (clear tkt4) (on tkt4 rjw3) (holding vrt2) (clear nap1) (on-table rjw3) (clear wmp5)
|
GOAL: (on-table wmp5) (on-table nap1) (clear tkt4) (on tkt4 rjw3) (holding vrt2) (clear nap1) (on-table rjw3) (clear wmp5)
STATE: (on rjw3 tkt4) (on tkt4 nap1) (arm-empty) (on-table nap1) (on wmp5 vrt2) (on vrt2 rjw3) (clear wmp5)
|
[
[
"unstack wmp5 vrt2"
],
[
"put-down wmp5"
],
[
"unstack vrt2 rjw3"
],
[
"stack vrt2 wmp5"
],
[
"unstack rjw3 tkt4"
],
[
"put-down rjw3"
],
[
"unstack tkt4 nap1"
],
[
"stack tkt4 rjw3"
],
[
"unstack vrt2 wmp5"
]
] |
[
"(on tkt4 nap1) (holding wmp5) (on rjw3 tkt4) (clear vrt2) (on-table nap1) (on vrt2 rjw3)",
"(on tkt4 nap1) (arm-empty) (on-table wmp5) (clear wmp5) (on rjw3 tkt4) (clear vrt2) (on-table nap1) (on vrt2 rjw3)",
"(on rjw3 tkt4) (on tkt4 nap1) (on-table wmp5) (on-table nap1) (holding vrt2) (clear rjw3) (clear wmp5)",
"(on rjw3 tkt4) (clear vrt2) (on tkt4 nap1) (arm-empty) (on-table wmp5) (on-table nap1) (on vrt2 wmp5) (clear rjw3)",
"(clear vrt2) (on tkt4 nap1) (on-table wmp5) (on-table nap1) (clear tkt4) (on vrt2 wmp5) (holding rjw3)",
"(on tkt4 nap1) (arm-empty) (on-table wmp5) (clear tkt4) (on vrt2 wmp5) (clear vrt2) (on-table nap1) (clear rjw3) (on-table rjw3)",
"(clear vrt2) (on-table wmp5) (on-table nap1) (holding tkt4) (on vrt2 wmp5) (clear rjw3) (clear nap1) (on-table rjw3)",
"(clear vrt2) (arm-empty) (on-table wmp5) (on-table nap1) (clear tkt4) (on tkt4 rjw3) (on vrt2 wmp5) (clear nap1) (on-table rjw3)",
"(on-table wmp5) (on-table nap1) (clear tkt4) (on tkt4 rjw3) (holding vrt2) (clear nap1) (on-table rjw3) (clear wmp5)"
] |
file_5507
|
GOAL: (on-table njl5) (holding oxq4) (on uyj2 bag3) (on qfp1 uyj2) (clear qfp1) (on-table bag3) (clear njl5)
|
GOAL: (on-table njl5) (holding oxq4) (on uyj2 bag3) (on qfp1 uyj2) (clear qfp1) (on-table bag3) (clear njl5)
STATE: (on qfp1 njl5) (arm-empty) (on njl5 oxq4) (on bag3 uyj2) (on-table oxq4) (on uyj2 qfp1) (clear bag3)
|
[
[
"unstack bag3 uyj2"
],
[
"put-down bag3"
],
[
"unstack uyj2 qfp1"
],
[
"stack uyj2 bag3"
],
[
"unstack qfp1 njl5"
],
[
"stack qfp1 uyj2"
],
[
"unstack njl5 oxq4"
],
[
"put-down njl5"
],
[
"pick-up oxq4"
]
] |
[
"(on qfp1 njl5) (on njl5 oxq4) (on uyj2 qfp1) (clear uyj2) (on-table oxq4) (holding bag3)",
"(on qfp1 njl5) (arm-empty) (on njl5 oxq4) (on uyj2 qfp1) (clear uyj2) (on-table oxq4) (clear bag3) (on-table bag3)",
"(on qfp1 njl5) (on njl5 oxq4) (on-table oxq4) (holding uyj2) (clear bag3) (clear qfp1) (on-table bag3)",
"(on qfp1 njl5) (clear uyj2) (arm-empty) (on njl5 oxq4) (on-table oxq4) (on uyj2 bag3) (clear qfp1) (on-table bag3)",
"(holding qfp1) (clear uyj2) (on njl5 oxq4) (on-table oxq4) (on uyj2 bag3) (on-table bag3) (clear njl5)",
"(arm-empty) (on njl5 oxq4) (on qfp1 uyj2) (on-table oxq4) (on uyj2 bag3) (clear qfp1) (on-table bag3) (clear njl5)",
"(clear oxq4) (on qfp1 uyj2) (holding njl5) (on-table oxq4) (on uyj2 bag3) (clear qfp1) (on-table bag3)",
"(arm-empty) (on-table njl5) (clear oxq4) (on qfp1 uyj2) (clear njl5) (on-table oxq4) (on uyj2 bag3) (clear qfp1) (on-table bag3)",
"(on-table njl5) (holding oxq4) (on uyj2 bag3) (on qfp1 uyj2) (clear qfp1) (on-table bag3) (clear njl5)"
] |
file_26363
|
GOAL: (arm-empty) (on-table dno1) (clear qrw4) (on nbv5 qjx3) (on qjx3 dno1) (on qrw4 yva2) (on yva2 nbv5)
|
GOAL: (arm-empty) (on-table dno1) (clear qrw4) (on nbv5 qjx3) (on qjx3 dno1) (on qrw4 yva2) (on yva2 nbv5)
STATE: (holding dno1) (on-table yva2) (on-table nbv5) (clear qrw4) (on qrw4 yva2) (clear qjx3) (on-table qjx3) (clear nbv5)
|
[
[
"put-down dno1"
],
[
"pick-up qjx3"
],
[
"stack qjx3 dno1"
],
[
"pick-up nbv5"
],
[
"stack nbv5 qjx3"
],
[
"unstack qrw4 yva2"
],
[
"put-down qrw4"
],
[
"pick-up yva2"
],
[
"stack yva2 nbv5"
],
[
"pick-up qrw4"
],
[
"stack qrw4 yva2"
]
] |
[
"(arm-empty) (on-table yva2) (on-table nbv5) (on-table dno1) (clear qrw4) (on qrw4 yva2) (clear qjx3) (clear dno1) (on-table qjx3) (clear nbv5)",
"(on-table yva2) (on-table nbv5) (on-table dno1) (clear qrw4) (on qrw4 yva2) (holding qjx3) (clear dno1) (clear nbv5)",
"(arm-empty) (on-table yva2) (on-table nbv5) (on-table dno1) (clear qrw4) (on qjx3 dno1) (on qrw4 yva2) (clear qjx3) (clear nbv5)",
"(on-table yva2) (on-table dno1) (on qrw4 yva2) (clear qrw4) (holding nbv5) (on qjx3 dno1) (clear qjx3)",
"(arm-empty) (on-table yva2) (on-table dno1) (clear qrw4) (on nbv5 qjx3) (on qjx3 dno1) (on qrw4 yva2) (clear nbv5)",
"(clear yva2) (on-table yva2) (on-table dno1) (holding qrw4) (on nbv5 qjx3) (on qjx3 dno1) (clear nbv5)",
"(arm-empty) (on-table yva2) (clear qrw4) (on nbv5 qjx3) (on qjx3 dno1) (clear nbv5) (clear yva2) (on-table dno1) (on-table qrw4)",
"(on-table dno1) (clear qrw4) (on nbv5 qjx3) (on-table qrw4) (holding yva2) (on qjx3 dno1) (clear nbv5)",
"(clear yva2) (arm-empty) (on-table dno1) (clear qrw4) (on nbv5 qjx3) (on-table qrw4) (on qjx3 dno1) (on yva2 nbv5)",
"(clear yva2) (on-table dno1) (holding qrw4) (on nbv5 qjx3) (on qjx3 dno1) (on yva2 nbv5)",
"(arm-empty) (on-table dno1) (clear qrw4) (on nbv5 qjx3) (on qjx3 dno1) (on qrw4 yva2) (on yva2 nbv5)"
] |
file_217481
|
GOAL: (holding mnx1) (on gke3 caw5) (on caw5 byw4) (on-table jco2) (on byw4 jco2) (clear gke3)
|
GOAL: (holding mnx1) (on gke3 caw5) (on caw5 byw4) (on-table jco2) (on byw4 jco2) (clear gke3)
STATE: (on-table jco2) (on-table mnx1) (clear byw4) (holding caw5) (on byw4 jco2) (clear gke3) (clear mnx1) (on-table gke3)
|
[
[
"stack caw5 byw4"
],
[
"pick-up gke3"
],
[
"stack gke3 caw5"
],
[
"pick-up mnx1"
]
] |
[
"(arm-empty) (on caw5 byw4) (on-table jco2) (on-table mnx1) (on byw4 jco2) (clear gke3) (clear mnx1) (on-table gke3) (clear caw5)",
"(on caw5 byw4) (on-table jco2) (on-table mnx1) (on byw4 jco2) (holding gke3) (clear mnx1) (clear caw5)",
"(on gke3 caw5) (arm-empty) (on caw5 byw4) (on-table jco2) (on-table mnx1) (on byw4 jco2) (clear gke3) (clear mnx1)",
"(holding mnx1) (on gke3 caw5) (on caw5 byw4) (on-table jco2) (on byw4 jco2) (clear gke3)"
] |
file_87000
|
GOAL: (clear lih2) (arm-empty) (on vmg5 qoh4) (on-table hne1) (on-table qoh4) (on lih2 vmg5) (clear jtm3) (clear hne1) (on-table jtm3)
|
GOAL: (clear lih2) (arm-empty) (on vmg5 qoh4) (on-table hne1) (on-table qoh4) (on lih2 vmg5) (clear jtm3) (clear hne1) (on-table jtm3)
STATE: (arm-empty) (on qoh4 vmg5) (on-table hne1) (on vmg5 lih2) (clear qoh4) (on lih2 hne1) (clear jtm3) (on-table jtm3)
|
[
[
"unstack qoh4 vmg5"
],
[
"put-down qoh4"
],
[
"unstack vmg5 lih2"
],
[
"stack vmg5 qoh4"
],
[
"unstack lih2 hne1"
],
[
"stack lih2 vmg5"
]
] |
[
"(on-table hne1) (holding qoh4) (on vmg5 lih2) (on lih2 hne1) (clear jtm3) (on-table jtm3) (clear vmg5)",
"(arm-empty) (on vmg5 lih2) (clear qoh4) (on lih2 hne1) (clear vmg5) (on-table hne1) (on-table qoh4) (clear jtm3) (on-table jtm3)",
"(clear lih2) (on-table hne1) (clear qoh4) (holding vmg5) (on-table qoh4) (on lih2 hne1) (clear jtm3) (on-table jtm3)",
"(clear lih2) (arm-empty) (on vmg5 qoh4) (on-table hne1) (on-table qoh4) (on lih2 hne1) (clear jtm3) (on-table jtm3) (clear vmg5)",
"(on vmg5 qoh4) (on-table hne1) (on-table qoh4) (holding lih2) (clear jtm3) (clear hne1) (on-table jtm3) (clear vmg5)",
"(clear lih2) (arm-empty) (on vmg5 qoh4) (on-table hne1) (on-table qoh4) (on lih2 vmg5) (clear jtm3) (clear hne1) (on-table jtm3)"
] |
file_114426
|
GOAL: (on miu4 ici1) (arm-empty) (on-table yeb2) (on-table qdc5) (on-table ici1) (on qup3 yeb2) (clear miu4) (clear qup3) (clear qdc5)
|
GOAL: (on miu4 ici1) (arm-empty) (on-table yeb2) (on-table qdc5) (on-table ici1) (on qup3 yeb2) (clear miu4) (clear qup3) (clear qdc5)
STATE: (clear yeb2) (arm-empty) (on qdc5 miu4) (on-table yeb2) (on-table ici1) (on-table miu4) (clear qup3) (clear ici1) (on-table qup3) (clear qdc5)
|
[
[
"unstack qdc5 miu4"
],
[
"put-down qdc5"
],
[
"pick-up qup3"
],
[
"stack qup3 yeb2"
],
[
"pick-up miu4"
],
[
"stack miu4 ici1"
]
] |
[
"(clear yeb2) (on-table yeb2) (on-table ici1) (clear miu4) (holding qdc5) (on-table miu4) (clear qup3) (clear ici1) (on-table qup3)",
"(clear yeb2) (arm-empty) (on-table yeb2) (on-table qdc5) (on-table ici1) (clear miu4) (on-table miu4) (clear qup3) (clear ici1) (on-table qup3) (clear qdc5)",
"(clear yeb2) (on-table yeb2) (on-table qdc5) (on-table ici1) (clear miu4) (on-table miu4) (holding qup3) (clear ici1) (clear qdc5)",
"(arm-empty) (on-table yeb2) (on-table qdc5) (on-table ici1) (on qup3 yeb2) (clear miu4) (on-table miu4) (clear qup3) (clear ici1) (clear qdc5)",
"(on-table yeb2) (on-table qdc5) (on-table ici1) (holding miu4) (on qup3 yeb2) (clear qup3) (clear ici1) (clear qdc5)",
"(on miu4 ici1) (arm-empty) (on-table yeb2) (on-table qdc5) (on-table ici1) (on qup3 yeb2) (clear miu4) (clear qup3) (clear qdc5)"
] |
file_158910
|
GOAL: (on ini3 yuw5) (clear uay2) (arm-empty) (on-table uay2) (on-table yuw5) (on-table zop4) (on ouf1 zop4) (clear ini3) (clear ouf1)
|
GOAL: (on ini3 yuw5) (clear uay2) (arm-empty) (on-table uay2) (on-table yuw5) (on-table zop4) (on ouf1 zop4) (clear ini3) (clear ouf1)
STATE: (on ini3 yuw5) (on ouf1 ini3) (arm-empty) (on-table uay2) (on-table yuw5) (clear uay2) (clear zop4) (on-table zop4) (clear ouf1)
|
[
[
"unstack ouf1 ini3"
],
[
"stack ouf1 zop4"
]
] |
[
"(holding ouf1) (on ini3 yuw5) (on-table uay2) (on-table yuw5) (clear uay2) (clear zop4) (on-table zop4) (clear ini3)",
"(on ini3 yuw5) (clear uay2) (arm-empty) (on-table uay2) (on-table yuw5) (on-table zop4) (on ouf1 zop4) (clear ini3) (clear ouf1)"
] |
file_117907
|
GOAL: (on kyp3 fro4) (on eqn1 kyp3) (arm-empty) (on-table dym2) (on mgp5 eqn1) (on fro4 dym2) (clear mgp5)
|
GOAL: (on kyp3 fro4) (on eqn1 kyp3) (arm-empty) (on-table dym2) (on mgp5 eqn1) (on fro4 dym2) (clear mgp5)
STATE: (arm-empty) (on-table dym2) (on-table mgp5) (on-table eqn1) (clear fro4) (on fro4 dym2) (clear kyp3) (clear eqn1) (on-table kyp3) (clear mgp5)
|
[
[
"pick-up kyp3"
],
[
"stack kyp3 fro4"
],
[
"pick-up eqn1"
],
[
"stack eqn1 kyp3"
],
[
"pick-up mgp5"
],
[
"stack mgp5 eqn1"
]
] |
[
"(on-table dym2) (on-table mgp5) (on-table eqn1) (clear fro4) (on fro4 dym2) (holding kyp3) (clear eqn1) (clear mgp5)",
"(on kyp3 fro4) (arm-empty) (on-table dym2) (on-table mgp5) (on-table eqn1) (on fro4 dym2) (clear kyp3) (clear eqn1) (clear mgp5)",
"(holding eqn1) (on kyp3 fro4) (on-table dym2) (on-table mgp5) (on fro4 dym2) (clear kyp3) (clear mgp5)",
"(on kyp3 fro4) (on eqn1 kyp3) (arm-empty) (on-table dym2) (on-table mgp5) (on fro4 dym2) (clear eqn1) (clear mgp5)",
"(on kyp3 fro4) (on eqn1 kyp3) (on-table dym2) (holding mgp5) (on fro4 dym2) (clear eqn1)",
"(on kyp3 fro4) (on eqn1 kyp3) (arm-empty) (on-table dym2) (on mgp5 eqn1) (on fro4 dym2) (clear mgp5)"
] |
file_17745
|
GOAL: (on umh3 wda5) (arm-empty) (on wda5 tod4) (on-table tod4) (on lpk2 umh3) (on ctc1 lpk2) (clear ctc1)
|
GOAL: (on umh3 wda5) (arm-empty) (on wda5 tod4) (on-table tod4) (on lpk2 umh3) (on ctc1 lpk2) (clear ctc1)
STATE: (clear lpk2) (arm-empty) (on wda5 tod4) (on-table lpk2) (on-table ctc1) (on-table tod4) (clear umh3) (clear ctc1) (on-table umh3) (clear wda5)
|
[
[
"pick-up umh3"
],
[
"stack umh3 wda5"
],
[
"pick-up lpk2"
],
[
"stack lpk2 umh3"
],
[
"pick-up ctc1"
],
[
"stack ctc1 lpk2"
]
] |
[
"(clear lpk2) (on wda5 tod4) (on-table lpk2) (on-table ctc1) (on-table tod4) (holding umh3) (clear ctc1) (clear wda5)",
"(clear lpk2) (on umh3 wda5) (on wda5 tod4) (on-table lpk2) (arm-empty) (on-table ctc1) (on-table tod4) (clear umh3) (clear ctc1)",
"(on umh3 wda5) (on wda5 tod4) (on-table ctc1) (on-table tod4) (holding lpk2) (clear umh3) (clear ctc1)",
"(on umh3 wda5) (clear lpk2) (on wda5 tod4) (arm-empty) (on-table ctc1) (on-table tod4) (on lpk2 umh3) (clear ctc1)",
"(holding ctc1) (on umh3 wda5) (clear lpk2) (on wda5 tod4) (on-table tod4) (on lpk2 umh3)",
"(on umh3 wda5) (arm-empty) (on wda5 tod4) (on-table tod4) (on lpk2 umh3) (on ctc1 lpk2) (clear ctc1)"
] |
file_158714
|
GOAL: (on qrr2 xav4) (holding cdt5) (on-table xav4) (on pqe3 llt1) (clear pqe3) (on llt1 qrr2)
|
GOAL: (on qrr2 xav4) (holding cdt5) (on-table xav4) (on pqe3 llt1) (clear pqe3) (on llt1 qrr2)
STATE: (clear qrr2) (arm-empty) (on-table qrr2) (on-table llt1) (clear xav4) (on cdt5 llt1) (on-table xav4) (clear pqe3) (on-table pqe3) (clear cdt5)
|
[
[
"unstack cdt5 llt1"
],
[
"put-down cdt5"
],
[
"pick-up qrr2"
],
[
"stack qrr2 xav4"
],
[
"pick-up pqe3"
],
[
"stack pqe3 cdt5"
],
[
"pick-up llt1"
],
[
"stack llt1 qrr2"
],
[
"unstack pqe3 cdt5"
],
[
"stack pqe3 llt1"
],
[
"pick-up cdt5"
]
] |
[
"(clear qrr2) (on-table qrr2) (on-table llt1) (clear xav4) (holding cdt5) (on-table xav4) (clear pqe3) (clear llt1) (on-table pqe3)",
"(clear qrr2) (arm-empty) (on-table qrr2) (on-table cdt5) (on-table llt1) (clear xav4) (on-table xav4) (clear pqe3) (clear llt1) (on-table pqe3) (clear cdt5)",
"(on-table cdt5) (on-table llt1) (clear xav4) (on-table xav4) (holding qrr2) (clear pqe3) (clear llt1) (on-table pqe3) (clear cdt5)",
"(clear qrr2) (arm-empty) (on-table cdt5) (on-table llt1) (on-table xav4) (on qrr2 xav4) (clear pqe3) (clear llt1) (on-table pqe3) (clear cdt5)",
"(clear qrr2) (on-table cdt5) (on-table llt1) (on-table xav4) (on qrr2 xav4) (holding pqe3) (clear llt1) (clear cdt5)",
"(clear qrr2) (on pqe3 cdt5) (arm-empty) (on-table cdt5) (on-table llt1) (on-table xav4) (on qrr2 xav4) (clear pqe3) (clear llt1)",
"(holding llt1) (clear qrr2) (on pqe3 cdt5) (on-table cdt5) (on-table xav4) (on qrr2 xav4) (clear pqe3)",
"(on pqe3 cdt5) (arm-empty) (on-table cdt5) (on-table xav4) (on qrr2 xav4) (clear pqe3) (on llt1 qrr2) (clear llt1)",
"(on-table cdt5) (on-table xav4) (on qrr2 xav4) (on llt1 qrr2) (clear llt1) (holding pqe3) (clear cdt5)",
"(arm-empty) (on-table cdt5) (on qrr2 xav4) (on-table xav4) (on pqe3 llt1) (clear pqe3) (on llt1 qrr2) (clear cdt5)",
"(on qrr2 xav4) (holding cdt5) (on-table xav4) (on pqe3 llt1) (clear pqe3) (on llt1 qrr2)"
] |
file_108352
|
GOAL: (arm-empty) (on-table tmz5) (clear lwj4) (on xbo2 pey1) (clear tmz5) (clear xbo2) (on-table pey1) (on lwj4 jge3) (on-table jge3)
|
GOAL: (arm-empty) (on-table tmz5) (clear lwj4) (on xbo2 pey1) (clear tmz5) (clear xbo2) (on-table pey1) (on lwj4 jge3) (on-table jge3)
STATE: (on tmz5 lwj4) (on-table pey1) (on lwj4 jge3) (holding xbo2) (clear pey1) (on-table jge3) (clear tmz5)
|
[
[
"stack xbo2 pey1"
],
[
"unstack tmz5 lwj4"
],
[
"put-down tmz5"
]
] |
[
"(clear xbo2) (arm-empty) (on tmz5 lwj4) (on-table pey1) (on lwj4 jge3) (on xbo2 pey1) (on-table jge3) (clear tmz5)",
"(clear xbo2) (on-table pey1) (clear lwj4) (on lwj4 jge3) (holding tmz5) (on xbo2 pey1) (on-table jge3)",
"(arm-empty) (on-table tmz5) (clear lwj4) (on xbo2 pey1) (clear tmz5) (clear xbo2) (on-table pey1) (on lwj4 jge3) (on-table jge3)"
] |
file_181201
|
GOAL: (clear bug2) (on djy1 gto3) (arm-empty) (on-table bxa5) (on-table gqb4) (on bug2 gqb4) (clear djy1) (on-table gto3) (clear bxa5)
|
GOAL: (clear bug2) (on djy1 gto3) (arm-empty) (on-table bxa5) (on-table gqb4) (on bug2 gqb4) (clear djy1) (on-table gto3) (clear bxa5)
STATE: (clear bug2) (holding gqb4) (on-table djy1) (on bxa5 gto3) (on gto3 djy1) (on bug2 bxa5)
|
[
[
"put-down gqb4"
],
[
"unstack bug2 bxa5"
],
[
"stack bug2 gqb4"
],
[
"unstack bxa5 gto3"
],
[
"put-down bxa5"
],
[
"unstack gto3 djy1"
],
[
"stack gto3 bug2"
],
[
"pick-up djy1"
],
[
"stack djy1 bxa5"
],
[
"unstack gto3 bug2"
],
[
"put-down gto3"
],
[
"unstack djy1 bxa5"
],
[
"stack djy1 gto3"
]
] |
[
"(arm-empty) (clear gqb4) (on bxa5 gto3) (on gto3 djy1) (on bug2 bxa5) (clear bug2) (on-table djy1) (on-table gqb4)",
"(on-table djy1) (clear gqb4) (on bxa5 gto3) (on-table gqb4) (holding bug2) (on gto3 djy1) (clear bxa5)",
"(clear bug2) (arm-empty) (on-table djy1) (on bug2 gqb4) (on bxa5 gto3) (on-table gqb4) (on gto3 djy1) (clear bxa5)",
"(clear bug2) (on-table djy1) (on bug2 gqb4) (holding bxa5) (on-table gqb4) (on gto3 djy1) (clear gto3)",
"(arm-empty) (on-table bxa5) (on gto3 djy1) (on bug2 gqb4) (clear bxa5) (clear bug2) (on-table djy1) (on-table gqb4) (clear gto3)",
"(clear bug2) (on-table bxa5) (on-table djy1) (on bug2 gqb4) (on-table gqb4) (holding gto3) (clear djy1) (clear bxa5)",
"(arm-empty) (on-table bxa5) (on-table djy1) (on gto3 bug2) (on-table gqb4) (on bug2 gqb4) (clear gto3) (clear djy1) (clear bxa5)",
"(holding djy1) (on-table bxa5) (on gto3 bug2) (on-table gqb4) (on bug2 gqb4) (clear gto3) (clear bxa5)",
"(on djy1 bxa5) (arm-empty) (on-table bxa5) (on gto3 bug2) (on-table gqb4) (on bug2 gqb4) (clear gto3) (clear djy1)",
"(on djy1 bxa5) (clear bug2) (on-table bxa5) (on-table gqb4) (on bug2 gqb4) (holding gto3) (clear djy1)",
"(on djy1 bxa5) (arm-empty) (on-table bxa5) (on bug2 gqb4) (clear bug2) (on-table gqb4) (clear gto3) (clear djy1) (on-table gto3)",
"(holding djy1) (clear bug2) (on-table bxa5) (on-table gqb4) (on bug2 gqb4) (clear gto3) (on-table gto3) (clear bxa5)",
"(clear bug2) (on djy1 gto3) (arm-empty) (on-table bxa5) (on-table gqb4) (on bug2 gqb4) (clear djy1) (on-table gto3) (clear bxa5)"
] |
file_124635
|
GOAL: (on vxz1 bdy5) (clear mls2) (arm-empty) (on-table bdy5) (on-table dcv4) (on mls2 dcv4) (clear vps3) (clear vxz1) (on-table vps3)
|
GOAL: (on vxz1 bdy5) (clear mls2) (arm-empty) (on-table bdy5) (on-table dcv4) (on mls2 dcv4) (clear vps3) (clear vxz1) (on-table vps3)
STATE: (holding vxz1) (on vps3 dcv4) (clear mls2) (on-table mls2) (on bdy5 vps3) (on-table dcv4) (clear bdy5)
|
[
[
"stack vxz1 mls2"
],
[
"unstack bdy5 vps3"
],
[
"stack bdy5 vxz1"
],
[
"unstack vps3 dcv4"
],
[
"put-down vps3"
],
[
"unstack bdy5 vxz1"
],
[
"put-down bdy5"
],
[
"unstack vxz1 mls2"
],
[
"stack vxz1 vps3"
],
[
"pick-up bdy5"
],
[
"stack bdy5 vxz1"
],
[
"pick-up mls2"
],
[
"stack mls2 dcv4"
],
[
"unstack bdy5 vxz1"
],
[
"put-down bdy5"
],
[
"unstack vxz1 vps3"
],
[
"stack vxz1 bdy5"
]
] |
[
"(on vps3 dcv4) (arm-empty) (on-table mls2) (on bdy5 vps3) (on-table dcv4) (on vxz1 mls2) (clear vxz1) (clear bdy5)",
"(on vps3 dcv4) (on-table mls2) (holding bdy5) (on-table dcv4) (clear vps3) (on vxz1 mls2) (clear vxz1)",
"(on vps3 dcv4) (arm-empty) (on-table mls2) (on bdy5 vxz1) (on-table dcv4) (clear vps3) (on vxz1 mls2) (clear bdy5)",
"(on-table mls2) (clear dcv4) (on bdy5 vxz1) (on-table dcv4) (on vxz1 mls2) (holding vps3) (clear bdy5)",
"(arm-empty) (on-table mls2) (clear dcv4) (on vxz1 mls2) (clear bdy5) (on bdy5 vxz1) (on-table dcv4) (clear vps3) (on-table vps3)",
"(on-table mls2) (clear dcv4) (holding bdy5) (on-table dcv4) (clear vps3) (on vxz1 mls2) (clear vxz1) (on-table vps3)",
"(arm-empty) (on-table mls2) (on-table bdy5) (clear dcv4) (on-table dcv4) (clear vps3) (on vxz1 mls2) (clear vxz1) (on-table vps3) (clear bdy5)",
"(holding vxz1) (clear mls2) (on-table mls2) (on-table bdy5) (clear dcv4) (on-table dcv4) (clear vps3) (on-table vps3) (clear bdy5)",
"(clear mls2) (on vxz1 vps3) (arm-empty) (on-table mls2) (on-table bdy5) (clear dcv4) (on-table dcv4) (clear vxz1) (on-table vps3) (clear bdy5)",
"(clear mls2) (on vxz1 vps3) (on-table mls2) (clear dcv4) (holding bdy5) (on-table dcv4) (clear vxz1) (on-table vps3)",
"(clear mls2) (on vxz1 vps3) (arm-empty) (on-table mls2) (clear dcv4) (on bdy5 vxz1) (on-table dcv4) (on-table vps3) (clear bdy5)",
"(on vxz1 vps3) (clear dcv4) (on bdy5 vxz1) (on-table dcv4) (holding mls2) (on-table vps3) (clear bdy5)",
"(clear mls2) (on vxz1 vps3) (arm-empty) (on bdy5 vxz1) (on-table dcv4) (on mls2 dcv4) (on-table vps3) (clear bdy5)",
"(clear mls2) (on vxz1 vps3) (holding bdy5) (on-table dcv4) (on mls2 dcv4) (clear vxz1) (on-table vps3)",
"(on vxz1 vps3) (arm-empty) (on-table bdy5) (on mls2 dcv4) (clear bdy5) (clear mls2) (on-table dcv4) (clear vxz1) (on-table vps3)",
"(holding vxz1) (clear mls2) (on-table bdy5) (on-table dcv4) (on mls2 dcv4) (clear vps3) (on-table vps3) (clear bdy5)",
"(on vxz1 bdy5) (clear mls2) (arm-empty) (on-table bdy5) (on-table dcv4) (on mls2 dcv4) (clear vps3) (clear vxz1) (on-table vps3)"
] |
file_4747
|
GOAL: (on usg4 ngd2) (holding dli1) (on afc3 usg4) (on-table ngd2) (clear afc3)
|
GOAL: (on usg4 ngd2) (holding dli1) (on afc3 usg4) (on-table ngd2) (clear afc3)
STATE: (holding dli1) (clear ngd2) (on-table ngd2) (clear usg4) (on-table usg4) (clear afc3) (on-table afc3)
|
[
[
"put-down dli1"
],
[
"pick-up usg4"
],
[
"stack usg4 ngd2"
],
[
"pick-up afc3"
],
[
"stack afc3 usg4"
],
[
"pick-up dli1"
]
] |
[
"(arm-empty) (on-table ngd2) (clear usg4) (clear ngd2) (on-table dli1) (on-table usg4) (clear afc3) (clear dli1) (on-table afc3)",
"(clear ngd2) (on-table ngd2) (on-table dli1) (holding usg4) (clear afc3) (clear dli1) (on-table afc3)",
"(arm-empty) (on-table ngd2) (on-table dli1) (clear usg4) (on usg4 ngd2) (clear afc3) (clear dli1) (on-table afc3)",
"(on-table ngd2) (on-table dli1) (clear usg4) (on usg4 ngd2) (holding afc3) (clear dli1)",
"(on afc3 usg4) (arm-empty) (on-table ngd2) (on-table dli1) (on usg4 ngd2) (clear afc3) (clear dli1)",
"(on usg4 ngd2) (holding dli1) (on afc3 usg4) (on-table ngd2) (clear afc3)"
] |
file_19139
|
GOAL: (on-table oxg2) (clear ysv4) (holding ywf1) (on ysv4 oxg2) (clear umi3) (on-table umi3)
|
GOAL: (on-table oxg2) (clear ysv4) (holding ywf1) (on ysv4 oxg2) (clear umi3) (on-table umi3)
STATE: (on-table oxg2) (on ywf1 ysv4) (on ysv4 oxg2) (holding umi3) (clear ywf1)
|
[
[
"put-down umi3"
],
[
"unstack ywf1 ysv4"
]
] |
[
"(arm-empty) (on-table oxg2) (on ywf1 ysv4) (on ysv4 oxg2) (clear umi3) (clear ywf1) (on-table umi3)",
"(on-table oxg2) (clear ysv4) (holding ywf1) (on ysv4 oxg2) (clear umi3) (on-table umi3)"
] |
file_45904
|
GOAL: (clear jjs2) (arm-empty) (on-table jjs2) (on-table akt1) (clear ier4) (on ier4 qsu3) (on kge5 akt1) (on-table qsu3) (clear kge5)
|
GOAL: (clear jjs2) (arm-empty) (on-table jjs2) (on-table akt1) (clear ier4) (on ier4 qsu3) (on kge5 akt1) (on-table qsu3) (clear kge5)
STATE: (on qsu3 ier4) (clear jjs2) (on akt1 qsu3) (arm-empty) (on-table jjs2) (on-table kge5) (on-table ier4) (clear akt1) (clear kge5)
|
[
[
"unstack akt1 qsu3"
],
[
"stack akt1 kge5"
],
[
"unstack qsu3 ier4"
],
[
"put-down qsu3"
],
[
"pick-up ier4"
],
[
"stack ier4 qsu3"
],
[
"unstack akt1 kge5"
],
[
"stack akt1 ier4"
],
[
"pick-up kge5"
],
[
"stack kge5 jjs2"
],
[
"unstack akt1 ier4"
],
[
"put-down akt1"
],
[
"unstack kge5 jjs2"
],
[
"stack kge5 akt1"
]
] |
[
"(holding akt1) (on qsu3 ier4) (clear jjs2) (on-table jjs2) (on-table kge5) (on-table ier4) (clear qsu3) (clear kge5)",
"(on qsu3 ier4) (clear jjs2) (on akt1 kge5) (arm-empty) (on-table jjs2) (on-table kge5) (on-table ier4) (clear qsu3) (clear akt1)",
"(clear jjs2) (on akt1 kge5) (on-table jjs2) (on-table kge5) (clear ier4) (on-table ier4) (holding qsu3) (clear akt1)",
"(on akt1 kge5) (clear jjs2) (arm-empty) (on-table jjs2) (on-table kge5) (clear ier4) (on-table ier4) (clear qsu3) (clear akt1) (on-table qsu3)",
"(on akt1 kge5) (clear jjs2) (on-table jjs2) (on-table kge5) (holding ier4) (clear qsu3) (clear akt1) (on-table qsu3)",
"(on akt1 kge5) (clear jjs2) (arm-empty) (on-table jjs2) (on-table kge5) (clear ier4) (on ier4 qsu3) (clear akt1) (on-table qsu3)",
"(holding akt1) (clear jjs2) (on-table jjs2) (on-table kge5) (clear ier4) (on ier4 qsu3) (on-table qsu3) (clear kge5)",
"(clear jjs2) (arm-empty) (on-table jjs2) (on-table kge5) (on ier4 qsu3) (on akt1 ier4) (clear akt1) (on-table qsu3) (clear kge5)",
"(clear jjs2) (on-table jjs2) (on ier4 qsu3) (holding kge5) (on akt1 ier4) (clear akt1) (on-table qsu3)",
"(arm-empty) (on-table jjs2) (on kge5 jjs2) (on ier4 qsu3) (on akt1 ier4) (clear akt1) (on-table qsu3) (clear kge5)",
"(holding akt1) (on-table jjs2) (on kge5 jjs2) (clear ier4) (on ier4 qsu3) (on-table qsu3) (clear kge5)",
"(arm-empty) (on-table jjs2) (on kge5 jjs2) (clear ier4) (clear kge5) (on-table akt1) (on ier4 qsu3) (clear akt1) (on-table qsu3)",
"(clear jjs2) (on-table jjs2) (on-table akt1) (clear ier4) (on ier4 qsu3) (holding kge5) (clear akt1) (on-table qsu3)",
"(clear jjs2) (arm-empty) (on-table jjs2) (on-table akt1) (clear ier4) (on ier4 qsu3) (on kge5 akt1) (on-table qsu3) (clear kge5)"
] |
file_120469
|
GOAL: (on zpj1 otx3) (on uuu4 zpj1) (on-table gyi5) (clear uuu4) (holding cou2) (on-table otx3) (clear gyi5)
|
GOAL: (on zpj1 otx3) (on uuu4 zpj1) (on-table gyi5) (clear uuu4) (holding cou2) (on-table otx3) (clear gyi5)
STATE: (clear cou2) (on zpj1 otx3) (on-table cou2) (holding uuu4) (on gyi5 zpj1) (on-table otx3) (clear gyi5)
|
[
[
"put-down uuu4"
],
[
"unstack gyi5 zpj1"
],
[
"put-down gyi5"
],
[
"pick-up cou2"
],
[
"stack cou2 gyi5"
],
[
"pick-up uuu4"
],
[
"stack uuu4 zpj1"
],
[
"unstack cou2 gyi5"
]
] |
[
"(on zpj1 otx3) (arm-empty) (on-table cou2) (clear uuu4) (clear gyi5) (clear cou2) (on gyi5 zpj1) (on-table uuu4) (on-table otx3)",
"(clear cou2) (on zpj1 otx3) (on-table cou2) (clear uuu4) (holding gyi5) (on-table uuu4) (clear zpj1) (on-table otx3)",
"(clear cou2) (on zpj1 otx3) (arm-empty) (on-table cou2) (on-table gyi5) (clear uuu4) (on-table uuu4) (clear zpj1) (on-table otx3) (clear gyi5)",
"(on zpj1 otx3) (on-table gyi5) (clear uuu4) (on-table uuu4) (holding cou2) (clear zpj1) (on-table otx3) (clear gyi5)",
"(clear cou2) (on zpj1 otx3) (arm-empty) (on-table gyi5) (clear uuu4) (on-table uuu4) (on cou2 gyi5) (clear zpj1) (on-table otx3)",
"(clear cou2) (on zpj1 otx3) (on-table gyi5) (holding uuu4) (on cou2 gyi5) (clear zpj1) (on-table otx3)",
"(clear cou2) (on zpj1 otx3) (on uuu4 zpj1) (arm-empty) (on-table gyi5) (clear uuu4) (on cou2 gyi5) (on-table otx3)",
"(on zpj1 otx3) (on uuu4 zpj1) (on-table gyi5) (clear uuu4) (holding cou2) (on-table otx3) (clear gyi5)"
] |
file_84835
|
GOAL: (on-table ans2) (on anq4 vuo5) (on-table upp1) (on vuo5 ans2) (clear anq4) (holding oxf3) (clear upp1)
|
GOAL: (on-table ans2) (on anq4 vuo5) (on-table upp1) (on vuo5 ans2) (clear anq4) (holding oxf3) (clear upp1)
STATE: (clear ans2) (arm-empty) (on vuo5 anq4) (on-table ans2) (on-table upp1) (on-table anq4) (clear oxf3) (clear upp1) (on-table oxf3) (clear vuo5)
|
[
[
"pick-up oxf3"
],
[
"stack oxf3 upp1"
],
[
"unstack vuo5 anq4"
],
[
"stack vuo5 ans2"
],
[
"pick-up anq4"
],
[
"stack anq4 vuo5"
],
[
"unstack oxf3 upp1"
]
] |
[
"(clear ans2) (on vuo5 anq4) (on-table ans2) (on-table upp1) (on-table anq4) (holding oxf3) (clear upp1) (clear vuo5)",
"(clear ans2) (arm-empty) (on vuo5 anq4) (on-table ans2) (on-table upp1) (on-table anq4) (on oxf3 upp1) (clear oxf3) (clear vuo5)",
"(clear ans2) (on-table ans2) (on-table upp1) (clear anq4) (holding vuo5) (on-table anq4) (on oxf3 upp1) (clear oxf3)",
"(arm-empty) (on-table ans2) (on-table upp1) (on vuo5 ans2) (clear anq4) (on-table anq4) (on oxf3 upp1) (clear oxf3) (clear vuo5)",
"(on-table ans2) (on-table upp1) (holding anq4) (on vuo5 ans2) (on oxf3 upp1) (clear oxf3) (clear vuo5)",
"(arm-empty) (on-table ans2) (on anq4 vuo5) (on-table upp1) (on vuo5 ans2) (clear anq4) (on oxf3 upp1) (clear oxf3)",
"(on-table ans2) (on anq4 vuo5) (on-table upp1) (on vuo5 ans2) (clear anq4) (holding oxf3) (clear upp1)"
] |
file_158702
|
GOAL: (on-table fbt5) (on-table ezc1) (clear yxe4) (on yxe4 new3) (holding yuy2) (clear ezc1) (on-table new3) (clear fbt5)
|
GOAL: (on-table fbt5) (on-table ezc1) (clear yxe4) (on yxe4 new3) (holding yuy2) (clear ezc1) (on-table new3) (clear fbt5)
STATE: (on ezc1 fbt5) (on yxe4 ezc1) (arm-empty) (on fbt5 yuy2) (clear yxe4) (on yuy2 new3) (on-table new3)
|
[
[
"unstack yxe4 ezc1"
],
[
"put-down yxe4"
],
[
"unstack ezc1 fbt5"
],
[
"put-down ezc1"
],
[
"pick-up yxe4"
],
[
"stack yxe4 ezc1"
],
[
"unstack fbt5 yuy2"
],
[
"put-down fbt5"
],
[
"unstack yuy2 new3"
],
[
"put-down yuy2"
],
[
"unstack yxe4 ezc1"
],
[
"stack yxe4 new3"
],
[
"pick-up yuy2"
]
] |
[
"(on ezc1 fbt5) (holding yxe4) (on fbt5 yuy2) (on yuy2 new3) (clear ezc1) (on-table new3)",
"(on ezc1 fbt5) (arm-empty) (on fbt5 yuy2) (clear yxe4) (on-table yxe4) (on yuy2 new3) (clear ezc1) (on-table new3)",
"(holding ezc1) (on fbt5 yuy2) (clear yxe4) (on-table yxe4) (on yuy2 new3) (on-table new3) (clear fbt5)",
"(arm-empty) (on fbt5 yuy2) (clear yxe4) (clear fbt5) (on-table ezc1) (on-table yxe4) (on yuy2 new3) (clear ezc1) (on-table new3)",
"(on-table ezc1) (holding yxe4) (on fbt5 yuy2) (on yuy2 new3) (clear ezc1) (on-table new3) (clear fbt5)",
"(on yxe4 ezc1) (arm-empty) (on-table ezc1) (on fbt5 yuy2) (clear yxe4) (on yuy2 new3) (on-table new3) (clear fbt5)",
"(clear yuy2) (on yxe4 ezc1) (on-table ezc1) (clear yxe4) (holding fbt5) (on yuy2 new3) (on-table new3)",
"(on yxe4 ezc1) (arm-empty) (on-table fbt5) (clear yxe4) (clear fbt5) (clear yuy2) (on-table ezc1) (on yuy2 new3) (on-table new3)",
"(on yxe4 ezc1) (on-table fbt5) (on-table ezc1) (clear yxe4) (holding yuy2) (clear new3) (on-table new3) (clear fbt5)",
"(clear yuy2) (on yxe4 ezc1) (arm-empty) (on-table yuy2) (on-table fbt5) (on-table ezc1) (clear yxe4) (clear new3) (on-table new3) (clear fbt5)",
"(clear yuy2) (on-table yuy2) (on-table fbt5) (on-table ezc1) (holding yxe4) (clear new3) (clear ezc1) (on-table new3) (clear fbt5)",
"(clear yuy2) (arm-empty) (on-table yuy2) (on-table fbt5) (on-table ezc1) (clear yxe4) (on yxe4 new3) (clear ezc1) (on-table new3) (clear fbt5)",
"(on-table fbt5) (on-table ezc1) (clear yxe4) (on yxe4 new3) (holding yuy2) (clear ezc1) (on-table new3) (clear fbt5)"
] |
file_87831
|
GOAL: (on bbo2 evr4) (holding mgk5) (on-table evr4) (on uru3 qct1) (clear uru3) (on qct1 bbo2)
|
GOAL: (on bbo2 evr4) (holding mgk5) (on-table evr4) (on uru3 qct1) (clear uru3) (on qct1 bbo2)
STATE: (on uru3 evr4) (on evr4 qct1) (on-table bbo2) (holding mgk5) (clear uru3) (on qct1 bbo2)
|
[
[
"put-down mgk5"
],
[
"unstack uru3 evr4"
],
[
"stack uru3 mgk5"
],
[
"unstack evr4 qct1"
],
[
"put-down evr4"
],
[
"unstack qct1 bbo2"
],
[
"stack qct1 uru3"
],
[
"pick-up bbo2"
],
[
"stack bbo2 evr4"
],
[
"unstack qct1 uru3"
],
[
"stack qct1 bbo2"
],
[
"unstack uru3 mgk5"
],
[
"stack uru3 qct1"
],
[
"pick-up mgk5"
]
] |
[
"(on evr4 qct1) (arm-empty) (on-table bbo2) (on-table mgk5) (on qct1 bbo2) (clear mgk5) (on uru3 evr4) (clear uru3)",
"(on evr4 qct1) (on-table bbo2) (on-table mgk5) (clear evr4) (on qct1 bbo2) (holding uru3) (clear mgk5)",
"(on uru3 mgk5) (on evr4 qct1) (arm-empty) (on-table bbo2) (on-table mgk5) (clear evr4) (clear uru3) (on qct1 bbo2)",
"(on uru3 mgk5) (on-table bbo2) (on-table mgk5) (holding evr4) (clear uru3) (on qct1 bbo2) (clear qct1)",
"(on uru3 mgk5) (arm-empty) (on-table bbo2) (on-table mgk5) (clear evr4) (on qct1 bbo2) (on-table evr4) (clear uru3) (clear qct1)",
"(holding qct1) (on uru3 mgk5) (clear bbo2) (on-table bbo2) (on-table mgk5) (clear evr4) (on-table evr4) (clear uru3)",
"(on uru3 mgk5) (clear bbo2) (on qct1 uru3) (on-table bbo2) (on-table mgk5) (arm-empty) (clear evr4) (on-table evr4) (clear qct1)",
"(on uru3 mgk5) (on qct1 uru3) (on-table mgk5) (clear evr4) (on-table evr4) (holding bbo2) (clear qct1)",
"(on uru3 mgk5) (on qct1 uru3) (clear bbo2) (arm-empty) (on-table mgk5) (on-table evr4) (on bbo2 evr4) (clear qct1)",
"(holding qct1) (on uru3 mgk5) (clear bbo2) (on-table mgk5) (on-table evr4) (on bbo2 evr4) (clear uru3)",
"(on uru3 mgk5) (arm-empty) (on-table mgk5) (on-table evr4) (on bbo2 evr4) (clear uru3) (on qct1 bbo2) (clear qct1)",
"(on-table mgk5) (on-table evr4) (on bbo2 evr4) (on qct1 bbo2) (clear qct1) (holding uru3) (clear mgk5)",
"(arm-empty) (on-table mgk5) (on bbo2 evr4) (on-table evr4) (on uru3 qct1) (clear uru3) (on qct1 bbo2) (clear mgk5)",
"(on bbo2 evr4) (holding mgk5) (on-table evr4) (on uru3 qct1) (clear uru3) (on qct1 bbo2)"
] |
file_124946
|
GOAL: (clear eal2) (on rlj3 ymq5) (arm-empty) (on-table ymq5) (on-table wye4) (on hbb1 wye4) (on eal2 hbb1) (clear rlj3)
|
GOAL: (clear eal2) (on rlj3 ymq5) (arm-empty) (on-table ymq5) (on-table wye4) (on hbb1 wye4) (on eal2 hbb1) (clear rlj3)
STATE: (clear eal2) (holding ymq5) (on-table wye4) (on hbb1 wye4) (on eal2 hbb1) (clear rlj3) (on-table rlj3)
|
[
[
"put-down ymq5"
],
[
"pick-up rlj3"
],
[
"stack rlj3 ymq5"
]
] |
[
"(arm-empty) (on-table ymq5) (on eal2 hbb1) (clear ymq5) (clear eal2) (on-table wye4) (on hbb1 wye4) (clear rlj3) (on-table rlj3)",
"(clear eal2) (on-table ymq5) (on-table wye4) (on hbb1 wye4) (on eal2 hbb1) (holding rlj3) (clear ymq5)",
"(clear eal2) (on rlj3 ymq5) (arm-empty) (on-table ymq5) (on-table wye4) (on hbb1 wye4) (on eal2 hbb1) (clear rlj3)"
] |
file_1977
|
GOAL: (arm-empty) (on-table xzv5) (on-table cmn1) (clear zys4) (on flz3 cmn1) (on zys4 eoy2) (on eoy2 xzv5) (clear flz3)
|
GOAL: (arm-empty) (on-table xzv5) (on-table cmn1) (clear zys4) (on flz3 cmn1) (on zys4 eoy2) (on eoy2 xzv5) (clear flz3)
STATE: (on flz3 xzv5) (on zys4 cmn1) (arm-empty) (on-table cmn1) (on xzv5 eoy2) (on eoy2 zys4) (clear flz3)
|
[
[
"unstack flz3 xzv5"
],
[
"put-down flz3"
],
[
"unstack xzv5 eoy2"
],
[
"put-down xzv5"
],
[
"unstack eoy2 zys4"
],
[
"stack eoy2 xzv5"
],
[
"unstack zys4 cmn1"
],
[
"stack zys4 eoy2"
],
[
"pick-up flz3"
],
[
"stack flz3 cmn1"
]
] |
[
"(on zys4 cmn1) (on xzv5 eoy2) (on eoy2 zys4) (clear xzv5) (on-table cmn1) (holding flz3)",
"(on zys4 cmn1) (arm-empty) (on eoy2 zys4) (on xzv5 eoy2) (clear flz3) (on-table cmn1) (on-table flz3) (clear xzv5)",
"(clear eoy2) (on zys4 cmn1) (on-table cmn1) (holding xzv5) (on eoy2 zys4) (clear flz3) (on-table flz3)",
"(on zys4 cmn1) (arm-empty) (on-table xzv5) (on eoy2 zys4) (clear xzv5) (clear eoy2) (on-table cmn1) (clear flz3) (on-table flz3)",
"(on zys4 cmn1) (on-table xzv5) (on-table cmn1) (clear zys4) (holding eoy2) (clear flz3) (on-table flz3) (clear xzv5)",
"(clear eoy2) (on zys4 cmn1) (arm-empty) (on-table xzv5) (on-table cmn1) (clear zys4) (on eoy2 xzv5) (clear flz3) (on-table flz3)",
"(clear eoy2) (on-table xzv5) (on-table cmn1) (holding zys4) (on eoy2 xzv5) (clear flz3) (clear cmn1) (on-table flz3)",
"(arm-empty) (on-table xzv5) (on-table cmn1) (clear zys4) (on zys4 eoy2) (on eoy2 xzv5) (clear flz3) (clear cmn1) (on-table flz3)",
"(on-table xzv5) (on-table cmn1) (clear zys4) (on zys4 eoy2) (on eoy2 xzv5) (holding flz3) (clear cmn1)",
"(arm-empty) (on-table xzv5) (on-table cmn1) (clear zys4) (on flz3 cmn1) (on zys4 eoy2) (on eoy2 xzv5) (clear flz3)"
] |
file_164348
|
GOAL: (on yzy1 pzt3) (on kzc4 yzy1) (on-table mrq5) (clear kzc4) (holding fzx2) (on-table pzt3) (clear mrq5)
|
GOAL: (on yzy1 pzt3) (on kzc4 yzy1) (on-table mrq5) (clear kzc4) (holding fzx2) (on-table pzt3) (clear mrq5)
STATE: (on yzy1 mrq5) (clear fzx2) (arm-empty) (on-table fzx2) (on-table mrq5) (clear kzc4) (on-table kzc4) (on pzt3 yzy1) (clear pzt3)
|
[
[
"unstack pzt3 yzy1"
],
[
"put-down pzt3"
],
[
"unstack yzy1 mrq5"
],
[
"stack yzy1 pzt3"
],
[
"pick-up kzc4"
],
[
"stack kzc4 yzy1"
],
[
"pick-up fzx2"
]
] |
[
"(on yzy1 mrq5) (clear fzx2) (on-table fzx2) (on-table mrq5) (clear kzc4) (on-table kzc4) (holding pzt3) (clear yzy1)",
"(on yzy1 mrq5) (clear fzx2) (arm-empty) (on-table fzx2) (on-table mrq5) (clear kzc4) (on-table kzc4) (clear pzt3) (clear yzy1) (on-table pzt3)",
"(holding yzy1) (clear fzx2) (on-table fzx2) (on-table mrq5) (clear kzc4) (on-table kzc4) (clear pzt3) (on-table pzt3) (clear mrq5)",
"(clear fzx2) (on yzy1 pzt3) (arm-empty) (on-table fzx2) (on-table mrq5) (clear kzc4) (on-table kzc4) (clear yzy1) (on-table pzt3) (clear mrq5)",
"(clear fzx2) (on yzy1 pzt3) (on-table fzx2) (on-table mrq5) (holding kzc4) (clear yzy1) (on-table pzt3) (clear mrq5)",
"(clear fzx2) (on yzy1 pzt3) (on kzc4 yzy1) (on-table fzx2) (on-table mrq5) (arm-empty) (clear kzc4) (on-table pzt3) (clear mrq5)",
"(on yzy1 pzt3) (on kzc4 yzy1) (on-table mrq5) (clear kzc4) (holding fzx2) (on-table pzt3) (clear mrq5)"
] |
file_11581
|
GOAL: (on fay1 npg3) (on fdg5 yju4) (on-table yju4) (holding esl2) (clear fay1) (on-table npg3) (clear fdg5)
|
GOAL: (on fay1 npg3) (on fdg5 yju4) (on-table yju4) (holding esl2) (clear fay1) (on-table npg3) (clear fdg5)
STATE: (on yju4 fay1) (on fay1 npg3) (arm-empty) (on fdg5 esl2) (on esl2 yju4) (on-table npg3) (clear fdg5)
|
[
[
"unstack fdg5 esl2"
],
[
"put-down fdg5"
],
[
"unstack esl2 yju4"
],
[
"put-down esl2"
],
[
"unstack yju4 fay1"
],
[
"put-down yju4"
],
[
"pick-up fdg5"
],
[
"stack fdg5 yju4"
],
[
"pick-up esl2"
]
] |
[
"(on yju4 fay1) (on fay1 npg3) (holding fdg5) (on esl2 yju4) (clear esl2) (on-table npg3)",
"(on yju4 fay1) (on fay1 npg3) (arm-empty) (on-table fdg5) (on esl2 yju4) (clear fdg5) (clear esl2) (on-table npg3)",
"(on yju4 fay1) (on fay1 npg3) (on-table fdg5) (clear yju4) (holding esl2) (on-table npg3) (clear fdg5)",
"(on yju4 fay1) (on fay1 npg3) (on-table esl2) (on-table fdg5) (arm-empty) (clear yju4) (clear fdg5) (clear esl2) (on-table npg3)",
"(clear esl2) (on fay1 npg3) (on-table esl2) (on-table fdg5) (holding yju4) (clear fay1) (on-table npg3) (clear fdg5)",
"(clear esl2) (on fay1 npg3) (arm-empty) (on-table esl2) (on-table fdg5) (clear yju4) (on-table yju4) (clear fay1) (on-table npg3) (clear fdg5)",
"(clear esl2) (on fay1 npg3) (on-table esl2) (clear yju4) (holding fdg5) (on-table yju4) (clear fay1) (on-table npg3)",
"(clear esl2) (on fay1 npg3) (on fdg5 yju4) (on-table esl2) (arm-empty) (on-table yju4) (clear fay1) (on-table npg3) (clear fdg5)",
"(on fay1 npg3) (on fdg5 yju4) (on-table yju4) (holding esl2) (clear fay1) (on-table npg3) (clear fdg5)"
] |
file_144184
|
GOAL: (arm-empty) (on-table sci2) (on hiw5 sci2) (clear kjk4) (clear hiw5) (on-table lol1) (on kjk4 loh3) (clear lol1) (on-table loh3)
|
GOAL: (arm-empty) (on-table sci2) (on hiw5 sci2) (clear kjk4) (clear hiw5) (on-table lol1) (on kjk4 loh3) (clear lol1) (on-table loh3)
STATE: (on loh3 hiw5) (arm-empty) (on-table sci2) (on hiw5 sci2) (on kjk4 loh3) (on lol1 kjk4) (clear lol1)
|
[
[
"unstack lol1 kjk4"
],
[
"put-down lol1"
],
[
"unstack kjk4 loh3"
],
[
"put-down kjk4"
],
[
"pick-up lol1"
],
[
"stack lol1 kjk4"
],
[
"unstack loh3 hiw5"
],
[
"put-down loh3"
],
[
"unstack lol1 kjk4"
],
[
"stack lol1 hiw5"
],
[
"pick-up kjk4"
],
[
"stack kjk4 loh3"
],
[
"unstack lol1 hiw5"
],
[
"put-down lol1"
]
] |
[
"(on loh3 hiw5) (on-table sci2) (on hiw5 sci2) (clear kjk4) (holding lol1) (on kjk4 loh3)",
"(on loh3 hiw5) (arm-empty) (on-table sci2) (on hiw5 sci2) (clear kjk4) (on-table lol1) (on kjk4 loh3) (clear lol1)",
"(on loh3 hiw5) (on-table sci2) (on-table lol1) (holding kjk4) (on hiw5 sci2) (clear loh3) (clear lol1)",
"(on loh3 hiw5) (arm-empty) (on-table sci2) (on hiw5 sci2) (clear kjk4) (on-table lol1) (on-table kjk4) (clear loh3) (clear lol1)",
"(holding lol1) (on loh3 hiw5) (on-table sci2) (on hiw5 sci2) (clear kjk4) (on-table kjk4) (clear loh3)",
"(on loh3 hiw5) (arm-empty) (on-table sci2) (on hiw5 sci2) (on-table kjk4) (on lol1 kjk4) (clear loh3) (clear lol1)",
"(on-table sci2) (on hiw5 sci2) (on-table kjk4) (on lol1 kjk4) (holding loh3) (clear lol1) (clear hiw5)",
"(arm-empty) (on-table sci2) (on hiw5 sci2) (clear hiw5) (on-table kjk4) (on lol1 kjk4) (clear loh3) (clear lol1) (on-table loh3)",
"(holding lol1) (on-table sci2) (on hiw5 sci2) (clear kjk4) (on-table kjk4) (clear loh3) (on-table loh3) (clear hiw5)",
"(on lol1 hiw5) (arm-empty) (on-table sci2) (on hiw5 sci2) (clear kjk4) (on-table kjk4) (clear loh3) (clear lol1) (on-table loh3)",
"(on lol1 hiw5) (on-table sci2) (holding kjk4) (on hiw5 sci2) (clear loh3) (clear lol1) (on-table loh3)",
"(on lol1 hiw5) (arm-empty) (on-table sci2) (on hiw5 sci2) (clear kjk4) (on kjk4 loh3) (clear lol1) (on-table loh3)",
"(holding lol1) (on-table sci2) (on hiw5 sci2) (clear kjk4) (on kjk4 loh3) (on-table loh3) (clear hiw5)",
"(arm-empty) (on-table sci2) (on hiw5 sci2) (clear kjk4) (clear hiw5) (on-table lol1) (on kjk4 loh3) (clear lol1) (on-table loh3)"
] |
file_34087
|
GOAL: (arm-empty) (on-table ehg2) (clear npr4) (clear akc5) (clear ehg2) (on-table kdh1) (on npr4 gya3) (on akc5 kdh1) (on-table gya3)
|
GOAL: (arm-empty) (on-table ehg2) (clear npr4) (clear akc5) (clear ehg2) (on-table kdh1) (on npr4 gya3) (on akc5 kdh1) (on-table gya3)
STATE: (clear ehg2) (arm-empty) (on-table kdh1) (clear npr4) (on akc5 kdh1) (on-table npr4) (on ehg2 akc5) (clear gya3) (on-table gya3)
|
[
[
"pick-up npr4"
],
[
"stack npr4 gya3"
],
[
"unstack ehg2 akc5"
],
[
"put-down ehg2"
]
] |
[
"(clear ehg2) (on-table kdh1) (holding npr4) (on akc5 kdh1) (on ehg2 akc5) (clear gya3) (on-table gya3)",
"(arm-empty) (clear npr4) (on ehg2 akc5) (clear ehg2) (on-table kdh1) (on npr4 gya3) (on akc5 kdh1) (on-table gya3)",
"(on-table kdh1) (clear npr4) (on npr4 gya3) (on akc5 kdh1) (holding ehg2) (on-table gya3) (clear akc5)",
"(arm-empty) (on-table ehg2) (clear npr4) (clear akc5) (clear ehg2) (on-table kdh1) (on npr4 gya3) (on akc5 kdh1) (on-table gya3)"
] |
file_170149
|
GOAL: (clear jym2) (on-table uny4) (arm-empty) (on-table jiu1) (on jym2 jiu1) (clear tpg3) (clear uny4) (on-table tpg3)
|
GOAL: (clear jym2) (on-table uny4) (arm-empty) (on-table jiu1) (on jym2 jiu1) (clear tpg3) (clear uny4) (on-table tpg3)
STATE: (clear jym2) (on-table jiu1) (clear uny4) (on-table uny4) (on jym2 jiu1) (holding tpg3)
|
[
[
"put-down tpg3"
]
] |
[
"(clear jym2) (on-table uny4) (arm-empty) (on-table jiu1) (on jym2 jiu1) (clear tpg3) (clear uny4) (on-table tpg3)"
] |
file_44731
|
GOAL: (on tcz1 qip3) (clear yxy4) (on awz5 tcz1) (on-table yxy4) (holding nqn2) (on-table qip3) (clear awz5)
|
GOAL: (on tcz1 qip3) (clear yxy4) (on awz5 tcz1) (on-table yxy4) (holding nqn2) (on-table qip3) (clear awz5)
STATE: (clear nqn2) (on tcz1 qip3) (on-table awz5) (holding yxy4) (on nqn2 tcz1) (on-table qip3) (clear awz5)
|
[
[
"put-down yxy4"
],
[
"unstack nqn2 tcz1"
],
[
"stack nqn2 yxy4"
],
[
"pick-up awz5"
],
[
"stack awz5 tcz1"
],
[
"unstack nqn2 yxy4"
]
] |
[
"(on tcz1 qip3) (arm-empty) (on-table awz5) (clear yxy4) (on nqn2 tcz1) (clear awz5) (clear nqn2) (on-table yxy4) (on-table qip3)",
"(on tcz1 qip3) (on-table awz5) (clear yxy4) (on-table yxy4) (holding nqn2) (clear tcz1) (on-table qip3) (clear awz5)",
"(clear nqn2) (on tcz1 qip3) (arm-empty) (on-table awz5) (on-table yxy4) (on nqn2 yxy4) (clear tcz1) (on-table qip3) (clear awz5)",
"(clear nqn2) (on tcz1 qip3) (holding awz5) (on-table yxy4) (on nqn2 yxy4) (clear tcz1) (on-table qip3)",
"(clear nqn2) (on tcz1 qip3) (arm-empty) (on awz5 tcz1) (on-table yxy4) (on nqn2 yxy4) (on-table qip3) (clear awz5)",
"(on tcz1 qip3) (clear yxy4) (on awz5 tcz1) (on-table yxy4) (holding nqn2) (on-table qip3) (clear awz5)"
] |
file_183098
|
GOAL: (arm-empty) (on-table lag2) (on-table wml5) (clear xzc4) (on gkk1 lag2) (clear wml5) (on xzc4 ydb3) (clear gkk1) (on-table ydb3)
|
GOAL: (arm-empty) (on-table lag2) (on-table wml5) (clear xzc4) (on gkk1 lag2) (clear wml5) (on xzc4 ydb3) (clear gkk1) (on-table ydb3)
STATE: (on gkk1 wml5) (on wml5 xzc4) (on xzc4 ydb3) (holding lag2) (clear gkk1) (on-table ydb3)
|
[
[
"put-down lag2"
],
[
"unstack gkk1 wml5"
],
[
"stack gkk1 lag2"
],
[
"unstack wml5 xzc4"
],
[
"put-down wml5"
]
] |
[
"(on gkk1 wml5) (arm-empty) (on wml5 xzc4) (on-table lag2) (clear lag2) (on xzc4 ydb3) (clear gkk1) (on-table ydb3)",
"(holding gkk1) (clear lag2) (on wml5 xzc4) (on-table lag2) (on xzc4 ydb3) (on-table ydb3) (clear wml5)",
"(arm-empty) (on wml5 xzc4) (on-table lag2) (on xzc4 ydb3) (on gkk1 lag2) (clear gkk1) (on-table ydb3) (clear wml5)",
"(on-table lag2) (clear xzc4) (on xzc4 ydb3) (holding wml5) (on gkk1 lag2) (clear gkk1) (on-table ydb3)",
"(arm-empty) (on-table lag2) (on-table wml5) (clear xzc4) (on gkk1 lag2) (clear wml5) (on xzc4 ydb3) (clear gkk1) (on-table ydb3)"
] |
file_52024
|
GOAL: (on rff1 due3) (clear mqv4) (on whr5 rff1) (on-table mqv4) (holding mvy2) (on-table due3) (clear whr5)
|
GOAL: (on rff1 due3) (clear mqv4) (on whr5 rff1) (on-table mqv4) (holding mvy2) (on-table due3) (clear whr5)
STATE: (clear mvy2) (on-table rff1) (holding whr5) (on-table mqv4) (on mvy2 mqv4) (clear due3) (clear rff1) (on-table due3)
|
[
[
"stack whr5 mvy2"
],
[
"pick-up rff1"
],
[
"stack rff1 due3"
],
[
"unstack whr5 mvy2"
],
[
"stack whr5 rff1"
],
[
"unstack mvy2 mqv4"
]
] |
[
"(arm-empty) (on-table rff1) (on whr5 mvy2) (on-table mqv4) (on mvy2 mqv4) (clear due3) (clear rff1) (on-table due3) (clear whr5)",
"(holding rff1) (on whr5 mvy2) (on-table mqv4) (on mvy2 mqv4) (clear due3) (on-table due3) (clear whr5)",
"(on rff1 due3) (arm-empty) (on whr5 mvy2) (on-table mqv4) (on mvy2 mqv4) (clear rff1) (on-table due3) (clear whr5)",
"(clear mvy2) (on rff1 due3) (holding whr5) (on-table mqv4) (on mvy2 mqv4) (clear rff1) (on-table due3)",
"(clear mvy2) (on rff1 due3) (arm-empty) (on whr5 rff1) (on-table mqv4) (on mvy2 mqv4) (on-table due3) (clear whr5)",
"(on rff1 due3) (clear mqv4) (on whr5 rff1) (on-table mqv4) (holding mvy2) (on-table due3) (clear whr5)"
] |
file_80637
|
GOAL: (on huj3 xnu5) (on uwn4 ome1) (arm-empty) (on-table xnu5) (clear uwn4) (on hru2 huj3) (on ome1 hru2)
|
GOAL: (on huj3 xnu5) (on uwn4 ome1) (arm-empty) (on-table xnu5) (clear uwn4) (on hru2 huj3) (on ome1 hru2)
STATE: (clear hru2) (arm-empty) (on-table xnu5) (on-table uwn4) (on ome1 uwn4) (on huj3 ome1) (on hru2 huj3) (clear xnu5)
|
[
[
"unstack hru2 huj3"
],
[
"put-down hru2"
],
[
"unstack huj3 ome1"
],
[
"stack huj3 xnu5"
],
[
"pick-up hru2"
],
[
"stack hru2 huj3"
],
[
"unstack ome1 uwn4"
],
[
"stack ome1 hru2"
],
[
"pick-up uwn4"
],
[
"stack uwn4 ome1"
]
] |
[
"(on-table xnu5) (holding hru2) (on-table uwn4) (on ome1 uwn4) (on huj3 ome1) (clear huj3) (clear xnu5)",
"(arm-empty) (on-table hru2) (on-table xnu5) (on huj3 ome1) (clear xnu5) (clear hru2) (on-table uwn4) (on ome1 uwn4) (clear huj3)",
"(clear hru2) (on-table hru2) (on-table xnu5) (on-table uwn4) (on ome1 uwn4) (holding huj3) (clear ome1) (clear xnu5)",
"(clear hru2) (on huj3 xnu5) (arm-empty) (on-table hru2) (on-table xnu5) (on-table uwn4) (on ome1 uwn4) (clear huj3) (clear ome1)",
"(on huj3 xnu5) (on-table xnu5) (holding hru2) (on-table uwn4) (on ome1 uwn4) (clear huj3) (clear ome1)",
"(on huj3 xnu5) (clear hru2) (arm-empty) (on-table xnu5) (on-table uwn4) (on ome1 uwn4) (on hru2 huj3) (clear ome1)",
"(holding ome1) (on huj3 xnu5) (clear hru2) (on-table xnu5) (clear uwn4) (on-table uwn4) (on hru2 huj3)",
"(on huj3 xnu5) (arm-empty) (on-table xnu5) (clear uwn4) (on-table uwn4) (on hru2 huj3) (on ome1 hru2) (clear ome1)",
"(on huj3 xnu5) (on-table xnu5) (holding uwn4) (on hru2 huj3) (on ome1 hru2) (clear ome1)",
"(on huj3 xnu5) (on uwn4 ome1) (arm-empty) (on-table xnu5) (clear uwn4) (on hru2 huj3) (on ome1 hru2)"
] |
file_44569
|
GOAL: (arm-empty) (on-table ziy5) (clear kwx4) (on ixy2 ziy5) (on cwj1 ixy2) (on-table kwx4) (clear crb3) (clear cwj1) (on-table crb3)
|
GOAL: (arm-empty) (on-table ziy5) (clear kwx4) (on ixy2 ziy5) (on cwj1 ixy2) (on-table kwx4) (clear crb3) (clear cwj1) (on-table crb3)
STATE: (arm-empty) (on-table ziy5) (clear kwx4) (on-table kwx4) (on crb3 cwj1) (on ixy2 ziy5) (clear crb3) (on cwj1 ixy2)
|
[
[
"unstack crb3 cwj1"
],
[
"put-down crb3"
]
] |
[
"(on-table ziy5) (clear kwx4) (on-table kwx4) (on ixy2 ziy5) (on cwj1 ixy2) (clear cwj1) (holding crb3)",
"(arm-empty) (on-table ziy5) (clear kwx4) (on ixy2 ziy5) (on cwj1 ixy2) (on-table kwx4) (clear crb3) (clear cwj1) (on-table crb3)"
] |
file_205835
|
GOAL: (on wrj3 ntr4) (clear izl2) (arm-empty) (on-table izl2) (on-table vsj1) (on aes5 wrj3) (on-table ntr4) (clear vsj1) (clear aes5)
|
GOAL: (on wrj3 ntr4) (clear izl2) (arm-empty) (on-table izl2) (on-table vsj1) (on aes5 wrj3) (on-table ntr4) (clear vsj1) (clear aes5)
STATE: (on vsj1 aes5) (arm-empty) (on-table izl2) (on aes5 izl2) (clear ntr4) (on ntr4 wrj3) (on wrj3 vsj1)
|
[
[
"unstack ntr4 wrj3"
],
[
"put-down ntr4"
],
[
"unstack wrj3 vsj1"
],
[
"stack wrj3 ntr4"
],
[
"unstack vsj1 aes5"
],
[
"put-down vsj1"
],
[
"unstack aes5 izl2"
],
[
"stack aes5 wrj3"
]
] |
[
"(holding ntr4) (on vsj1 aes5) (on-table izl2) (on wrj3 vsj1) (on aes5 izl2) (clear wrj3)",
"(on vsj1 aes5) (arm-empty) (on-table izl2) (on aes5 izl2) (clear ntr4) (on wrj3 vsj1) (on-table ntr4) (clear wrj3)",
"(on vsj1 aes5) (on-table izl2) (on aes5 izl2) (clear ntr4) (on-table ntr4) (holding wrj3) (clear vsj1)",
"(on vsj1 aes5) (on wrj3 ntr4) (arm-empty) (on-table izl2) (on aes5 izl2) (on-table ntr4) (clear wrj3) (clear vsj1)",
"(holding vsj1) (on wrj3 ntr4) (on-table izl2) (on aes5 izl2) (on-table ntr4) (clear wrj3) (clear aes5)",
"(arm-empty) (on-table izl2) (on aes5 izl2) (clear aes5) (on wrj3 ntr4) (on-table vsj1) (on-table ntr4) (clear wrj3) (clear vsj1)",
"(on wrj3 ntr4) (clear izl2) (on-table izl2) (on-table vsj1) (holding aes5) (on-table ntr4) (clear wrj3) (clear vsj1)",
"(on wrj3 ntr4) (clear izl2) (arm-empty) (on-table izl2) (on-table vsj1) (on aes5 wrj3) (on-table ntr4) (clear vsj1) (clear aes5)"
] |
file_8058
|
GOAL: (on-table idl5) (on-table iix1) (on xxd4 idl5) (clear xxd4) (holding eqr2) (on jfe3 iix1) (clear jfe3)
|
GOAL: (on-table idl5) (on-table iix1) (on xxd4 idl5) (clear xxd4) (holding eqr2) (on jfe3 iix1) (clear jfe3)
STATE: (holding xxd4) (on-table iix1) (on idl5 eqr2) (on jfe3 iix1) (on eqr2 jfe3) (clear idl5)
|
[
[
"put-down xxd4"
],
[
"unstack idl5 eqr2"
],
[
"put-down idl5"
],
[
"pick-up xxd4"
],
[
"stack xxd4 idl5"
],
[
"unstack eqr2 jfe3"
]
] |
[
"(arm-empty) (on idl5 eqr2) (clear xxd4) (on jfe3 iix1) (clear idl5) (on-table iix1) (on-table xxd4) (on eqr2 jfe3)",
"(clear eqr2) (on-table iix1) (clear xxd4) (holding idl5) (on-table xxd4) (on jfe3 iix1) (on eqr2 jfe3)",
"(arm-empty) (on-table idl5) (clear xxd4) (on jfe3 iix1) (clear idl5) (clear eqr2) (on-table iix1) (on-table xxd4) (on eqr2 jfe3)",
"(clear eqr2) (on-table idl5) (on-table iix1) (holding xxd4) (on jfe3 iix1) (on eqr2 jfe3) (clear idl5)",
"(clear eqr2) (arm-empty) (on-table idl5) (on-table iix1) (on xxd4 idl5) (clear xxd4) (on jfe3 iix1) (on eqr2 jfe3)",
"(on-table idl5) (on-table iix1) (on xxd4 idl5) (clear xxd4) (holding eqr2) (on jfe3 iix1) (clear jfe3)"
] |
file_177647
|
GOAL: (arm-empty) (on-table ahd2) (on-table iuy5) (on rey4 iuy5) (clear rey4) (on-table xhs1) (on stp3 ahd2) (clear stp3) (clear xhs1)
|
GOAL: (arm-empty) (on-table ahd2) (on-table iuy5) (on rey4 iuy5) (clear rey4) (on-table xhs1) (on stp3 ahd2) (clear stp3) (clear xhs1)
STATE: (on-table ahd2) (on stp3 ahd2) (on rey4 stp3) (holding iuy5) (on xhs1 rey4) (clear xhs1)
|
[
[
"put-down iuy5"
],
[
"unstack xhs1 rey4"
],
[
"put-down xhs1"
],
[
"unstack rey4 stp3"
],
[
"put-down rey4"
],
[
"pick-up xhs1"
],
[
"stack xhs1 stp3"
],
[
"pick-up rey4"
],
[
"stack rey4 iuy5"
],
[
"unstack xhs1 stp3"
],
[
"put-down xhs1"
]
] |
[
"(arm-empty) (on-table ahd2) (on-table iuy5) (clear iuy5) (on stp3 ahd2) (on rey4 stp3) (on xhs1 rey4) (clear xhs1)",
"(holding xhs1) (on-table ahd2) (on-table iuy5) (on stp3 ahd2) (clear rey4) (on rey4 stp3) (clear iuy5)",
"(arm-empty) (on-table ahd2) (on-table iuy5) (clear rey4) (clear iuy5) (on-table xhs1) (on stp3 ahd2) (on rey4 stp3) (clear xhs1)",
"(on-table ahd2) (on-table iuy5) (on-table xhs1) (holding rey4) (on stp3 ahd2) (clear stp3) (clear xhs1) (clear iuy5)",
"(arm-empty) (on-table ahd2) (on-table iuy5) (on-table xhs1) (on stp3 ahd2) (clear rey4) (on-table rey4) (clear stp3) (clear xhs1) (clear iuy5)",
"(holding xhs1) (on-table ahd2) (on-table iuy5) (on stp3 ahd2) (clear rey4) (on-table rey4) (clear stp3) (clear iuy5)",
"(on xhs1 stp3) (arm-empty) (on-table ahd2) (on-table iuy5) (on stp3 ahd2) (clear rey4) (on-table rey4) (clear xhs1) (clear iuy5)",
"(on xhs1 stp3) (on-table ahd2) (on-table iuy5) (holding rey4) (on stp3 ahd2) (clear xhs1) (clear iuy5)",
"(on xhs1 stp3) (arm-empty) (on-table ahd2) (on-table iuy5) (on rey4 iuy5) (on stp3 ahd2) (clear rey4) (clear xhs1)",
"(holding xhs1) (on-table ahd2) (on-table iuy5) (on rey4 iuy5) (on stp3 ahd2) (clear rey4) (clear stp3)",
"(arm-empty) (on-table ahd2) (on-table iuy5) (on rey4 iuy5) (clear rey4) (on-table xhs1) (on stp3 ahd2) (clear stp3) (clear xhs1)"
] |
file_61662
|
GOAL: (on iaz4 fge3) (on fge3 gzt5) (arm-empty) (on-table ldg1) (on gzt5 qeh2) (clear iaz4) (on qeh2 ldg1)
|
GOAL: (on iaz4 fge3) (on fge3 gzt5) (arm-empty) (on-table ldg1) (on gzt5 qeh2) (clear iaz4) (on qeh2 ldg1)
STATE: (arm-empty) (on-table gzt5) (on-table ldg1) (on fge3 qeh2) (clear iaz4) (on-table iaz4) (on qeh2 ldg1) (clear fge3) (clear gzt5)
|
[
[
"unstack fge3 qeh2"
],
[
"stack fge3 iaz4"
],
[
"pick-up gzt5"
],
[
"stack gzt5 qeh2"
],
[
"unstack fge3 iaz4"
],
[
"stack fge3 gzt5"
],
[
"pick-up iaz4"
],
[
"stack iaz4 fge3"
]
] |
[
"(clear qeh2) (on-table gzt5) (on-table ldg1) (clear iaz4) (on-table iaz4) (on qeh2 ldg1) (holding fge3) (clear gzt5)",
"(on fge3 iaz4) (clear qeh2) (arm-empty) (on-table gzt5) (on-table ldg1) (on-table iaz4) (on qeh2 ldg1) (clear fge3) (clear gzt5)",
"(on fge3 iaz4) (clear qeh2) (on-table ldg1) (holding gzt5) (on-table iaz4) (on qeh2 ldg1) (clear fge3)",
"(on fge3 iaz4) (arm-empty) (on-table ldg1) (on gzt5 qeh2) (on-table iaz4) (on qeh2 ldg1) (clear fge3) (clear gzt5)",
"(on-table ldg1) (on gzt5 qeh2) (clear iaz4) (on-table iaz4) (on qeh2 ldg1) (holding fge3) (clear gzt5)",
"(on fge3 gzt5) (arm-empty) (on-table ldg1) (on gzt5 qeh2) (clear iaz4) (on-table iaz4) (on qeh2 ldg1) (clear fge3)",
"(on fge3 gzt5) (on-table ldg1) (holding iaz4) (on gzt5 qeh2) (on qeh2 ldg1) (clear fge3)",
"(on iaz4 fge3) (on fge3 gzt5) (arm-empty) (on-table ldg1) (on gzt5 qeh2) (clear iaz4) (on qeh2 ldg1)"
] |
file_10710
|
GOAL: (arm-empty) (on-table pax1) (on dek3 typ2) (clear hth4) (on-table hth4) (on typ2 pax1) (clear dek3)
|
GOAL: (arm-empty) (on-table pax1) (on dek3 typ2) (clear hth4) (on-table hth4) (on typ2 pax1) (clear dek3)
STATE: (clear typ2) (on-table typ2) (holding hth4) (on-table pax1) (clear dek3) (clear pax1) (on-table dek3)
|
[
[
"put-down hth4"
],
[
"pick-up typ2"
],
[
"stack typ2 pax1"
],
[
"pick-up dek3"
],
[
"stack dek3 typ2"
]
] |
[
"(arm-empty) (on-table typ2) (clear hth4) (clear typ2) (on-table pax1) (on-table hth4) (clear dek3) (clear pax1) (on-table dek3)",
"(on-table pax1) (clear hth4) (on-table hth4) (holding typ2) (clear dek3) (clear pax1) (on-table dek3)",
"(clear typ2) (arm-empty) (on-table pax1) (clear hth4) (on-table hth4) (on typ2 pax1) (clear dek3) (on-table dek3)",
"(clear typ2) (on-table pax1) (clear hth4) (on-table hth4) (on typ2 pax1) (holding dek3)",
"(arm-empty) (on-table pax1) (on dek3 typ2) (clear hth4) (on-table hth4) (on typ2 pax1) (clear dek3)"
] |
file_223500
|
GOAL: (on sqm4 hwq3) (on agj5 xol1) (arm-empty) (on ent2 sqm4) (on xol1 ent2) (on-table hwq3) (clear agj5)
|
GOAL: (on sqm4 hwq3) (on agj5 xol1) (arm-empty) (on ent2 sqm4) (on xol1 ent2) (on-table hwq3) (clear agj5)
STATE: (on-table agj5) (on-table xol1) (clear sqm4) (on sqm4 ent2) (on ent2 xol1) (holding hwq3) (clear agj5)
|
[
[
"stack hwq3 agj5"
],
[
"unstack sqm4 ent2"
],
[
"put-down sqm4"
],
[
"unstack hwq3 agj5"
],
[
"put-down hwq3"
],
[
"pick-up sqm4"
],
[
"stack sqm4 hwq3"
],
[
"unstack ent2 xol1"
],
[
"stack ent2 sqm4"
],
[
"pick-up xol1"
],
[
"stack xol1 ent2"
],
[
"pick-up agj5"
],
[
"stack agj5 xol1"
]
] |
[
"(on hwq3 agj5) (arm-empty) (on-table agj5) (on-table xol1) (clear sqm4) (on sqm4 ent2) (on ent2 xol1) (clear hwq3)",
"(on hwq3 agj5) (clear ent2) (on-table agj5) (on-table xol1) (holding sqm4) (on ent2 xol1) (clear hwq3)",
"(on hwq3 agj5) (arm-empty) (on-table agj5) (clear sqm4) (on ent2 xol1) (clear ent2) (on-table xol1) (on-table sqm4) (clear hwq3)",
"(clear ent2) (on-table agj5) (on-table xol1) (clear sqm4) (on-table sqm4) (on ent2 xol1) (holding hwq3) (clear agj5)",
"(clear ent2) (arm-empty) (on-table agj5) (on-table xol1) (clear sqm4) (on-table sqm4) (on ent2 xol1) (clear hwq3) (on-table hwq3) (clear agj5)",
"(clear ent2) (on-table agj5) (on-table xol1) (holding sqm4) (on ent2 xol1) (clear hwq3) (on-table hwq3) (clear agj5)",
"(clear ent2) (arm-empty) (on-table agj5) (on-table xol1) (clear sqm4) (on sqm4 hwq3) (on ent2 xol1) (on-table hwq3) (clear agj5)",
"(on-table agj5) (on-table xol1) (clear sqm4) (on sqm4 hwq3) (holding ent2) (clear xol1) (on-table hwq3) (clear agj5)",
"(clear ent2) (arm-empty) (on-table agj5) (on-table xol1) (on sqm4 hwq3) (on ent2 sqm4) (clear xol1) (on-table hwq3) (clear agj5)",
"(holding xol1) (clear ent2) (on-table agj5) (on sqm4 hwq3) (on ent2 sqm4) (on-table hwq3) (clear agj5)",
"(arm-empty) (on-table agj5) (on sqm4 hwq3) (on ent2 sqm4) (on xol1 ent2) (clear xol1) (on-table hwq3) (clear agj5)",
"(on sqm4 hwq3) (holding agj5) (on ent2 sqm4) (on xol1 ent2) (clear xol1) (on-table hwq3)",
"(on sqm4 hwq3) (on agj5 xol1) (arm-empty) (on ent2 sqm4) (on xol1 ent2) (on-table hwq3) (clear agj5)"
] |
file_224947
|
GOAL: (on ahi3 ygo4) (clear wbp2) (on ygo4 ikc1) (arm-empty) (on-table wbp2) (on-table ikc1) (on tue5 ahi3) (clear tue5)
|
GOAL: (on ahi3 ygo4) (clear wbp2) (on ygo4 ikc1) (arm-empty) (on-table wbp2) (on-table ikc1) (on tue5 ahi3) (clear tue5)
STATE: (clear wbp2) (on ahi3 tue5) (on ygo4 ikc1) (on tue5 ygo4) (arm-empty) (on-table ikc1) (on wbp2 ahi3)
|
[
[
"unstack wbp2 ahi3"
],
[
"put-down wbp2"
],
[
"unstack ahi3 tue5"
],
[
"stack ahi3 wbp2"
],
[
"unstack tue5 ygo4"
],
[
"put-down tue5"
],
[
"unstack ahi3 wbp2"
],
[
"stack ahi3 ygo4"
],
[
"pick-up tue5"
],
[
"stack tue5 ahi3"
]
] |
[
"(on ahi3 tue5) (on ygo4 ikc1) (on tue5 ygo4) (on-table ikc1) (holding wbp2) (clear ahi3)",
"(on ahi3 tue5) (on ygo4 ikc1) (on tue5 ygo4) (on-table wbp2) (clear wbp2) (on-table ikc1) (arm-empty) (clear ahi3)",
"(on ygo4 ikc1) (on tue5 ygo4) (on-table wbp2) (clear wbp2) (on-table ikc1) (holding ahi3) (clear tue5)",
"(on ygo4 ikc1) (on tue5 ygo4) (on-table wbp2) (arm-empty) (on-table ikc1) (on ahi3 wbp2) (clear ahi3) (clear tue5)",
"(on ygo4 ikc1) (on-table wbp2) (on-table ikc1) (on ahi3 wbp2) (clear ygo4) (holding tue5) (clear ahi3)",
"(on ygo4 ikc1) (arm-empty) (on-table wbp2) (on-table tue5) (clear ygo4) (clear tue5) (on-table ikc1) (on ahi3 wbp2) (clear ahi3)",
"(clear wbp2) (on ygo4 ikc1) (on-table wbp2) (on-table tue5) (on-table ikc1) (clear ygo4) (holding ahi3) (clear tue5)",
"(on ahi3 ygo4) (clear wbp2) (on ygo4 ikc1) (arm-empty) (on-table wbp2) (on-table tue5) (on-table ikc1) (clear ahi3) (clear tue5)",
"(on ahi3 ygo4) (clear wbp2) (on ygo4 ikc1) (on-table wbp2) (on-table ikc1) (holding tue5) (clear ahi3)",
"(on ahi3 ygo4) (clear wbp2) (on ygo4 ikc1) (arm-empty) (on-table wbp2) (on-table ikc1) (on tue5 ahi3) (clear tue5)"
] |
file_63894
|
GOAL: (clear bjx2) (arm-empty) (on-table fki1) (on-table xfi4) (on bjx2 xfi4) (clear thv3) (clear fki1) (on-table thv3)
|
GOAL: (clear bjx2) (arm-empty) (on-table fki1) (on-table xfi4) (on bjx2 xfi4) (clear thv3) (clear fki1) (on-table thv3)
STATE: (on-table fki1) (clear xfi4) (on-table xfi4) (holding bjx2) (clear thv3) (clear fki1) (on-table thv3)
|
[
[
"stack bjx2 xfi4"
]
] |
[
"(clear bjx2) (arm-empty) (on-table fki1) (on-table xfi4) (on bjx2 xfi4) (clear thv3) (clear fki1) (on-table thv3)"
] |
file_187807
|
GOAL: (on boc3 mdz4) (on gjl1 kza5) (arm-empty) (on kza5 tnp2) (on-table mdz4) (on tnp2 boc3) (clear gjl1)
|
GOAL: (on boc3 mdz4) (on gjl1 kza5) (arm-empty) (on kza5 tnp2) (on-table mdz4) (on tnp2 boc3) (clear gjl1)
STATE: (holding gjl1) (clear tnp2) (on boc3 kza5) (on-table tnp2) (on-table kza5) (clear mdz4) (on-table mdz4) (clear boc3)
|
[
[
"stack gjl1 tnp2"
],
[
"unstack boc3 kza5"
],
[
"stack boc3 mdz4"
],
[
"unstack gjl1 tnp2"
],
[
"put-down gjl1"
],
[
"pick-up tnp2"
],
[
"stack tnp2 boc3"
],
[
"pick-up kza5"
],
[
"stack kza5 tnp2"
],
[
"pick-up gjl1"
],
[
"stack gjl1 kza5"
]
] |
[
"(on boc3 kza5) (arm-empty) (on-table tnp2) (on-table kza5) (clear mdz4) (on-table mdz4) (clear boc3) (on gjl1 tnp2) (clear gjl1)",
"(on-table tnp2) (on-table kza5) (clear mdz4) (on-table mdz4) (on gjl1 tnp2) (clear gjl1) (holding boc3) (clear kza5)",
"(on boc3 mdz4) (arm-empty) (on-table tnp2) (on-table kza5) (on-table mdz4) (clear boc3) (on gjl1 tnp2) (clear gjl1) (clear kza5)",
"(holding gjl1) (on boc3 mdz4) (clear tnp2) (on-table tnp2) (on-table kza5) (on-table mdz4) (clear boc3) (clear kza5)",
"(on boc3 mdz4) (clear tnp2) (arm-empty) (on-table tnp2) (on-table kza5) (on-table gjl1) (on-table mdz4) (clear boc3) (clear gjl1) (clear kza5)",
"(on boc3 mdz4) (on-table kza5) (on-table gjl1) (on-table mdz4) (holding tnp2) (clear boc3) (clear gjl1) (clear kza5)",
"(on boc3 mdz4) (clear tnp2) (arm-empty) (on-table kza5) (on-table gjl1) (on-table mdz4) (on tnp2 boc3) (clear gjl1) (clear kza5)",
"(on boc3 mdz4) (clear tnp2) (on-table gjl1) (holding kza5) (on-table mdz4) (on tnp2 boc3) (clear gjl1)",
"(on boc3 mdz4) (arm-empty) (on-table gjl1) (on kza5 tnp2) (on-table mdz4) (on tnp2 boc3) (clear gjl1) (clear kza5)",
"(holding gjl1) (on boc3 mdz4) (on kza5 tnp2) (on-table mdz4) (on tnp2 boc3) (clear kza5)",
"(on boc3 mdz4) (on gjl1 kza5) (arm-empty) (on kza5 tnp2) (on-table mdz4) (on tnp2 boc3) (clear gjl1)"
] |
file_45488
|
GOAL: (arm-empty) (on-table bwm2) (clear jfb5) (on ppe3 jfy4) (clear bwm2) (on-table dku1) (on jfb5 dku1) (on-table jfy4) (clear ppe3)
|
GOAL: (arm-empty) (on-table bwm2) (clear jfb5) (on ppe3 jfy4) (clear bwm2) (on-table dku1) (on jfb5 dku1) (on-table jfy4) (clear ppe3)
STATE: (on-table dku1) (clear jfy4) (on jfb5 dku1) (on jfy4 bwm2) (on bwm2 jfb5) (holding ppe3)
|
[
[
"put-down ppe3"
],
[
"unstack jfy4 bwm2"
],
[
"put-down jfy4"
],
[
"pick-up ppe3"
],
[
"stack ppe3 jfy4"
],
[
"unstack bwm2 jfb5"
],
[
"put-down bwm2"
]
] |
[
"(on jfy4 bwm2) (on jfb5 dku1) (arm-empty) (on-table dku1) (on bwm2 jfb5) (clear ppe3) (clear jfy4) (on-table ppe3)",
"(clear bwm2) (on-table dku1) (holding jfy4) (on jfb5 dku1) (on bwm2 jfb5) (clear ppe3) (on-table ppe3)",
"(arm-empty) (clear jfy4) (on bwm2 jfb5) (clear bwm2) (on-table dku1) (on jfb5 dku1) (on-table jfy4) (clear ppe3) (on-table ppe3)",
"(clear bwm2) (on-table dku1) (clear jfy4) (on jfb5 dku1) (on-table jfy4) (on bwm2 jfb5) (holding ppe3)",
"(on ppe3 jfy4) (clear bwm2) (arm-empty) (on-table dku1) (on jfb5 dku1) (on-table jfy4) (on bwm2 jfb5) (clear ppe3)",
"(on ppe3 jfy4) (on-table dku1) (on jfb5 dku1) (on-table jfy4) (holding bwm2) (clear ppe3) (clear jfb5)",
"(arm-empty) (on-table bwm2) (clear jfb5) (on ppe3 jfy4) (clear bwm2) (on-table dku1) (on jfb5 dku1) (on-table jfy4) (clear ppe3)"
] |
file_170589
|
GOAL: (on zvd1 gsw5) (clear lxr2) (on-table gsw5) (holding oqz4) (on joi3 zvd1) (on lxr2 joi3)
|
GOAL: (on zvd1 gsw5) (clear lxr2) (on-table gsw5) (holding oqz4) (on joi3 zvd1) (on lxr2 joi3)
STATE: (on zvd1 gsw5) (clear lxr2) (on-table lxr2) (on-table gsw5) (clear oqz4) (on-table oqz4) (holding joi3) (clear zvd1)
|
[
[
"stack joi3 zvd1"
],
[
"pick-up lxr2"
],
[
"stack lxr2 joi3"
],
[
"pick-up oqz4"
]
] |
[
"(on zvd1 gsw5) (clear lxr2) (arm-empty) (on-table lxr2) (on-table gsw5) (clear oqz4) (on-table oqz4) (on joi3 zvd1) (clear joi3)",
"(on zvd1 gsw5) (on-table gsw5) (clear oqz4) (on-table oqz4) (holding lxr2) (on joi3 zvd1) (clear joi3)",
"(on zvd1 gsw5) (clear lxr2) (arm-empty) (on-table gsw5) (clear oqz4) (on-table oqz4) (on joi3 zvd1) (on lxr2 joi3)",
"(on zvd1 gsw5) (clear lxr2) (on-table gsw5) (holding oqz4) (on joi3 zvd1) (on lxr2 joi3)"
] |
file_29743
|
GOAL: (arm-empty) (on ysw4 oqb5) (on-table zny1) (on oqb5 ypu2) (clear ysw4) (on psb3 zny1) (on ypu2 psb3)
|
GOAL: (arm-empty) (on ysw4 oqb5) (on-table zny1) (on oqb5 ypu2) (clear ysw4) (on psb3 zny1) (on ypu2 psb3)
STATE: (on psb3 ysw4) (on zny1 psb3) (arm-empty) (on-table oqb5) (on ysw4 ypu2) (on ypu2 oqb5) (clear zny1)
|
[
[
"unstack zny1 psb3"
],
[
"put-down zny1"
],
[
"unstack psb3 ysw4"
],
[
"stack psb3 zny1"
],
[
"unstack ysw4 ypu2"
],
[
"put-down ysw4"
],
[
"unstack ypu2 oqb5"
],
[
"stack ypu2 psb3"
],
[
"pick-up oqb5"
],
[
"stack oqb5 ypu2"
],
[
"pick-up ysw4"
],
[
"stack ysw4 oqb5"
]
] |
[
"(on-table oqb5) (on ypu2 oqb5) (holding zny1) (on psb3 ysw4) (on ysw4 ypu2) (clear psb3)",
"(arm-empty) (on-table oqb5) (on ypu2 oqb5) (on psb3 ysw4) (on-table zny1) (on ysw4 ypu2) (clear psb3) (clear zny1)",
"(on-table oqb5) (on-table zny1) (clear ysw4) (on ysw4 ypu2) (on ypu2 oqb5) (holding psb3) (clear zny1)",
"(arm-empty) (on-table oqb5) (on-table zny1) (clear ysw4) (on psb3 zny1) (on ysw4 ypu2) (on ypu2 oqb5) (clear psb3)",
"(clear ypu2) (on-table oqb5) (on-table zny1) (holding ysw4) (on psb3 zny1) (on ypu2 oqb5) (clear psb3)",
"(arm-empty) (on-table oqb5) (clear ysw4) (on psb3 zny1) (on ypu2 oqb5) (clear ypu2) (on-table zny1) (on-table ysw4) (clear psb3)",
"(on-table oqb5) (on-table zny1) (clear ysw4) (on-table ysw4) (holding ypu2) (on psb3 zny1) (clear psb3) (clear oqb5)",
"(clear ypu2) (arm-empty) (on-table oqb5) (on-table zny1) (clear ysw4) (on-table ysw4) (on psb3 zny1) (on ypu2 psb3) (clear oqb5)",
"(clear ypu2) (on-table zny1) (clear ysw4) (holding oqb5) (on-table ysw4) (on psb3 zny1) (on ypu2 psb3)",
"(arm-empty) (on-table zny1) (on oqb5 ypu2) (clear ysw4) (on-table ysw4) (on psb3 zny1) (on ypu2 psb3) (clear oqb5)",
"(on-table zny1) (holding ysw4) (on oqb5 ypu2) (on psb3 zny1) (on ypu2 psb3) (clear oqb5)",
"(arm-empty) (on ysw4 oqb5) (on-table zny1) (on oqb5 ypu2) (clear ysw4) (on psb3 zny1) (on ypu2 psb3)"
] |
file_76144
|
GOAL: (clear uho2) (arm-empty) (on-table vcg1) (clear ewg4) (on-table ewg4) (on uho2 vcg1) (clear grv3) (on-table grv3)
|
GOAL: (clear uho2) (arm-empty) (on-table vcg1) (clear ewg4) (on-table ewg4) (on uho2 vcg1) (clear grv3) (on-table grv3)
STATE: (on ewg4 vcg1) (arm-empty) (clear ewg4) (on uho2 grv3) (on vcg1 uho2) (on-table grv3)
|
[
[
"unstack ewg4 vcg1"
],
[
"put-down ewg4"
],
[
"unstack vcg1 uho2"
],
[
"put-down vcg1"
],
[
"unstack uho2 grv3"
],
[
"stack uho2 vcg1"
]
] |
[
"(on uho2 grv3) (holding ewg4) (on vcg1 uho2) (on-table grv3) (clear vcg1)",
"(on-table ewg4) (arm-empty) (clear ewg4) (on uho2 grv3) (on vcg1 uho2) (on-table grv3) (clear vcg1)",
"(clear ewg4) (holding vcg1) (clear uho2) (on-table ewg4) (on uho2 grv3) (on-table grv3)",
"(arm-empty) (clear ewg4) (clear uho2) (on-table vcg1) (on-table ewg4) (on uho2 grv3) (clear vcg1) (on-table grv3)",
"(on-table vcg1) (clear ewg4) (on-table ewg4) (holding uho2) (clear grv3) (clear vcg1) (on-table grv3)",
"(clear uho2) (arm-empty) (on-table vcg1) (clear ewg4) (on-table ewg4) (on uho2 vcg1) (clear grv3) (on-table grv3)"
] |
file_28156
|
GOAL: (arm-empty) (on-table abq2) (on-table aut1) (clear ogz4) (on vaj5 sff3) (on ogz4 abq2) (clear aut1) (on-table sff3) (clear vaj5)
|
GOAL: (arm-empty) (on-table abq2) (on-table aut1) (clear ogz4) (on vaj5 sff3) (on ogz4 abq2) (clear aut1) (on-table sff3) (clear vaj5)
STATE: (arm-empty) (on ogz4 vaj5) (on-table aut1) (on sff3 abq2) (on vaj5 aut1) (on abq2 ogz4) (clear sff3)
|
[
[
"unstack sff3 abq2"
],
[
"put-down sff3"
],
[
"unstack abq2 ogz4"
],
[
"put-down abq2"
],
[
"unstack ogz4 vaj5"
],
[
"stack ogz4 abq2"
],
[
"unstack vaj5 aut1"
],
[
"stack vaj5 sff3"
]
] |
[
"(on ogz4 vaj5) (on abq2 ogz4) (clear abq2) (on-table aut1) (on vaj5 aut1) (holding sff3)",
"(on vaj5 aut1) (clear abq2) (arm-empty) (on ogz4 vaj5) (on abq2 ogz4) (clear sff3) (on-table aut1) (on-table sff3)",
"(on ogz4 vaj5) (on-table aut1) (clear ogz4) (on vaj5 aut1) (holding abq2) (clear sff3) (on-table sff3)",
"(arm-empty) (on-table abq2) (on ogz4 vaj5) (clear ogz4) (clear abq2) (on-table aut1) (on vaj5 aut1) (clear sff3) (on-table sff3)",
"(clear abq2) (on-table abq2) (on-table aut1) (holding ogz4) (on vaj5 aut1) (clear sff3) (on-table sff3) (clear vaj5)",
"(arm-empty) (on-table abq2) (on-table aut1) (clear ogz4) (on vaj5 aut1) (on ogz4 abq2) (clear sff3) (on-table sff3) (clear vaj5)",
"(on-table abq2) (on-table aut1) (clear ogz4) (holding vaj5) (on ogz4 abq2) (clear sff3) (clear aut1) (on-table sff3)",
"(arm-empty) (on-table abq2) (on-table aut1) (clear ogz4) (on vaj5 sff3) (on ogz4 abq2) (clear aut1) (on-table sff3) (clear vaj5)"
] |
file_119056
|
GOAL: (clear unh2) (arm-empty) (on-table kju1) (clear ifl4) (on ifl4 hzo3) (on unh2 kju1) (on-table hzo3)
|
GOAL: (clear unh2) (arm-empty) (on-table kju1) (clear ifl4) (on ifl4 hzo3) (on unh2 kju1) (on-table hzo3)
STATE: (on-table unh2) (on kju1 ifl4) (on ifl4 unh2) (holding hzo3) (clear kju1)
|
[
[
"put-down hzo3"
],
[
"unstack kju1 ifl4"
],
[
"stack kju1 hzo3"
],
[
"unstack ifl4 unh2"
],
[
"put-down ifl4"
],
[
"unstack kju1 hzo3"
],
[
"put-down kju1"
],
[
"pick-up ifl4"
],
[
"stack ifl4 hzo3"
],
[
"pick-up unh2"
],
[
"stack unh2 kju1"
]
] |
[
"(arm-empty) (on-table unh2) (on kju1 ifl4) (on ifl4 unh2) (clear hzo3) (clear kju1) (on-table hzo3)",
"(on-table unh2) (clear ifl4) (holding kju1) (on ifl4 unh2) (clear hzo3) (on-table hzo3)",
"(on kju1 hzo3) (arm-empty) (on-table unh2) (clear ifl4) (on ifl4 unh2) (clear kju1) (on-table hzo3)",
"(clear unh2) (on kju1 hzo3) (on-table unh2) (holding ifl4) (clear kju1) (on-table hzo3)",
"(on kju1 hzo3) (arm-empty) (on-table unh2) (clear ifl4) (clear unh2) (on-table ifl4) (clear kju1) (on-table hzo3)",
"(holding kju1) (clear unh2) (on-table unh2) (clear ifl4) (on-table ifl4) (clear hzo3) (on-table hzo3)",
"(arm-empty) (on-table unh2) (clear ifl4) (clear unh2) (on-table kju1) (on-table ifl4) (clear hzo3) (clear kju1) (on-table hzo3)",
"(clear unh2) (on-table unh2) (on-table kju1) (holding ifl4) (clear hzo3) (clear kju1) (on-table hzo3)",
"(arm-empty) (on-table unh2) (clear ifl4) (clear unh2) (on-table kju1) (on ifl4 hzo3) (clear kju1) (on-table hzo3)",
"(on-table kju1) (clear ifl4) (on ifl4 hzo3) (holding unh2) (clear kju1) (on-table hzo3)",
"(clear unh2) (arm-empty) (on-table kju1) (clear ifl4) (on ifl4 hzo3) (on unh2 kju1) (on-table hzo3)"
] |
file_45970
|
GOAL: (on gbw5 okd4) (on-table bnt1) (on-table okd4) (holding nyh2) (clear edb3) (clear bnt1) (on-table edb3) (clear gbw5)
|
GOAL: (on gbw5 okd4) (on-table bnt1) (on-table okd4) (holding nyh2) (clear edb3) (clear bnt1) (on-table edb3) (clear gbw5)
STATE: (on edb3 okd4) (clear nyh2) (arm-empty) (on-table bnt1) (on gbw5 edb3) (on-table okd4) (on nyh2 gbw5) (clear bnt1)
|
[
[
"unstack nyh2 gbw5"
],
[
"stack nyh2 bnt1"
],
[
"unstack gbw5 edb3"
],
[
"put-down gbw5"
],
[
"unstack edb3 okd4"
],
[
"stack edb3 nyh2"
],
[
"pick-up gbw5"
],
[
"stack gbw5 okd4"
],
[
"unstack edb3 nyh2"
],
[
"put-down edb3"
],
[
"unstack nyh2 bnt1"
]
] |
[
"(on edb3 okd4) (on-table bnt1) (on gbw5 edb3) (on-table okd4) (holding nyh2) (clear bnt1) (clear gbw5)",
"(on edb3 okd4) (clear nyh2) (arm-empty) (on-table bnt1) (on gbw5 edb3) (on-table okd4) (on nyh2 bnt1) (clear gbw5)",
"(on edb3 okd4) (clear nyh2) (on-table bnt1) (holding gbw5) (on-table okd4) (on nyh2 bnt1) (clear edb3)",
"(arm-empty) (on-table gbw5) (on nyh2 bnt1) (clear gbw5) (on edb3 okd4) (clear nyh2) (on-table bnt1) (on-table okd4) (clear edb3)",
"(clear nyh2) (on-table gbw5) (on-table bnt1) (clear okd4) (on-table okd4) (on nyh2 bnt1) (holding edb3) (clear gbw5)",
"(arm-empty) (on-table gbw5) (on-table bnt1) (on edb3 nyh2) (clear okd4) (on-table okd4) (on nyh2 bnt1) (clear edb3) (clear gbw5)",
"(on-table bnt1) (on edb3 nyh2) (clear okd4) (holding gbw5) (on-table okd4) (on nyh2 bnt1) (clear edb3)",
"(arm-empty) (on gbw5 okd4) (on-table bnt1) (on edb3 nyh2) (on-table okd4) (on nyh2 bnt1) (clear edb3) (clear gbw5)",
"(clear nyh2) (on gbw5 okd4) (on-table bnt1) (on-table okd4) (on nyh2 bnt1) (holding edb3) (clear gbw5)",
"(arm-empty) (on gbw5 okd4) (on nyh2 bnt1) (clear gbw5) (clear nyh2) (on-table bnt1) (on-table okd4) (clear edb3) (on-table edb3)",
"(on gbw5 okd4) (on-table bnt1) (on-table okd4) (holding nyh2) (clear edb3) (clear bnt1) (on-table edb3) (clear gbw5)"
] |
file_66223
|
GOAL: (on pvx3 awo4) (clear rje2) (on erm1 pvx3) (arm-empty) (on-table rje2) (on jch5 erm1) (on-table awo4) (clear jch5)
|
GOAL: (on pvx3 awo4) (clear rje2) (on erm1 pvx3) (arm-empty) (on-table rje2) (on jch5 erm1) (on-table awo4) (clear jch5)
STATE: (on erm1 jch5) (arm-empty) (on-table rje2) (on jch5 rje2) (clear awo4) (on-table awo4) (clear pvx3) (clear erm1) (on-table pvx3)
|
[
[
"pick-up pvx3"
],
[
"stack pvx3 awo4"
],
[
"unstack erm1 jch5"
],
[
"stack erm1 pvx3"
],
[
"unstack jch5 rje2"
],
[
"stack jch5 erm1"
]
] |
[
"(on erm1 jch5) (on-table rje2) (on jch5 rje2) (clear awo4) (on-table awo4) (holding pvx3) (clear erm1)",
"(on erm1 jch5) (on pvx3 awo4) (arm-empty) (on-table rje2) (on jch5 rje2) (on-table awo4) (clear pvx3) (clear erm1)",
"(holding erm1) (on pvx3 awo4) (on-table rje2) (on jch5 rje2) (on-table awo4) (clear pvx3) (clear jch5)",
"(on pvx3 awo4) (on erm1 pvx3) (arm-empty) (on-table rje2) (on jch5 rje2) (on-table awo4) (clear erm1) (clear jch5)",
"(on pvx3 awo4) (clear rje2) (on erm1 pvx3) (on-table rje2) (holding jch5) (on-table awo4) (clear erm1)",
"(on pvx3 awo4) (clear rje2) (on erm1 pvx3) (arm-empty) (on-table rje2) (on jch5 erm1) (on-table awo4) (clear jch5)"
] |
file_98456
|
GOAL: (arm-empty) (on enf5 auo2) (clear mnp4) (clear enf5) (on-table odq1) (on-table mnp4) (on auo2 jje3) (clear odq1) (on-table jje3)
|
GOAL: (arm-empty) (on enf5 auo2) (clear mnp4) (clear enf5) (on-table odq1) (on-table mnp4) (on auo2 jje3) (clear odq1) (on-table jje3)
STATE: (on-table enf5) (clear enf5) (on-table mnp4) (holding auo2) (clear jje3) (on odq1 mnp4) (on-table jje3) (clear odq1)
|
[
[
"stack auo2 jje3"
],
[
"pick-up enf5"
],
[
"stack enf5 auo2"
],
[
"unstack odq1 mnp4"
],
[
"put-down odq1"
]
] |
[
"(clear auo2) (arm-empty) (on-table enf5) (clear enf5) (on-table mnp4) (on auo2 jje3) (on odq1 mnp4) (on-table jje3) (clear odq1)",
"(clear auo2) (holding enf5) (on-table mnp4) (on odq1 mnp4) (on auo2 jje3) (clear odq1) (on-table jje3)",
"(arm-empty) (on enf5 auo2) (on-table mnp4) (on odq1 mnp4) (on auo2 jje3) (clear odq1) (on-table jje3) (clear enf5)",
"(holding odq1) (on enf5 auo2) (clear mnp4) (on-table mnp4) (on auo2 jje3) (on-table jje3) (clear enf5)",
"(arm-empty) (on enf5 auo2) (clear mnp4) (clear enf5) (on-table odq1) (on-table mnp4) (on auo2 jje3) (clear odq1) (on-table jje3)"
] |
file_35602
|
GOAL: (clear vdz2) (on-table vdz2) (on-table ldu1) (holding coe4) (clear utz3) (clear ldu1) (on-table utz3)
|
GOAL: (clear vdz2) (on-table vdz2) (on-table ldu1) (holding coe4) (clear utz3) (clear ldu1) (on-table utz3)
STATE: (on utz3 coe4) (clear vdz2) (arm-empty) (on-table vdz2) (on-table ldu1) (on-table coe4) (clear utz3) (clear ldu1)
|
[
[
"unstack utz3 coe4"
],
[
"put-down utz3"
],
[
"pick-up coe4"
]
] |
[
"(clear vdz2) (on-table vdz2) (on-table ldu1) (clear coe4) (on-table coe4) (holding utz3) (clear ldu1)",
"(arm-empty) (on-table vdz2) (clear coe4) (clear vdz2) (on-table ldu1) (on-table coe4) (clear utz3) (clear ldu1) (on-table utz3)",
"(clear vdz2) (on-table vdz2) (on-table ldu1) (holding coe4) (clear utz3) (clear ldu1) (on-table utz3)"
] |
file_172567
|
GOAL: (on cpz1 cyk3) (on ypn5 alw4) (on-table yhz2) (arm-empty) (on cyk3 yhz2) (on-table alw4) (clear cpz1) (clear ypn5)
|
GOAL: (on cpz1 cyk3) (on ypn5 alw4) (on-table yhz2) (arm-empty) (on cyk3 yhz2) (on-table alw4) (clear cpz1) (clear ypn5)
STATE: (on cpz1 cyk3) (arm-empty) (on alw4 ypn5) (on ypn5 yhz2) (clear alw4) (on yhz2 cpz1) (on-table cyk3)
|
[
[
"unstack alw4 ypn5"
],
[
"put-down alw4"
],
[
"unstack ypn5 yhz2"
],
[
"stack ypn5 alw4"
],
[
"unstack yhz2 cpz1"
],
[
"put-down yhz2"
],
[
"unstack cpz1 cyk3"
],
[
"stack cpz1 ypn5"
],
[
"pick-up cyk3"
],
[
"stack cyk3 yhz2"
],
[
"unstack cpz1 ypn5"
],
[
"stack cpz1 cyk3"
]
] |
[
"(on cpz1 cyk3) (holding alw4) (on ypn5 yhz2) (on yhz2 cpz1) (clear ypn5) (on-table cyk3)",
"(on cpz1 cyk3) (arm-empty) (on ypn5 yhz2) (clear alw4) (on yhz2 cpz1) (clear ypn5) (on-table alw4) (on-table cyk3)",
"(clear yhz2) (on cpz1 cyk3) (clear alw4) (holding ypn5) (on-table alw4) (on yhz2 cpz1) (on-table cyk3)",
"(clear yhz2) (on cpz1 cyk3) (on ypn5 alw4) (arm-empty) (on-table alw4) (on yhz2 cpz1) (on-table cyk3) (clear ypn5)",
"(on cpz1 cyk3) (on ypn5 alw4) (on-table alw4) (holding yhz2) (clear cpz1) (on-table cyk3) (clear ypn5)",
"(on cpz1 cyk3) (on ypn5 alw4) (on-table yhz2) (arm-empty) (clear ypn5) (clear yhz2) (on-table alw4) (clear cpz1) (on-table cyk3)",
"(holding cpz1) (clear yhz2) (on ypn5 alw4) (on-table yhz2) (on-table alw4) (clear cyk3) (on-table cyk3) (clear ypn5)",
"(on cpz1 ypn5) (clear yhz2) (arm-empty) (on ypn5 alw4) (on-table yhz2) (on-table alw4) (clear cyk3) (clear cpz1) (on-table cyk3)",
"(on cpz1 ypn5) (clear yhz2) (on ypn5 alw4) (on-table yhz2) (on-table alw4) (holding cyk3) (clear cpz1)",
"(on cpz1 ypn5) (arm-empty) (on ypn5 alw4) (on-table yhz2) (on cyk3 yhz2) (on-table alw4) (clear cyk3) (clear cpz1)",
"(holding cpz1) (on ypn5 alw4) (on-table yhz2) (on cyk3 yhz2) (on-table alw4) (clear cyk3) (clear ypn5)",
"(on cpz1 cyk3) (on ypn5 alw4) (on-table yhz2) (arm-empty) (on cyk3 yhz2) (on-table alw4) (clear cpz1) (clear ypn5)"
] |
file_185035
|
GOAL: (holding opu1) (on-table gue2) (on-table bgw5) (on jmz4 bgw5) (on brr3 gue2) (clear jmz4) (clear brr3)
|
GOAL: (holding opu1) (on-table gue2) (on-table bgw5) (on jmz4 bgw5) (on brr3 gue2) (clear jmz4) (clear brr3)
STATE: (arm-empty) (on-table gue2) (on-table bgw5) (on brr3 gue2) (on jmz4 brr3) (on opu1 jmz4) (clear opu1) (clear bgw5)
|
[
[
"unstack opu1 jmz4"
],
[
"put-down opu1"
],
[
"unstack jmz4 brr3"
],
[
"stack jmz4 bgw5"
],
[
"pick-up opu1"
]
] |
[
"(holding opu1) (on-table gue2) (on-table bgw5) (on brr3 gue2) (clear jmz4) (on jmz4 brr3) (clear bgw5)",
"(arm-empty) (on-table gue2) (on-table bgw5) (clear jmz4) (clear bgw5) (on-table opu1) (on brr3 gue2) (on jmz4 brr3) (clear opu1)",
"(on-table gue2) (on-table bgw5) (on-table opu1) (holding jmz4) (on brr3 gue2) (clear brr3) (clear opu1) (clear bgw5)",
"(arm-empty) (on-table gue2) (on-table bgw5) (on-table opu1) (on jmz4 bgw5) (on brr3 gue2) (clear jmz4) (clear brr3) (clear opu1)",
"(holding opu1) (on-table gue2) (on-table bgw5) (on jmz4 bgw5) (on brr3 gue2) (clear jmz4) (clear brr3)"
] |
file_16189
|
GOAL: (clear mcw2) (on-table jlh5) (on-table jcp1) (on-table hcc4) (on mcw2 hcc4) (holding smu3) (clear jcp1) (clear jlh5)
|
GOAL: (clear mcw2) (on-table jlh5) (on-table jcp1) (on-table hcc4) (on mcw2 hcc4) (holding smu3) (clear jcp1) (clear jlh5)
STATE: (clear mcw2) (arm-empty) (on-table jlh5) (on-table jcp1) (clear hcc4) (on-table hcc4) (on mcw2 jlh5) (clear smu3) (clear jcp1) (on-table smu3)
|
[
[
"unstack mcw2 jlh5"
],
[
"stack mcw2 hcc4"
],
[
"pick-up smu3"
]
] |
[
"(on-table jlh5) (on-table jcp1) (clear hcc4) (on-table hcc4) (holding mcw2) (clear smu3) (clear jcp1) (on-table smu3) (clear jlh5)",
"(clear mcw2) (arm-empty) (on-table jlh5) (on-table jcp1) (on-table hcc4) (on mcw2 hcc4) (clear smu3) (clear jcp1) (on-table smu3) (clear jlh5)",
"(clear mcw2) (on-table jlh5) (on-table jcp1) (on-table hcc4) (on mcw2 hcc4) (holding smu3) (clear jcp1) (clear jlh5)"
] |
file_181872
|
GOAL: (on ptv4 wbu1) (on-table wbu1) (on qun5 rdc2) (on rdc2 ptv4) (holding uwr3) (clear qun5)
|
GOAL: (on ptv4 wbu1) (on-table wbu1) (on qun5 rdc2) (on rdc2 ptv4) (holding uwr3) (clear qun5)
STATE: (arm-empty) (on qun5 ptv4) (on-table rdc2) (on-table wbu1) (on uwr3 rdc2) (on ptv4 uwr3) (clear wbu1) (clear qun5)
|
[
[
"unstack qun5 ptv4"
],
[
"put-down qun5"
],
[
"unstack ptv4 uwr3"
],
[
"stack ptv4 wbu1"
],
[
"unstack uwr3 rdc2"
],
[
"put-down uwr3"
],
[
"pick-up qun5"
],
[
"stack qun5 uwr3"
],
[
"pick-up rdc2"
],
[
"stack rdc2 ptv4"
],
[
"unstack qun5 uwr3"
],
[
"stack qun5 rdc2"
],
[
"pick-up uwr3"
]
] |
[
"(on-table rdc2) (on-table wbu1) (on uwr3 rdc2) (clear ptv4) (on ptv4 uwr3) (holding qun5) (clear wbu1)",
"(arm-empty) (on-table rdc2) (on-table qun5) (clear ptv4) (clear qun5) (on-table wbu1) (on uwr3 rdc2) (on ptv4 uwr3) (clear wbu1)",
"(on-table rdc2) (on-table qun5) (on-table wbu1) (holding ptv4) (on uwr3 rdc2) (clear uwr3) (clear wbu1) (clear qun5)",
"(on ptv4 wbu1) (arm-empty) (on-table rdc2) (on-table qun5) (on-table wbu1) (on uwr3 rdc2) (clear ptv4) (clear uwr3) (clear qun5)",
"(clear rdc2) (on ptv4 wbu1) (on-table rdc2) (on-table qun5) (on-table wbu1) (clear ptv4) (holding uwr3) (clear qun5)",
"(clear rdc2) (on ptv4 wbu1) (arm-empty) (on-table rdc2) (on-table qun5) (on-table wbu1) (clear ptv4) (clear uwr3) (on-table uwr3) (clear qun5)",
"(clear rdc2) (on ptv4 wbu1) (on-table rdc2) (on-table wbu1) (clear ptv4) (holding qun5) (clear uwr3) (on-table uwr3)",
"(clear rdc2) (on ptv4 wbu1) (arm-empty) (on-table rdc2) (on-table wbu1) (clear ptv4) (on qun5 uwr3) (on-table uwr3) (clear qun5)",
"(on ptv4 wbu1) (on-table wbu1) (clear ptv4) (on qun5 uwr3) (holding rdc2) (on-table uwr3) (clear qun5)",
"(clear rdc2) (on ptv4 wbu1) (arm-empty) (on-table wbu1) (on qun5 uwr3) (on rdc2 ptv4) (on-table uwr3) (clear qun5)",
"(clear rdc2) (on ptv4 wbu1) (on-table wbu1) (holding qun5) (on rdc2 ptv4) (clear uwr3) (on-table uwr3)",
"(on ptv4 wbu1) (arm-empty) (on-table wbu1) (on qun5 rdc2) (on rdc2 ptv4) (clear uwr3) (on-table uwr3) (clear qun5)",
"(on ptv4 wbu1) (on-table wbu1) (on qun5 rdc2) (on rdc2 ptv4) (holding uwr3) (clear qun5)"
] |
file_140934
|
GOAL: (on-table fax2) (on-table bfc1) (clear ght4) (on vom5 bfc1) (on ght4 fax2) (holding qys3) (clear vom5)
|
GOAL: (on-table fax2) (on-table bfc1) (clear ght4) (on vom5 bfc1) (on ght4 fax2) (holding qys3) (clear vom5)
STATE: (on qys3 ght4) (arm-empty) (on-table fax2) (on-table vom5) (on-table bfc1) (on ght4 fax2) (clear qys3) (clear bfc1) (clear vom5)
|
[
[
"pick-up vom5"
],
[
"stack vom5 bfc1"
],
[
"unstack qys3 ght4"
]
] |
[
"(on qys3 ght4) (on-table fax2) (on-table bfc1) (holding vom5) (on ght4 fax2) (clear qys3) (clear bfc1)",
"(on qys3 ght4) (arm-empty) (on-table fax2) (on-table bfc1) (on vom5 bfc1) (on ght4 fax2) (clear qys3) (clear vom5)",
"(on-table fax2) (on-table bfc1) (clear ght4) (on vom5 bfc1) (on ght4 fax2) (holding qys3) (clear vom5)"
] |
file_221114
|
GOAL: (clear ouk2) (arm-empty) (on-table gql4) (on gss1 gql4) (on ouk2 iqb3) (clear gss1) (on-table iqb3)
|
GOAL: (clear ouk2) (arm-empty) (on-table gql4) (on gss1 gql4) (on ouk2 iqb3) (clear gss1) (on-table iqb3)
STATE: (on gql4 gss1) (on gss1 iqb3) (on-table ouk2) (arm-empty) (on iqb3 ouk2) (clear gql4)
|
[
[
"unstack gql4 gss1"
],
[
"put-down gql4"
],
[
"unstack gss1 iqb3"
],
[
"stack gss1 gql4"
],
[
"unstack iqb3 ouk2"
],
[
"put-down iqb3"
],
[
"pick-up ouk2"
],
[
"stack ouk2 iqb3"
]
] |
[
"(on gss1 iqb3) (on-table ouk2) (holding gql4) (on iqb3 ouk2) (clear gss1)",
"(on-table gql4) (on gss1 iqb3) (arm-empty) (on-table ouk2) (on iqb3 ouk2) (clear gql4) (clear gss1)",
"(on-table ouk2) (clear gql4) (holding gss1) (on iqb3 ouk2) (on-table gql4) (clear iqb3)",
"(arm-empty) (on-table ouk2) (on iqb3 ouk2) (on-table gql4) (on gss1 gql4) (clear iqb3) (clear gss1)",
"(on-table ouk2) (clear ouk2) (on-table gql4) (on gss1 gql4) (holding iqb3) (clear gss1)",
"(arm-empty) (on-table ouk2) (clear ouk2) (on-table gql4) (on gss1 gql4) (clear iqb3) (clear gss1) (on-table iqb3)",
"(holding ouk2) (on-table gql4) (on gss1 gql4) (clear iqb3) (clear gss1) (on-table iqb3)",
"(clear ouk2) (arm-empty) (on-table gql4) (on gss1 gql4) (on ouk2 iqb3) (clear gss1) (on-table iqb3)"
] |
file_144337
|
GOAL: (on tem1 qxo5) (arm-empty) (on qxo5 btd4) (on exx3 csp2) (on-table btd4) (on csp2 tem1) (clear exx3)
|
GOAL: (on tem1 qxo5) (arm-empty) (on qxo5 btd4) (on exx3 csp2) (on-table btd4) (on csp2 tem1) (clear exx3)
STATE: (on tem1 exx3) (on-table csp2) (on exx3 csp2) (clear btd4) (holding qxo5) (on-table btd4) (clear tem1)
|
[
[
"stack qxo5 btd4"
],
[
"unstack tem1 exx3"
],
[
"stack tem1 qxo5"
],
[
"unstack exx3 csp2"
],
[
"put-down exx3"
],
[
"pick-up csp2"
],
[
"stack csp2 tem1"
],
[
"pick-up exx3"
],
[
"stack exx3 csp2"
]
] |
[
"(on tem1 exx3) (on qxo5 btd4) (on-table csp2) (arm-empty) (on exx3 csp2) (on-table btd4) (clear tem1) (clear qxo5)",
"(holding tem1) (on qxo5 btd4) (on-table csp2) (on exx3 csp2) (on-table btd4) (clear exx3) (clear qxo5)",
"(on tem1 qxo5) (arm-empty) (on qxo5 btd4) (on-table csp2) (on exx3 csp2) (on-table btd4) (clear exx3) (clear tem1)",
"(on tem1 qxo5) (clear csp2) (on qxo5 btd4) (on-table csp2) (on-table btd4) (holding exx3) (clear tem1)",
"(on tem1 qxo5) (arm-empty) (on qxo5 btd4) (on-table csp2) (clear csp2) (on-table btd4) (clear exx3) (clear tem1) (on-table exx3)",
"(on tem1 qxo5) (on qxo5 btd4) (on-table btd4) (holding csp2) (clear exx3) (clear tem1) (on-table exx3)",
"(on tem1 qxo5) (clear csp2) (arm-empty) (on qxo5 btd4) (on-table btd4) (on csp2 tem1) (clear exx3) (on-table exx3)",
"(on tem1 qxo5) (clear csp2) (on qxo5 btd4) (on-table btd4) (on csp2 tem1) (holding exx3)",
"(on tem1 qxo5) (arm-empty) (on qxo5 btd4) (on exx3 csp2) (on-table btd4) (on csp2 tem1) (clear exx3)"
] |
file_11900
|
GOAL: (on rfb4 ekz1) (on-table zhr2) (on-table aat5) (clear rfb4) (on ekz1 zhr2) (holding lsi3) (clear aat5)
|
GOAL: (on rfb4 ekz1) (on-table zhr2) (on-table aat5) (clear rfb4) (on ekz1 zhr2) (holding lsi3) (clear aat5)
STATE: (on lsi3 rfb4) (clear zhr2) (arm-empty) (on-table aat5) (on-table ekz1) (on-table rfb4) (on zhr2 lsi3) (clear ekz1) (clear aat5)
|
[
[
"unstack zhr2 lsi3"
],
[
"put-down zhr2"
],
[
"pick-up ekz1"
],
[
"stack ekz1 zhr2"
],
[
"unstack lsi3 rfb4"
],
[
"stack lsi3 aat5"
],
[
"pick-up rfb4"
],
[
"stack rfb4 ekz1"
],
[
"unstack lsi3 aat5"
]
] |
[
"(on lsi3 rfb4) (on-table aat5) (on-table ekz1) (on-table rfb4) (holding zhr2) (clear lsi3) (clear ekz1) (clear aat5)",
"(on lsi3 rfb4) (clear zhr2) (arm-empty) (on-table zhr2) (on-table aat5) (on-table ekz1) (on-table rfb4) (clear lsi3) (clear ekz1) (clear aat5)",
"(holding ekz1) (on lsi3 rfb4) (clear zhr2) (on-table zhr2) (on-table aat5) (on-table rfb4) (clear lsi3) (clear aat5)",
"(on lsi3 rfb4) (arm-empty) (on-table zhr2) (on-table aat5) (on-table rfb4) (clear lsi3) (on ekz1 zhr2) (clear ekz1) (clear aat5)",
"(on-table zhr2) (on-table aat5) (clear rfb4) (on-table rfb4) (on ekz1 zhr2) (clear ekz1) (holding lsi3) (clear aat5)",
"(on lsi3 aat5) (arm-empty) (on-table zhr2) (on-table aat5) (clear rfb4) (on-table rfb4) (clear lsi3) (on ekz1 zhr2) (clear ekz1)",
"(on lsi3 aat5) (on-table zhr2) (on-table aat5) (holding rfb4) (clear lsi3) (on ekz1 zhr2) (clear ekz1)",
"(on lsi3 aat5) (on rfb4 ekz1) (arm-empty) (on-table zhr2) (on-table aat5) (clear rfb4) (clear lsi3) (on ekz1 zhr2)",
"(on rfb4 ekz1) (on-table zhr2) (on-table aat5) (clear rfb4) (on ekz1 zhr2) (holding lsi3) (clear aat5)"
] |
file_3471
|
GOAL: (on boh1 enf3) (arm-empty) (on-table gbh2) (clear czc4) (clear rjc5) (on rjc5 boh1) (on czc4 gbh2) (on-table enf3)
|
GOAL: (on boh1 enf3) (arm-empty) (on-table gbh2) (clear czc4) (clear rjc5) (on rjc5 boh1) (on czc4 gbh2) (on-table enf3)
STATE: (clear gbh2) (on boh1 enf3) (arm-empty) (on-table gbh2) (clear czc4) (on rjc5 boh1) (on-table czc4) (on-table enf3) (clear rjc5)
|
[
[
"pick-up czc4"
],
[
"stack czc4 gbh2"
]
] |
[
"(clear gbh2) (on boh1 enf3) (on-table gbh2) (holding czc4) (on rjc5 boh1) (on-table enf3) (clear rjc5)",
"(on boh1 enf3) (arm-empty) (on-table gbh2) (clear czc4) (clear rjc5) (on rjc5 boh1) (on czc4 gbh2) (on-table enf3)"
] |
file_14401
|
GOAL: (clear fso2) (on-table fso2) (on-table lvc5) (on-table eob1) (clear vhw4) (on-table vhw4) (holding xbd3) (clear eob1) (clear lvc5)
|
GOAL: (clear fso2) (on-table fso2) (on-table lvc5) (on-table eob1) (clear vhw4) (on-table vhw4) (holding xbd3) (clear eob1) (clear lvc5)
STATE: (clear fso2) (arm-empty) (on-table fso2) (on-table lvc5) (on-table vhw4) (on eob1 vhw4) (clear xbd3) (clear eob1) (on-table xbd3) (clear lvc5)
|
[
[
"pick-up xbd3"
],
[
"stack xbd3 fso2"
],
[
"unstack eob1 vhw4"
],
[
"put-down eob1"
],
[
"unstack xbd3 fso2"
]
] |
[
"(clear fso2) (on-table fso2) (on-table lvc5) (on-table vhw4) (on eob1 vhw4) (holding xbd3) (clear eob1) (clear lvc5)",
"(arm-empty) (on-table fso2) (on-table lvc5) (on xbd3 fso2) (on-table vhw4) (on eob1 vhw4) (clear xbd3) (clear eob1) (clear lvc5)",
"(holding eob1) (on-table fso2) (on-table lvc5) (on xbd3 fso2) (clear vhw4) (on-table vhw4) (clear xbd3) (clear lvc5)",
"(arm-empty) (on-table fso2) (on-table lvc5) (on-table eob1) (on xbd3 fso2) (clear vhw4) (on-table vhw4) (clear xbd3) (clear eob1) (clear lvc5)",
"(clear fso2) (on-table fso2) (on-table lvc5) (on-table eob1) (clear vhw4) (on-table vhw4) (holding xbd3) (clear eob1) (clear lvc5)"
] |
file_132461
|
GOAL: (on fsh3 mzj5) (arm-empty) (on-table mzj5) (clear kfj4) (on rmg2 pef1) (clear rmg2) (on-table pef1) (on-table kfj4) (clear fsh3)
|
GOAL: (on fsh3 mzj5) (arm-empty) (on-table mzj5) (clear kfj4) (on rmg2 pef1) (clear rmg2) (on-table pef1) (on-table kfj4) (clear fsh3)
STATE: (clear rmg2) (on fsh3 mzj5) (arm-empty) (on-table mzj5) (on kfj4 fsh3) (on pef1 kfj4) (on rmg2 pef1)
|
[
[
"unstack rmg2 pef1"
],
[
"put-down rmg2"
],
[
"unstack pef1 kfj4"
],
[
"put-down pef1"
],
[
"pick-up rmg2"
],
[
"stack rmg2 pef1"
],
[
"unstack kfj4 fsh3"
],
[
"put-down kfj4"
]
] |
[
"(on fsh3 mzj5) (on-table mzj5) (on pef1 kfj4) (on kfj4 fsh3) (holding rmg2) (clear pef1)",
"(on kfj4 fsh3) (on fsh3 mzj5) (clear rmg2) (arm-empty) (on-table rmg2) (on-table mzj5) (on pef1 kfj4) (clear pef1)",
"(holding pef1) (on fsh3 mzj5) (clear rmg2) (on-table rmg2) (on-table mzj5) (clear kfj4) (on kfj4 fsh3)",
"(on fsh3 mzj5) (arm-empty) (on-table rmg2) (on-table mzj5) (clear kfj4) (clear rmg2) (on-table pef1) (on kfj4 fsh3) (clear pef1)",
"(on fsh3 mzj5) (on-table mzj5) (on-table pef1) (clear kfj4) (on kfj4 fsh3) (holding rmg2) (clear pef1)",
"(on fsh3 mzj5) (clear rmg2) (arm-empty) (on-table mzj5) (on-table pef1) (clear kfj4) (on kfj4 fsh3) (on rmg2 pef1)",
"(on fsh3 mzj5) (clear rmg2) (on-table mzj5) (on-table pef1) (holding kfj4) (on rmg2 pef1) (clear fsh3)",
"(on fsh3 mzj5) (arm-empty) (on-table mzj5) (clear kfj4) (on rmg2 pef1) (clear rmg2) (on-table pef1) (on-table kfj4) (clear fsh3)"
] |
file_24011
|
GOAL: (arm-empty) (on-table iyz1) (on ygl3 vhh2) (clear avc4) (on gjc5 ygl3) (on-table avc4) (on vhh2 iyz1) (clear gjc5)
|
GOAL: (arm-empty) (on-table iyz1) (on ygl3 vhh2) (clear avc4) (on gjc5 ygl3) (on-table avc4) (on vhh2 iyz1) (clear gjc5)
STATE: (on-table gjc5) (on-table iyz1) (on avc4 gjc5) (clear avc4) (holding vhh2) (clear ygl3) (clear iyz1) (on-table ygl3)
|
[
[
"stack vhh2 iyz1"
],
[
"unstack avc4 gjc5"
],
[
"put-down avc4"
],
[
"pick-up ygl3"
],
[
"stack ygl3 vhh2"
],
[
"pick-up gjc5"
],
[
"stack gjc5 ygl3"
]
] |
[
"(clear vhh2) (arm-empty) (on-table gjc5) (on-table iyz1) (on avc4 gjc5) (clear avc4) (on vhh2 iyz1) (clear ygl3) (on-table ygl3)",
"(clear vhh2) (on-table gjc5) (on-table iyz1) (holding avc4) (on vhh2 iyz1) (clear ygl3) (on-table ygl3) (clear gjc5)",
"(clear vhh2) (arm-empty) (on-table gjc5) (on-table iyz1) (clear avc4) (on-table avc4) (on vhh2 iyz1) (clear ygl3) (on-table ygl3) (clear gjc5)",
"(clear vhh2) (on-table gjc5) (on-table iyz1) (clear avc4) (on-table avc4) (on vhh2 iyz1) (holding ygl3) (clear gjc5)",
"(arm-empty) (on-table gjc5) (on-table iyz1) (on ygl3 vhh2) (clear avc4) (on-table avc4) (on vhh2 iyz1) (clear ygl3) (clear gjc5)",
"(on-table iyz1) (on ygl3 vhh2) (clear avc4) (holding gjc5) (on-table avc4) (on vhh2 iyz1) (clear ygl3)",
"(arm-empty) (on-table iyz1) (on ygl3 vhh2) (clear avc4) (on gjc5 ygl3) (on-table avc4) (on vhh2 iyz1) (clear gjc5)"
] |
file_33110
|
GOAL: (arm-empty) (on-table ury5) (on npl4 ury5) (clear npl4) (on vul2 jla3) (on lvt1 vul2) (clear lvt1) (on-table jla3)
|
GOAL: (arm-empty) (on-table ury5) (on npl4 ury5) (clear npl4) (on vul2 jla3) (on lvt1 vul2) (clear lvt1) (on-table jla3)
STATE: (on npl4 lvt1) (arm-empty) (on-table ury5) (clear npl4) (on vul2 jla3) (on lvt1 vul2) (on-table jla3) (clear ury5)
|
[
[
"unstack npl4 lvt1"
],
[
"stack npl4 ury5"
]
] |
[
"(clear lvt1) (on-table ury5) (holding npl4) (on vul2 jla3) (on lvt1 vul2) (on-table jla3) (clear ury5)",
"(arm-empty) (on-table ury5) (on npl4 ury5) (clear npl4) (on vul2 jla3) (on lvt1 vul2) (clear lvt1) (on-table jla3)"
] |
file_90613
|
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