goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (on dro3 uqc5) (clear kuz2) (on-table kuz2) (on-table ijp1) (holding jcb4) (on uqc5 ijp1) (clear dro3)
|
GOAL: (on dro3 uqc5) (clear kuz2) (on-table kuz2) (on-table ijp1) (holding jcb4) (on uqc5 ijp1) (clear dro3)
STATE: (clear kuz2) (on-table kuz2) (on-table uqc5) (holding jcb4) (on-table ijp1) (on dro3 ijp1) (clear dro3) (clear uqc5)
|
[
[
"stack jcb4 kuz2"
],
[
"unstack dro3 ijp1"
],
[
"stack dro3 jcb4"
],
[
"pick-up uqc5"
],
[
"stack uqc5 ijp1"
],
[
"unstack dro3 jcb4"
],
[
"stack dro3 uqc5"
],
[
"unstack jcb4 kuz2"
]
] |
[
"(arm-empty) (on-table kuz2) (on-table uqc5) (on jcb4 kuz2) (on-table ijp1) (clear jcb4) (on dro3 ijp1) (clear dro3) (clear uqc5)",
"(on-table kuz2) (on-table uqc5) (on-table ijp1) (clear jcb4) (on jcb4 kuz2) (holding dro3) (clear ijp1) (clear uqc5)",
"(on dro3 jcb4) (arm-empty) (on-table kuz2) (on-table uqc5) (on-table ijp1) (on jcb4 kuz2) (clear dro3) (clear ijp1) (clear uqc5)",
"(on dro3 jcb4) (on-table kuz2) (on-table ijp1) (holding uqc5) (on jcb4 kuz2) (clear dro3) (clear ijp1)",
"(on dro3 jcb4) (arm-empty) (on-table kuz2) (on-table ijp1) (on uqc5 ijp1) (on jcb4 kuz2) (clear dro3) (clear uqc5)",
"(on-table kuz2) (on-table ijp1) (clear jcb4) (on uqc5 ijp1) (on jcb4 kuz2) (holding dro3) (clear uqc5)",
"(on dro3 uqc5) (arm-empty) (on-table kuz2) (on-table ijp1) (clear jcb4) (on uqc5 ijp1) (on jcb4 kuz2) (clear dro3)",
"(on dro3 uqc5) (clear kuz2) (on-table kuz2) (on-table ijp1) (holding jcb4) (on uqc5 ijp1) (clear dro3)"
] |
file_216284
|
GOAL: (on xpj3 svb4) (clear egt2) (arm-empty) (on-table gle5) (on-table gpq1) (on-table svb4) (on egt2 gle5) (clear xpj3) (clear gpq1)
|
GOAL: (on xpj3 svb4) (clear egt2) (arm-empty) (on-table gle5) (on-table gpq1) (on-table svb4) (on egt2 gle5) (clear xpj3) (clear gpq1)
STATE: (on xpj3 svb4) (on svb4 gpq1) (on-table gpq1) (on gle5 xpj3) (holding egt2) (clear gle5)
|
[
[
"put-down egt2"
],
[
"unstack gle5 xpj3"
],
[
"put-down gle5"
],
[
"pick-up egt2"
],
[
"stack egt2 gle5"
],
[
"unstack xpj3 svb4"
],
[
"stack xpj3 egt2"
],
[
"unstack svb4 gpq1"
],
[
"put-down svb4"
],
[
"unstack xpj3 egt2"
],
[
"stack xpj3 svb4"
]
] |
[
"(on svb4 gpq1) (arm-empty) (on-table egt2) (on gle5 xpj3) (clear gle5) (on xpj3 svb4) (clear egt2) (on-table gpq1)",
"(on xpj3 svb4) (clear egt2) (on svb4 gpq1) (on-table egt2) (on-table gpq1) (holding gle5) (clear xpj3)",
"(on svb4 gpq1) (arm-empty) (on-table egt2) (on-table gle5) (clear gle5) (on xpj3 svb4) (clear egt2) (on-table gpq1) (clear xpj3)",
"(on xpj3 svb4) (on svb4 gpq1) (on-table gle5) (on-table gpq1) (holding egt2) (clear xpj3) (clear gle5)",
"(on xpj3 svb4) (clear egt2) (on svb4 gpq1) (arm-empty) (on-table gle5) (on-table gpq1) (on egt2 gle5) (clear xpj3)",
"(clear egt2) (on svb4 gpq1) (on-table gle5) (on-table gpq1) (clear svb4) (on egt2 gle5) (holding xpj3)",
"(on svb4 gpq1) (arm-empty) (on-table gle5) (on-table gpq1) (on xpj3 egt2) (clear svb4) (on egt2 gle5) (clear xpj3)",
"(on-table gle5) (on-table gpq1) (holding svb4) (on xpj3 egt2) (on egt2 gle5) (clear xpj3) (clear gpq1)",
"(arm-empty) (on-table gle5) (clear svb4) (on egt2 gle5) (on-table gpq1) (on xpj3 egt2) (on-table svb4) (clear xpj3) (clear gpq1)",
"(clear egt2) (on-table gle5) (on-table gpq1) (clear svb4) (on-table svb4) (on egt2 gle5) (holding xpj3) (clear gpq1)",
"(on xpj3 svb4) (clear egt2) (arm-empty) (on-table gle5) (on-table gpq1) (on-table svb4) (on egt2 gle5) (clear xpj3) (clear gpq1)"
] |
file_195528
|
GOAL: (arm-empty) (on-table hnr5) (on-table pzw1) (clear vsc4) (on okj3 pzw1) (on vsc4 kvw2) (on kvw2 hnr5) (clear okj3)
|
GOAL: (arm-empty) (on-table hnr5) (on-table pzw1) (clear vsc4) (on okj3 pzw1) (on vsc4 kvw2) (on kvw2 hnr5) (clear okj3)
STATE: (on-table hnr5) (on-table pzw1) (clear vsc4) (on vsc4 kvw2) (on kvw2 hnr5) (holding okj3) (clear pzw1)
|
[
[
"stack okj3 pzw1"
]
] |
[
"(arm-empty) (on-table hnr5) (on-table pzw1) (clear vsc4) (on okj3 pzw1) (on vsc4 kvw2) (on kvw2 hnr5) (clear okj3)"
] |
file_208819
|
GOAL: (on fjn3 hpt1) (on-table xlv4) (arm-empty) (on tjp2 xlv4) (clear fjn3) (on hpt1 tjp2)
|
GOAL: (on fjn3 hpt1) (on-table xlv4) (arm-empty) (on tjp2 xlv4) (clear fjn3) (on hpt1 tjp2)
STATE: (on-table xlv4) (on tjp2 xlv4) (holding fjn3) (on hpt1 tjp2) (clear hpt1)
|
[
[
"stack fjn3 hpt1"
]
] |
[
"(on fjn3 hpt1) (on-table xlv4) (arm-empty) (on tjp2 xlv4) (clear fjn3) (on hpt1 tjp2)"
] |
file_139200
|
GOAL: (on bkb3 ebw4) (arm-empty) (on-table jjh2) (on-table ebw4) (clear bkb3) (on ome1 jjh2) (clear ome1)
|
GOAL: (on bkb3 ebw4) (arm-empty) (on-table jjh2) (on-table ebw4) (clear bkb3) (on ome1 jjh2) (clear ome1)
STATE: (clear jjh2) (arm-empty) (on-table ebw4) (on ome1 ebw4) (on bkb3 ome1) (on jjh2 bkb3)
|
[
[
"unstack jjh2 bkb3"
],
[
"put-down jjh2"
],
[
"unstack bkb3 ome1"
],
[
"put-down bkb3"
],
[
"unstack ome1 ebw4"
],
[
"stack ome1 jjh2"
],
[
"pick-up bkb3"
],
[
"stack bkb3 ebw4"
]
] |
[
"(on-table ebw4) (on ome1 ebw4) (on bkb3 ome1) (clear bkb3) (holding jjh2)",
"(on-table ebw4) (clear jjh2) (arm-empty) (on-table jjh2) (on ome1 ebw4) (on bkb3 ome1) (clear bkb3)",
"(on-table jjh2) (clear jjh2) (on-table ebw4) (on ome1 ebw4) (holding bkb3) (clear ome1)",
"(arm-empty) (on-table jjh2) (clear jjh2) (on-table ebw4) (on ome1 ebw4) (clear bkb3) (clear ome1) (on-table bkb3)",
"(holding ome1) (clear jjh2) (on-table jjh2) (clear ebw4) (on-table ebw4) (clear bkb3) (on-table bkb3)",
"(arm-empty) (on-table jjh2) (clear ebw4) (on-table ebw4) (clear bkb3) (on ome1 jjh2) (clear ome1) (on-table bkb3)",
"(on-table jjh2) (clear ebw4) (on-table ebw4) (on ome1 jjh2) (clear ome1) (holding bkb3)",
"(on bkb3 ebw4) (arm-empty) (on-table jjh2) (on-table ebw4) (clear bkb3) (on ome1 jjh2) (clear ome1)"
] |
file_47504
|
GOAL: (on-table nba5) (clear hwi4) (on-table hwi4) (on zrc2 nba5) (on gha1 zrc2) (clear gha1) (holding hxd3)
|
GOAL: (on-table nba5) (clear hwi4) (on-table hwi4) (on zrc2 nba5) (on gha1 zrc2) (clear gha1) (holding hxd3)
STATE: (on gha1 hxd3) (on hwi4 gha1) (on-table nba5) (clear hwi4) (holding zrc2) (on-table hxd3) (clear nba5)
|
[
[
"stack zrc2 nba5"
],
[
"unstack hwi4 gha1"
],
[
"put-down hwi4"
],
[
"unstack gha1 hxd3"
],
[
"stack gha1 zrc2"
],
[
"pick-up hxd3"
]
] |
[
"(clear zrc2) (on gha1 hxd3) (on hwi4 gha1) (arm-empty) (on-table nba5) (clear hwi4) (on zrc2 nba5) (on-table hxd3)",
"(clear zrc2) (on gha1 hxd3) (on-table nba5) (holding hwi4) (on zrc2 nba5) (clear gha1) (on-table hxd3)",
"(on gha1 hxd3) (arm-empty) (on-table nba5) (clear hwi4) (on zrc2 nba5) (clear zrc2) (on-table hwi4) (clear gha1) (on-table hxd3)",
"(holding gha1) (clear zrc2) (on-table nba5) (clear hwi4) (on-table hwi4) (on zrc2 nba5) (clear hxd3) (on-table hxd3)",
"(arm-empty) (on-table nba5) (clear hwi4) (on-table hwi4) (on zrc2 nba5) (clear hxd3) (on gha1 zrc2) (clear gha1) (on-table hxd3)",
"(on-table nba5) (clear hwi4) (on-table hwi4) (on zrc2 nba5) (on gha1 zrc2) (clear gha1) (holding hxd3)"
] |
file_57459
|
GOAL: (clear xrj2) (on-table ahj1) (holding vwv4) (on eau5 dkh3) (on xrj2 ahj1) (on-table dkh3) (clear eau5)
|
GOAL: (clear xrj2) (on-table ahj1) (holding vwv4) (on eau5 dkh3) (on xrj2 ahj1) (on-table dkh3) (clear eau5)
STATE: (holding ahj1) (clear xrj2) (on vwv4 eau5) (on eau5 dkh3) (on xrj2 vwv4) (on-table dkh3)
|
[
[
"put-down ahj1"
],
[
"unstack xrj2 vwv4"
],
[
"stack xrj2 ahj1"
],
[
"unstack vwv4 eau5"
]
] |
[
"(arm-empty) (on vwv4 eau5) (on eau5 dkh3) (on xrj2 vwv4) (clear xrj2) (on-table ahj1) (clear ahj1) (on-table dkh3)",
"(on vwv4 eau5) (on-table ahj1) (clear vwv4) (on eau5 dkh3) (holding xrj2) (clear ahj1) (on-table dkh3)",
"(arm-empty) (on vwv4 eau5) (clear vwv4) (on eau5 dkh3) (on xrj2 ahj1) (clear xrj2) (on-table ahj1) (on-table dkh3)",
"(clear xrj2) (on-table ahj1) (holding vwv4) (on eau5 dkh3) (on xrj2 ahj1) (on-table dkh3) (clear eau5)"
] |
file_225987
|
GOAL: (holding qyd1) (on zkl3 web4) (on-table qmp2) (on drk5 qmp2) (on-table web4) (clear zkl3) (clear drk5)
|
GOAL: (holding qyd1) (on zkl3 web4) (on-table qmp2) (on drk5 qmp2) (on-table web4) (clear zkl3) (clear drk5)
STATE: (on zkl3 drk5) (on qyd1 zkl3) (arm-empty) (on-table qmp2) (on drk5 qmp2) (clear web4) (on-table web4) (clear qyd1)
|
[
[
"unstack qyd1 zkl3"
],
[
"put-down qyd1"
],
[
"unstack zkl3 drk5"
],
[
"stack zkl3 web4"
],
[
"pick-up qyd1"
]
] |
[
"(holding qyd1) (on zkl3 drk5) (on-table qmp2) (on drk5 qmp2) (clear web4) (on-table web4) (clear zkl3)",
"(on zkl3 drk5) (arm-empty) (on-table qmp2) (on drk5 qmp2) (clear web4) (on-table qyd1) (on-table web4) (clear zkl3) (clear qyd1)",
"(on-table qmp2) (on-table qyd1) (on drk5 qmp2) (clear web4) (on-table web4) (holding zkl3) (clear qyd1) (clear drk5)",
"(on zkl3 web4) (arm-empty) (on-table qmp2) (on-table qyd1) (on drk5 qmp2) (on-table web4) (clear zkl3) (clear qyd1) (clear drk5)",
"(holding qyd1) (on zkl3 web4) (on-table qmp2) (on drk5 qmp2) (on-table web4) (clear zkl3) (clear drk5)"
] |
file_64001
|
GOAL: (arm-empty) (on fqb5 kic4) (on xrg1 mcg2) (on-table kic4) (on mcg2 vyx3) (clear xrg1) (on-table vyx3) (clear fqb5)
|
GOAL: (arm-empty) (on fqb5 kic4) (on xrg1 mcg2) (on-table kic4) (on mcg2 vyx3) (clear xrg1) (on-table vyx3) (clear fqb5)
STATE: (on xrg1 vyx3) (arm-empty) (on-table mcg2) (on vyx3 mcg2) (clear kic4) (on fqb5 xrg1) (on-table kic4) (clear fqb5)
|
[
[
"unstack fqb5 xrg1"
],
[
"stack fqb5 kic4"
],
[
"unstack xrg1 vyx3"
],
[
"stack xrg1 fqb5"
],
[
"unstack vyx3 mcg2"
],
[
"put-down vyx3"
],
[
"pick-up mcg2"
],
[
"stack mcg2 vyx3"
],
[
"unstack xrg1 fqb5"
],
[
"stack xrg1 mcg2"
]
] |
[
"(on xrg1 vyx3) (on-table mcg2) (on vyx3 mcg2) (clear kic4) (holding fqb5) (on-table kic4) (clear xrg1)",
"(on xrg1 vyx3) (on fqb5 kic4) (on-table mcg2) (arm-empty) (on vyx3 mcg2) (on-table kic4) (clear xrg1) (clear fqb5)",
"(holding xrg1) (on fqb5 kic4) (on-table mcg2) (on vyx3 mcg2) (on-table kic4) (clear vyx3) (clear fqb5)",
"(on xrg1 fqb5) (arm-empty) (on fqb5 kic4) (on-table mcg2) (on vyx3 mcg2) (on-table kic4) (clear vyx3) (clear xrg1)",
"(on xrg1 fqb5) (clear mcg2) (on fqb5 kic4) (on-table mcg2) (on-table kic4) (holding vyx3) (clear xrg1)",
"(on xrg1 fqb5) (arm-empty) (on fqb5 kic4) (on-table mcg2) (clear mcg2) (on-table kic4) (clear vyx3) (clear xrg1) (on-table vyx3)",
"(on xrg1 fqb5) (on fqb5 kic4) (on-table kic4) (holding mcg2) (clear vyx3) (clear xrg1) (on-table vyx3)",
"(on xrg1 fqb5) (clear mcg2) (arm-empty) (on fqb5 kic4) (on-table kic4) (on mcg2 vyx3) (clear xrg1) (on-table vyx3)",
"(holding xrg1) (clear mcg2) (on fqb5 kic4) (on-table kic4) (on mcg2 vyx3) (on-table vyx3) (clear fqb5)",
"(arm-empty) (on fqb5 kic4) (on xrg1 mcg2) (on-table kic4) (on mcg2 vyx3) (clear xrg1) (on-table vyx3) (clear fqb5)"
] |
file_204244
|
GOAL: (clear nvo2) (on-table nvo2) (on-table mrv1) (holding gdh4) (on hjc5 mrv1) (clear ofa3) (on-table ofa3) (clear hjc5)
|
GOAL: (clear nvo2) (on-table nvo2) (on-table mrv1) (holding gdh4) (on hjc5 mrv1) (clear ofa3) (on-table ofa3) (clear hjc5)
STATE: (on hjc5 gdh4) (on-table nvo2) (on-table mrv1) (on gdh4 nvo2) (holding ofa3) (clear mrv1) (clear hjc5)
|
[
[
"put-down ofa3"
],
[
"unstack hjc5 gdh4"
],
[
"stack hjc5 mrv1"
],
[
"unstack gdh4 nvo2"
]
] |
[
"(arm-empty) (on hjc5 gdh4) (on-table nvo2) (clear hjc5) (on-table mrv1) (on gdh4 nvo2) (clear ofa3) (clear mrv1) (on-table ofa3)",
"(on-table nvo2) (on-table mrv1) (clear gdh4) (holding hjc5) (on gdh4 nvo2) (clear ofa3) (clear mrv1) (on-table ofa3)",
"(arm-empty) (on-table nvo2) (on-table mrv1) (clear gdh4) (on hjc5 mrv1) (on gdh4 nvo2) (clear ofa3) (on-table ofa3) (clear hjc5)",
"(clear nvo2) (on-table nvo2) (on-table mrv1) (holding gdh4) (on hjc5 mrv1) (clear ofa3) (on-table ofa3) (clear hjc5)"
] |
file_26597
|
GOAL: (on-table xxv2) (holding vnh5) (on jkf1 xlq4) (on xlq4 xxv2) (clear xne3) (clear jkf1) (on-table xne3)
|
GOAL: (on-table xxv2) (holding vnh5) (on jkf1 xlq4) (on xlq4 xxv2) (clear xne3) (clear jkf1) (on-table xne3)
STATE: (holding jkf1) (on vnh5 xlq4) (on-table xxv2) (on xlq4 xxv2) (clear xne3) (on-table xne3) (clear vnh5)
|
[
[
"stack jkf1 xne3"
],
[
"unstack vnh5 xlq4"
],
[
"put-down vnh5"
],
[
"unstack jkf1 xne3"
],
[
"stack jkf1 xlq4"
],
[
"pick-up vnh5"
]
] |
[
"(on jkf1 xne3) (on vnh5 xlq4) (on-table xxv2) (arm-empty) (on xlq4 xxv2) (clear jkf1) (on-table xne3) (clear vnh5)",
"(on jkf1 xne3) (on-table xxv2) (clear xlq4) (holding vnh5) (on xlq4 xxv2) (clear jkf1) (on-table xne3)",
"(on jkf1 xne3) (arm-empty) (on-table xxv2) (on-table vnh5) (clear xlq4) (clear vnh5) (on xlq4 xxv2) (clear jkf1) (on-table xne3)",
"(holding jkf1) (on-table xxv2) (on-table vnh5) (clear xlq4) (on xlq4 xxv2) (clear xne3) (on-table xne3) (clear vnh5)",
"(arm-empty) (on-table xxv2) (on-table vnh5) (on jkf1 xlq4) (on xlq4 xxv2) (clear xne3) (clear jkf1) (on-table xne3) (clear vnh5)",
"(on-table xxv2) (holding vnh5) (on jkf1 xlq4) (on xlq4 xxv2) (clear xne3) (clear jkf1) (on-table xne3)"
] |
file_62491
|
GOAL: (on bno3 git5) (arm-empty) (on-table hcu1) (on git5 ype2) (clear xgi4) (on-table xgi4) (on ype2 hcu1) (clear bno3)
|
GOAL: (on bno3 git5) (arm-empty) (on-table hcu1) (on git5 ype2) (clear xgi4) (on-table xgi4) (on ype2 hcu1) (clear bno3)
STATE: (on-table hcu1) (on git5 ype2) (clear xgi4) (on-table xgi4) (on ype2 hcu1) (holding bno3) (clear git5)
|
[
[
"stack bno3 git5"
]
] |
[
"(on bno3 git5) (arm-empty) (on-table hcu1) (on git5 ype2) (clear xgi4) (on-table xgi4) (on ype2 hcu1) (clear bno3)"
] |
file_3901
|
GOAL: (on sra1 epc5) (clear dcx2) (arm-empty) (on epc5 zil4) (on-table dcx2) (on zil4 ftg3) (clear sra1) (on-table ftg3)
|
GOAL: (on sra1 epc5) (clear dcx2) (arm-empty) (on epc5 zil4) (on-table dcx2) (on zil4 ftg3) (clear sra1) (on-table ftg3)
STATE: (on-table sra1) (clear zil4) (holding epc5) (on zil4 dcx2) (on dcx2 sra1) (clear ftg3) (on-table ftg3)
|
[
[
"stack epc5 ftg3"
],
[
"unstack zil4 dcx2"
],
[
"put-down zil4"
],
[
"unstack epc5 ftg3"
],
[
"stack epc5 dcx2"
],
[
"pick-up zil4"
],
[
"stack zil4 ftg3"
],
[
"unstack epc5 dcx2"
],
[
"stack epc5 zil4"
],
[
"unstack dcx2 sra1"
],
[
"put-down dcx2"
],
[
"pick-up sra1"
],
[
"stack sra1 epc5"
]
] |
[
"(arm-empty) (on-table sra1) (clear zil4) (on epc5 ftg3) (on zil4 dcx2) (on dcx2 sra1) (on-table ftg3) (clear epc5)",
"(clear dcx2) (on-table sra1) (holding zil4) (on epc5 ftg3) (on dcx2 sra1) (on-table ftg3) (clear epc5)",
"(arm-empty) (clear zil4) (on epc5 ftg3) (on dcx2 sra1) (clear epc5) (clear dcx2) (on-table sra1) (on-table zil4) (on-table ftg3)",
"(clear dcx2) (on-table sra1) (clear zil4) (holding epc5) (on-table zil4) (on dcx2 sra1) (clear ftg3) (on-table ftg3)",
"(arm-empty) (on-table sra1) (on epc5 dcx2) (clear zil4) (on-table zil4) (on dcx2 sra1) (clear ftg3) (on-table ftg3) (clear epc5)",
"(on-table sra1) (holding zil4) (on epc5 dcx2) (on dcx2 sra1) (clear ftg3) (on-table ftg3) (clear epc5)",
"(arm-empty) (on epc5 dcx2) (clear zil4) (on dcx2 sra1) (clear epc5) (on-table sra1) (on zil4 ftg3) (on-table ftg3)",
"(clear dcx2) (on-table sra1) (clear zil4) (on zil4 ftg3) (holding epc5) (on dcx2 sra1) (on-table ftg3)",
"(clear dcx2) (arm-empty) (on epc5 zil4) (on-table sra1) (on zil4 ftg3) (on dcx2 sra1) (on-table ftg3) (clear epc5)",
"(on epc5 zil4) (on-table sra1) (on zil4 ftg3) (holding dcx2) (clear sra1) (on-table ftg3) (clear epc5)",
"(arm-empty) (on epc5 zil4) (on-table dcx2) (clear epc5) (clear dcx2) (on-table sra1) (on zil4 ftg3) (clear sra1) (on-table ftg3)",
"(holding sra1) (clear dcx2) (on epc5 zil4) (on-table dcx2) (on zil4 ftg3) (on-table ftg3) (clear epc5)",
"(on sra1 epc5) (clear dcx2) (arm-empty) (on epc5 zil4) (on-table dcx2) (on zil4 ftg3) (clear sra1) (on-table ftg3)"
] |
file_74034
|
GOAL: (on-table mhy2) (on-table dpq1) (holding vqj4) (on ubl3 mhy2) (on lfj5 ubl3) (clear dpq1) (clear lfj5)
|
GOAL: (on-table mhy2) (on-table dpq1) (holding vqj4) (on ubl3 mhy2) (on lfj5 ubl3) (clear dpq1) (clear lfj5)
STATE: (arm-empty) (on lfj5 vqj4) (on-table dpq1) (on vqj4 mhy2) (on ubl3 dpq1) (on mhy2 ubl3) (clear lfj5)
|
[
[
"unstack lfj5 vqj4"
],
[
"put-down lfj5"
],
[
"unstack vqj4 mhy2"
],
[
"stack vqj4 lfj5"
],
[
"unstack mhy2 ubl3"
],
[
"put-down mhy2"
],
[
"unstack ubl3 dpq1"
],
[
"stack ubl3 mhy2"
],
[
"unstack vqj4 lfj5"
],
[
"stack vqj4 dpq1"
],
[
"pick-up lfj5"
],
[
"stack lfj5 ubl3"
],
[
"unstack vqj4 dpq1"
]
] |
[
"(on vqj4 mhy2) (on ubl3 dpq1) (holding lfj5) (clear vqj4) (on-table dpq1) (on mhy2 ubl3)",
"(arm-empty) (on-table lfj5) (clear vqj4) (on ubl3 dpq1) (clear lfj5) (on-table dpq1) (on vqj4 mhy2) (on mhy2 ubl3)",
"(clear mhy2) (on-table lfj5) (on-table dpq1) (holding vqj4) (on ubl3 dpq1) (on mhy2 ubl3) (clear lfj5)",
"(clear mhy2) (arm-empty) (on-table lfj5) (on-table dpq1) (on vqj4 lfj5) (clear vqj4) (on ubl3 dpq1) (on mhy2 ubl3)",
"(on-table lfj5) (on-table dpq1) (on vqj4 lfj5) (clear vqj4) (holding mhy2) (on ubl3 dpq1) (clear ubl3)",
"(arm-empty) (on-table mhy2) (on-table lfj5) (on vqj4 lfj5) (clear vqj4) (on ubl3 dpq1) (clear mhy2) (on-table dpq1) (clear ubl3)",
"(clear mhy2) (on-table mhy2) (on-table lfj5) (on vqj4 lfj5) (on-table dpq1) (clear vqj4) (holding ubl3) (clear dpq1)",
"(arm-empty) (on-table mhy2) (on-table lfj5) (on vqj4 lfj5) (on-table dpq1) (on ubl3 mhy2) (clear vqj4) (clear ubl3) (clear dpq1)",
"(on-table mhy2) (on-table lfj5) (holding vqj4) (on-table dpq1) (on ubl3 mhy2) (clear ubl3) (clear dpq1) (clear lfj5)",
"(on vqj4 dpq1) (arm-empty) (on-table mhy2) (on-table lfj5) (on-table dpq1) (on ubl3 mhy2) (clear vqj4) (clear ubl3) (clear lfj5)",
"(on vqj4 dpq1) (on-table mhy2) (on-table dpq1) (on ubl3 mhy2) (clear vqj4) (holding lfj5) (clear ubl3)",
"(on vqj4 dpq1) (arm-empty) (on-table mhy2) (on-table dpq1) (on ubl3 mhy2) (clear vqj4) (on lfj5 ubl3) (clear lfj5)",
"(on-table mhy2) (on-table dpq1) (holding vqj4) (on ubl3 mhy2) (on lfj5 ubl3) (clear dpq1) (clear lfj5)"
] |
file_222618
|
GOAL: (on fpf1 jtb5) (clear eeq2) (arm-empty) (on-table jtb5) (on lvg4 xda3) (on eeq2 lvg4) (clear fpf1) (on-table xda3)
|
GOAL: (on fpf1 jtb5) (clear eeq2) (arm-empty) (on-table jtb5) (on lvg4 xda3) (on eeq2 lvg4) (clear fpf1) (on-table xda3)
STATE: (arm-empty) (on lvg4 xda3) (on jtb5 fpf1) (on eeq2 lvg4) (on fpf1 eeq2) (on-table xda3) (clear jtb5)
|
[
[
"unstack jtb5 fpf1"
],
[
"put-down jtb5"
],
[
"unstack fpf1 eeq2"
],
[
"stack fpf1 jtb5"
]
] |
[
"(on lvg4 xda3) (holding jtb5) (on eeq2 lvg4) (on fpf1 eeq2) (clear fpf1) (on-table xda3)",
"(arm-empty) (on-table jtb5) (on eeq2 lvg4) (on fpf1 eeq2) (clear jtb5) (on lvg4 xda3) (clear fpf1) (on-table xda3)",
"(holding fpf1) (clear eeq2) (on-table jtb5) (on lvg4 xda3) (on eeq2 lvg4) (on-table xda3) (clear jtb5)",
"(on fpf1 jtb5) (clear eeq2) (arm-empty) (on-table jtb5) (on lvg4 xda3) (on eeq2 lvg4) (clear fpf1) (on-table xda3)"
] |
file_84102
|
GOAL: (on jzo1 mvy5) (on-table jrg2) (on-table mvy5) (clear xif4) (on xif4 jrg2) (holding tls3) (clear jzo1)
|
GOAL: (on jzo1 mvy5) (on-table jrg2) (on-table mvy5) (clear xif4) (on xif4 jrg2) (holding tls3) (clear jzo1)
STATE: (holding jzo1) (on-table jrg2) (on-table mvy5) (clear xif4) (on xif4 jrg2) (clear tls3) (on-table tls3) (clear mvy5)
|
[
[
"stack jzo1 mvy5"
],
[
"pick-up tls3"
]
] |
[
"(on jzo1 mvy5) (arm-empty) (on-table jrg2) (on-table mvy5) (clear xif4) (on xif4 jrg2) (clear tls3) (clear jzo1) (on-table tls3)",
"(on jzo1 mvy5) (on-table jrg2) (on-table mvy5) (clear xif4) (on xif4 jrg2) (holding tls3) (clear jzo1)"
] |
file_217224
|
GOAL: (clear rpf2) (arm-empty) (on-table oce5) (on-table sxw1) (clear tae4) (on-table tae4) (on rpf2 lfq3) (clear sxw1) (on-table lfq3) (clear oce5)
|
GOAL: (clear rpf2) (arm-empty) (on-table oce5) (on-table sxw1) (clear tae4) (on-table tae4) (on rpf2 lfq3) (clear sxw1) (on-table lfq3) (clear oce5)
STATE: (holding oce5) (on sxw1 tae4) (on tae4 rpf2) (on rpf2 lfq3) (clear sxw1) (on-table lfq3)
|
[
[
"put-down oce5"
],
[
"unstack sxw1 tae4"
],
[
"put-down sxw1"
],
[
"unstack tae4 rpf2"
],
[
"put-down tae4"
]
] |
[
"(arm-empty) (on-table oce5) (clear oce5) (on sxw1 tae4) (on tae4 rpf2) (on rpf2 lfq3) (clear sxw1) (on-table lfq3)",
"(holding sxw1) (on-table oce5) (clear tae4) (on tae4 rpf2) (on rpf2 lfq3) (on-table lfq3) (clear oce5)",
"(arm-empty) (on-table oce5) (clear tae4) (clear oce5) (on-table sxw1) (on tae4 rpf2) (on rpf2 lfq3) (clear sxw1) (on-table lfq3)",
"(clear rpf2) (on-table oce5) (on-table sxw1) (holding tae4) (on rpf2 lfq3) (clear sxw1) (on-table lfq3) (clear oce5)",
"(clear rpf2) (arm-empty) (on-table oce5) (on-table sxw1) (clear tae4) (on-table tae4) (on rpf2 lfq3) (clear sxw1) (on-table lfq3) (clear oce5)"
] |
file_142244
|
GOAL: (clear pyr2) (arm-empty) (on-table fsk5) (on cmg4 fsk5) (on kan1 cmg4) (on pyr2 zsq3) (clear kan1) (on-table zsq3)
|
GOAL: (clear pyr2) (arm-empty) (on-table fsk5) (on cmg4 fsk5) (on kan1 cmg4) (on pyr2 zsq3) (clear kan1) (on-table zsq3)
STATE: (on cmg4 kan1) (arm-empty) (on-table fsk5) (clear cmg4) (on pyr2 zsq3) (on kan1 pyr2) (on-table zsq3) (clear fsk5)
|
[
[
"unstack cmg4 kan1"
],
[
"stack cmg4 fsk5"
],
[
"unstack kan1 pyr2"
],
[
"stack kan1 cmg4"
]
] |
[
"(clear kan1) (on-table fsk5) (holding cmg4) (on pyr2 zsq3) (on kan1 pyr2) (on-table zsq3) (clear fsk5)",
"(arm-empty) (on-table fsk5) (on cmg4 fsk5) (clear cmg4) (on pyr2 zsq3) (on kan1 pyr2) (clear kan1) (on-table zsq3)",
"(holding kan1) (clear pyr2) (on-table fsk5) (on cmg4 fsk5) (clear cmg4) (on pyr2 zsq3) (on-table zsq3)",
"(clear pyr2) (arm-empty) (on-table fsk5) (on cmg4 fsk5) (on kan1 cmg4) (on pyr2 zsq3) (clear kan1) (on-table zsq3)"
] |
file_90632
|
GOAL: (on dtw3 zrn4) (on uzf1 dtw3) (on-table zae5) (on-table zrn4) (holding uvb2) (clear uzf1) (clear zae5)
|
GOAL: (on dtw3 zrn4) (on uzf1 dtw3) (on-table zae5) (on-table zrn4) (holding uvb2) (clear uzf1) (clear zae5)
STATE: (clear uvb2) (arm-empty) (on-table zae5) (on-table uzf1) (clear zrn4) (on-table zrn4) (on uvb2 zae5) (clear dtw3) (clear uzf1) (on-table dtw3)
|
[
[
"pick-up uzf1"
],
[
"stack uzf1 uvb2"
],
[
"pick-up dtw3"
],
[
"stack dtw3 zrn4"
],
[
"unstack uzf1 uvb2"
],
[
"stack uzf1 dtw3"
],
[
"unstack uvb2 zae5"
]
] |
[
"(holding uzf1) (clear uvb2) (on-table zae5) (clear zrn4) (on-table zrn4) (on uvb2 zae5) (clear dtw3) (on-table dtw3)",
"(arm-empty) (on-table zae5) (clear zrn4) (on-table zrn4) (on uvb2 zae5) (clear dtw3) (on uzf1 uvb2) (clear uzf1) (on-table dtw3)",
"(on-table zae5) (clear zrn4) (on-table zrn4) (on uvb2 zae5) (on uzf1 uvb2) (clear uzf1) (holding dtw3)",
"(on dtw3 zrn4) (arm-empty) (on-table zae5) (on-table zrn4) (on uvb2 zae5) (clear dtw3) (on uzf1 uvb2) (clear uzf1)",
"(holding uzf1) (on dtw3 zrn4) (clear uvb2) (on-table zae5) (on-table zrn4) (on uvb2 zae5) (clear dtw3)",
"(on dtw3 zrn4) (clear uvb2) (on uzf1 dtw3) (arm-empty) (on-table zae5) (on-table zrn4) (on uvb2 zae5) (clear uzf1)",
"(on dtw3 zrn4) (on uzf1 dtw3) (on-table zae5) (on-table zrn4) (holding uvb2) (clear uzf1) (clear zae5)"
] |
file_182092
|
GOAL: (on ssj1 xdp5) (arm-empty) (on xdp5 phy4) (on-table jtg2) (on phy4 jtg2) (on wup3 ssj1) (clear wup3)
|
GOAL: (on ssj1 xdp5) (arm-empty) (on xdp5 phy4) (on-table jtg2) (on phy4 jtg2) (on wup3 ssj1) (clear wup3)
STATE: (clear jtg2) (on wup3 xdp5) (arm-empty) (on-table ssj1) (on xdp5 ssj1) (on phy4 wup3) (on jtg2 phy4)
|
[
[
"unstack jtg2 phy4"
],
[
"put-down jtg2"
],
[
"unstack phy4 wup3"
],
[
"stack phy4 jtg2"
],
[
"unstack wup3 xdp5"
],
[
"put-down wup3"
],
[
"unstack xdp5 ssj1"
],
[
"stack xdp5 phy4"
],
[
"pick-up ssj1"
],
[
"stack ssj1 xdp5"
],
[
"pick-up wup3"
],
[
"stack wup3 ssj1"
]
] |
[
"(on wup3 xdp5) (clear phy4) (on-table ssj1) (on xdp5 ssj1) (on phy4 wup3) (holding jtg2)",
"(on wup3 xdp5) (arm-empty) (on-table jtg2) (clear phy4) (clear jtg2) (on-table ssj1) (on xdp5 ssj1) (on phy4 wup3)",
"(on wup3 xdp5) (clear jtg2) (on-table jtg2) (on-table ssj1) (holding phy4) (on xdp5 ssj1) (clear wup3)",
"(on wup3 xdp5) (arm-empty) (on-table jtg2) (on-table ssj1) (clear phy4) (on xdp5 ssj1) (on phy4 jtg2) (clear wup3)",
"(on-table jtg2) (on-table ssj1) (clear phy4) (on xdp5 ssj1) (on phy4 jtg2) (holding wup3) (clear xdp5)",
"(arm-empty) (on-table jtg2) (clear phy4) (clear xdp5) (on-table ssj1) (on xdp5 ssj1) (on phy4 jtg2) (clear wup3) (on-table wup3)",
"(on-table jtg2) (on-table ssj1) (clear phy4) (holding xdp5) (on phy4 jtg2) (clear wup3) (clear ssj1) (on-table wup3)",
"(arm-empty) (on xdp5 phy4) (on-table jtg2) (on-table ssj1) (on phy4 jtg2) (clear wup3) (clear ssj1) (on-table wup3) (clear xdp5)",
"(holding ssj1) (on xdp5 phy4) (on-table jtg2) (on phy4 jtg2) (clear wup3) (on-table wup3) (clear xdp5)",
"(on ssj1 xdp5) (arm-empty) (on xdp5 phy4) (on-table jtg2) (on phy4 jtg2) (clear wup3) (clear ssj1) (on-table wup3)",
"(on ssj1 xdp5) (on xdp5 phy4) (on-table jtg2) (on phy4 jtg2) (holding wup3) (clear ssj1)",
"(on ssj1 xdp5) (arm-empty) (on xdp5 phy4) (on-table jtg2) (on phy4 jtg2) (on wup3 ssj1) (clear wup3)"
] |
file_175788
|
GOAL: (holding odp1) (on-table eab2) (clear zkv4) (on wor5 ubk3) (on zkv4 eab2) (on-table ubk3) (clear wor5)
|
GOAL: (holding odp1) (on-table eab2) (clear zkv4) (on wor5 ubk3) (on zkv4 eab2) (on-table ubk3) (clear wor5)
STATE: (on odp1 wor5) (clear zkv4) (on wor5 ubk3) (on-table zkv4) (holding eab2) (clear odp1) (on-table ubk3)
|
[
[
"put-down eab2"
],
[
"pick-up zkv4"
],
[
"stack zkv4 eab2"
],
[
"unstack odp1 wor5"
]
] |
[
"(on odp1 wor5) (arm-empty) (on-table eab2) (clear zkv4) (on wor5 ubk3) (clear eab2) (on-table zkv4) (clear odp1) (on-table ubk3)",
"(on odp1 wor5) (clear eab2) (on-table eab2) (holding zkv4) (on wor5 ubk3) (clear odp1) (on-table ubk3)",
"(on odp1 wor5) (arm-empty) (on-table eab2) (clear zkv4) (on wor5 ubk3) (on zkv4 eab2) (clear odp1) (on-table ubk3)",
"(holding odp1) (on-table eab2) (clear zkv4) (on wor5 ubk3) (on zkv4 eab2) (on-table ubk3) (clear wor5)"
] |
file_138043
|
GOAL: (arm-empty) (on-table kdl2) (on-table oel5) (on-table lvv1) (on abt3 kdl2) (clear pig4) (on pig4 abt3) (clear lvv1) (clear oel5)
|
GOAL: (arm-empty) (on-table kdl2) (on-table oel5) (on-table lvv1) (on abt3 kdl2) (clear pig4) (on pig4 abt3) (clear lvv1) (clear oel5)
STATE: (on oel5 pig4) (on-table lvv1) (on-table pig4) (holding kdl2) (clear abt3) (clear lvv1) (on-table abt3) (clear oel5)
|
[
[
"put-down kdl2"
],
[
"pick-up abt3"
],
[
"stack abt3 kdl2"
],
[
"unstack oel5 pig4"
],
[
"put-down oel5"
],
[
"pick-up pig4"
],
[
"stack pig4 abt3"
]
] |
[
"(clear kdl2) (arm-empty) (on oel5 pig4) (on-table kdl2) (on-table lvv1) (on-table pig4) (clear abt3) (clear lvv1) (on-table abt3) (clear oel5)",
"(clear kdl2) (on oel5 pig4) (on-table kdl2) (on-table lvv1) (on-table pig4) (holding abt3) (clear lvv1) (clear oel5)",
"(arm-empty) (on oel5 pig4) (on-table kdl2) (on-table lvv1) (on abt3 kdl2) (on-table pig4) (clear abt3) (clear lvv1) (clear oel5)",
"(on-table kdl2) (on-table lvv1) (on abt3 kdl2) (clear pig4) (holding oel5) (on-table pig4) (clear abt3) (clear lvv1)",
"(arm-empty) (on-table kdl2) (on-table oel5) (on-table lvv1) (on abt3 kdl2) (clear pig4) (on-table pig4) (clear abt3) (clear lvv1) (clear oel5)",
"(on-table kdl2) (on-table oel5) (on-table lvv1) (holding pig4) (on abt3 kdl2) (clear abt3) (clear lvv1) (clear oel5)",
"(arm-empty) (on-table kdl2) (on-table oel5) (on-table lvv1) (on abt3 kdl2) (clear pig4) (on pig4 abt3) (clear lvv1) (clear oel5)"
] |
file_34255
|
GOAL: (on xyi3 vus4) (arm-empty) (on-table vgh2) (on-table gom5) (on vus4 gom5) (clear xyi3) (on mzm1 vgh2) (clear mzm1)
|
GOAL: (on xyi3 vus4) (arm-empty) (on-table vgh2) (on-table gom5) (on vus4 gom5) (clear xyi3) (on mzm1 vgh2) (clear mzm1)
STATE: (on xyi3 vus4) (clear vgh2) (on mzm1 xyi3) (arm-empty) (on-table vgh2) (on-table gom5) (on-table vus4) (clear mzm1) (clear gom5)
|
[
[
"unstack mzm1 xyi3"
],
[
"stack mzm1 vgh2"
],
[
"unstack xyi3 vus4"
],
[
"put-down xyi3"
],
[
"pick-up vus4"
],
[
"stack vus4 gom5"
],
[
"pick-up xyi3"
],
[
"stack xyi3 vus4"
]
] |
[
"(holding mzm1) (on xyi3 vus4) (clear vgh2) (on-table vgh2) (on-table gom5) (on-table vus4) (clear xyi3) (clear gom5)",
"(on xyi3 vus4) (arm-empty) (on-table vgh2) (on-table gom5) (on-table vus4) (clear xyi3) (on mzm1 vgh2) (clear mzm1) (clear gom5)",
"(on-table vgh2) (on-table gom5) (clear vus4) (on-table vus4) (on mzm1 vgh2) (clear mzm1) (holding xyi3) (clear gom5)",
"(arm-empty) (on-table vgh2) (on-table gom5) (clear vus4) (on-table vus4) (clear xyi3) (on mzm1 vgh2) (clear mzm1) (on-table xyi3) (clear gom5)",
"(on-table vgh2) (on-table gom5) (holding vus4) (clear xyi3) (on mzm1 vgh2) (clear mzm1) (on-table xyi3) (clear gom5)",
"(arm-empty) (on-table vgh2) (on-table gom5) (on vus4 gom5) (clear vus4) (clear xyi3) (on mzm1 vgh2) (clear mzm1) (on-table xyi3)",
"(on-table vgh2) (on-table gom5) (on vus4 gom5) (clear vus4) (on mzm1 vgh2) (clear mzm1) (holding xyi3)",
"(on xyi3 vus4) (arm-empty) (on-table vgh2) (on-table gom5) (on vus4 gom5) (clear xyi3) (on mzm1 vgh2) (clear mzm1)"
] |
file_120467
|
GOAL: (on gpf3 wbs4) (on nmr1 dan5) (clear miw2) (arm-empty) (on dan5 gpf3) (on-table wbs4) (on miw2 nmr1)
|
GOAL: (on gpf3 wbs4) (on nmr1 dan5) (clear miw2) (arm-empty) (on dan5 gpf3) (on-table wbs4) (on miw2 nmr1)
STATE: (clear miw2) (on-table nmr1) (clear wbs4) (holding dan5) (on-table wbs4) (on miw2 nmr1) (clear gpf3) (on-table gpf3)
|
[
[
"put-down dan5"
],
[
"pick-up gpf3"
],
[
"stack gpf3 wbs4"
],
[
"pick-up dan5"
],
[
"stack dan5 gpf3"
],
[
"unstack miw2 nmr1"
],
[
"put-down miw2"
],
[
"pick-up nmr1"
],
[
"stack nmr1 dan5"
],
[
"pick-up miw2"
],
[
"stack miw2 nmr1"
]
] |
[
"(clear miw2) (arm-empty) (on-table dan5) (on-table nmr1) (clear wbs4) (on-table wbs4) (on miw2 nmr1) (clear gpf3) (on-table gpf3) (clear dan5)",
"(clear miw2) (on-table dan5) (on-table nmr1) (clear wbs4) (on-table wbs4) (on miw2 nmr1) (holding gpf3) (clear dan5)",
"(on gpf3 wbs4) (clear miw2) (arm-empty) (on-table dan5) (on-table nmr1) (on-table wbs4) (on miw2 nmr1) (clear gpf3) (clear dan5)",
"(on gpf3 wbs4) (clear miw2) (on-table nmr1) (holding dan5) (on-table wbs4) (on miw2 nmr1) (clear gpf3)",
"(on gpf3 wbs4) (clear miw2) (arm-empty) (on-table nmr1) (on dan5 gpf3) (on-table wbs4) (on miw2 nmr1) (clear dan5)",
"(on gpf3 wbs4) (on-table nmr1) (on dan5 gpf3) (on-table wbs4) (holding miw2) (clear nmr1) (clear dan5)",
"(arm-empty) (on-table miw2) (on dan5 gpf3) (clear dan5) (on gpf3 wbs4) (clear miw2) (on-table nmr1) (on-table wbs4) (clear nmr1)",
"(holding nmr1) (on gpf3 wbs4) (clear miw2) (on-table miw2) (on dan5 gpf3) (on-table wbs4) (clear dan5)",
"(on gpf3 wbs4) (clear miw2) (on nmr1 dan5) (arm-empty) (on-table miw2) (on dan5 gpf3) (on-table wbs4) (clear nmr1)",
"(on gpf3 wbs4) (on nmr1 dan5) (on dan5 gpf3) (on-table wbs4) (holding miw2) (clear nmr1)",
"(on gpf3 wbs4) (on nmr1 dan5) (clear miw2) (arm-empty) (on dan5 gpf3) (on-table wbs4) (on miw2 nmr1)"
] |
file_134136
|
GOAL: (on rjw1 rvx3) (arm-empty) (on-table cnn2) (clear oce4) (clear gdp5) (clear cnn2) (on gdp5 rjw1) (on-table oce4) (on-table rvx3)
|
GOAL: (on rjw1 rvx3) (arm-empty) (on-table cnn2) (clear oce4) (clear gdp5) (clear cnn2) (on gdp5 rjw1) (on-table oce4) (on-table rvx3)
STATE: (on rjw1 rvx3) (arm-empty) (on oce4 gdp5) (on gdp5 cnn2) (clear oce4) (on cnn2 rjw1) (on-table rvx3)
|
[
[
"unstack oce4 gdp5"
],
[
"put-down oce4"
],
[
"unstack gdp5 cnn2"
],
[
"put-down gdp5"
],
[
"unstack cnn2 rjw1"
],
[
"stack cnn2 oce4"
],
[
"pick-up gdp5"
],
[
"stack gdp5 rjw1"
],
[
"unstack cnn2 oce4"
],
[
"put-down cnn2"
]
] |
[
"(on rjw1 rvx3) (holding oce4) (on gdp5 cnn2) (on cnn2 rjw1) (clear gdp5) (on-table rvx3)",
"(on rjw1 rvx3) (arm-empty) (on gdp5 cnn2) (clear oce4) (on cnn2 rjw1) (clear gdp5) (on-table oce4) (on-table rvx3)",
"(clear cnn2) (on rjw1 rvx3) (clear oce4) (holding gdp5) (on-table oce4) (on cnn2 rjw1) (on-table rvx3)",
"(on rjw1 rvx3) (arm-empty) (on-table gdp5) (clear oce4) (on cnn2 rjw1) (clear gdp5) (clear cnn2) (on-table oce4) (on-table rvx3)",
"(on rjw1 rvx3) (on-table gdp5) (clear oce4) (on-table oce4) (holding cnn2) (clear rjw1) (on-table rvx3) (clear gdp5)",
"(clear cnn2) (on rjw1 rvx3) (arm-empty) (on-table gdp5) (on-table oce4) (on cnn2 oce4) (clear rjw1) (on-table rvx3) (clear gdp5)",
"(clear cnn2) (on rjw1 rvx3) (holding gdp5) (on-table oce4) (on cnn2 oce4) (clear rjw1) (on-table rvx3)",
"(clear cnn2) (on rjw1 rvx3) (arm-empty) (on gdp5 rjw1) (on-table oce4) (on cnn2 oce4) (on-table rvx3) (clear gdp5)",
"(on rjw1 rvx3) (clear oce4) (on gdp5 rjw1) (on-table oce4) (holding cnn2) (on-table rvx3) (clear gdp5)",
"(on rjw1 rvx3) (arm-empty) (on-table cnn2) (clear oce4) (clear gdp5) (clear cnn2) (on gdp5 rjw1) (on-table oce4) (on-table rvx3)"
] |
file_185024
|
GOAL: (on bvl3 hwr4) (clear seu2) (on pjy1 bvl3) (arm-empty) (on hss5 pjy1) (on-table hwr4) (on seu2 hss5)
|
GOAL: (on bvl3 hwr4) (clear seu2) (on pjy1 bvl3) (arm-empty) (on hss5 pjy1) (on-table hwr4) (on seu2 hss5)
STATE: (holding pjy1) (on bvl3 hss5) (on-table seu2) (on hss5 seu2) (clear hwr4) (on-table hwr4) (clear bvl3)
|
[
[
"put-down pjy1"
],
[
"unstack bvl3 hss5"
],
[
"stack bvl3 hwr4"
],
[
"pick-up pjy1"
],
[
"stack pjy1 bvl3"
],
[
"unstack hss5 seu2"
],
[
"stack hss5 pjy1"
],
[
"pick-up seu2"
],
[
"stack seu2 hss5"
]
] |
[
"(on bvl3 hss5) (arm-empty) (on-table seu2) (on hss5 seu2) (clear hwr4) (on-table pjy1) (on-table hwr4) (clear bvl3) (clear pjy1)",
"(on-table seu2) (on-table pjy1) (on hss5 seu2) (clear hwr4) (on-table hwr4) (holding bvl3) (clear pjy1) (clear hss5)",
"(on bvl3 hwr4) (arm-empty) (on-table seu2) (on-table pjy1) (on hss5 seu2) (on-table hwr4) (clear bvl3) (clear pjy1) (clear hss5)",
"(holding pjy1) (on bvl3 hwr4) (on-table seu2) (on hss5 seu2) (on-table hwr4) (clear bvl3) (clear hss5)",
"(on bvl3 hwr4) (on pjy1 bvl3) (arm-empty) (on-table seu2) (on hss5 seu2) (on-table hwr4) (clear pjy1) (clear hss5)",
"(on bvl3 hwr4) (clear seu2) (on pjy1 bvl3) (on-table seu2) (holding hss5) (on-table hwr4) (clear pjy1)",
"(on bvl3 hwr4) (clear seu2) (on pjy1 bvl3) (arm-empty) (on-table seu2) (on hss5 pjy1) (on-table hwr4) (clear hss5)",
"(on bvl3 hwr4) (on pjy1 bvl3) (on hss5 pjy1) (on-table hwr4) (holding seu2) (clear hss5)",
"(on bvl3 hwr4) (clear seu2) (on pjy1 bvl3) (arm-empty) (on hss5 pjy1) (on-table hwr4) (on seu2 hss5)"
] |
file_208065
|
GOAL: (clear frv2) (on cqc1 ffz3) (arm-empty) (on vyu4 vzn5) (on vzn5 cqc1) (on frv2 vyu4) (on-table ffz3)
|
GOAL: (clear frv2) (on cqc1 ffz3) (arm-empty) (on vyu4 vzn5) (on vzn5 cqc1) (on frv2 vyu4) (on-table ffz3)
STATE: (clear frv2) (on cqc1 ffz3) (on-table frv2) (on-table vzn5) (holding vyu4) (clear cqc1) (on-table ffz3) (clear vzn5)
|
[
[
"stack vyu4 frv2"
],
[
"pick-up vzn5"
],
[
"stack vzn5 cqc1"
],
[
"unstack vyu4 frv2"
],
[
"stack vyu4 vzn5"
],
[
"pick-up frv2"
],
[
"stack frv2 vyu4"
]
] |
[
"(on cqc1 ffz3) (arm-empty) (on-table frv2) (on-table vzn5) (clear vyu4) (on vyu4 frv2) (clear cqc1) (on-table ffz3) (clear vzn5)",
"(on cqc1 ffz3) (on-table frv2) (clear vyu4) (holding vzn5) (on vyu4 frv2) (clear cqc1) (on-table ffz3)",
"(on cqc1 ffz3) (arm-empty) (on-table frv2) (clear vyu4) (on vzn5 cqc1) (on vyu4 frv2) (on-table ffz3) (clear vzn5)",
"(clear frv2) (on cqc1 ffz3) (on-table frv2) (holding vyu4) (on vzn5 cqc1) (on-table ffz3) (clear vzn5)",
"(clear frv2) (on cqc1 ffz3) (arm-empty) (on-table frv2) (on vyu4 vzn5) (clear vyu4) (on vzn5 cqc1) (on-table ffz3)",
"(on cqc1 ffz3) (on vyu4 vzn5) (clear vyu4) (on vzn5 cqc1) (holding frv2) (on-table ffz3)",
"(clear frv2) (on cqc1 ffz3) (arm-empty) (on vyu4 vzn5) (on vzn5 cqc1) (on frv2 vyu4) (on-table ffz3)"
] |
file_58906
|
GOAL: (clear eni2) (on-table kik1) (on-table cxa4) (on eni2 cxa4) (holding wuh3) (clear kik1)
|
GOAL: (clear eni2) (on-table kik1) (on-table cxa4) (on eni2 cxa4) (holding wuh3) (clear kik1)
STATE: (arm-empty) (on-table kik1) (on wuh3 eni2) (clear cxa4) (on cxa4 wuh3) (on eni2 kik1)
|
[
[
"unstack cxa4 wuh3"
],
[
"put-down cxa4"
],
[
"unstack wuh3 eni2"
],
[
"stack wuh3 cxa4"
],
[
"unstack eni2 kik1"
],
[
"put-down eni2"
],
[
"unstack wuh3 cxa4"
],
[
"put-down wuh3"
],
[
"pick-up eni2"
],
[
"stack eni2 cxa4"
],
[
"pick-up wuh3"
]
] |
[
"(holding cxa4) (clear wuh3) (on-table kik1) (on eni2 kik1) (on wuh3 eni2)",
"(on wuh3 eni2) (on-table cxa4) (arm-empty) (clear cxa4) (on eni2 kik1) (clear wuh3) (on-table kik1)",
"(clear cxa4) (on eni2 kik1) (clear eni2) (on-table kik1) (on-table cxa4) (holding wuh3)",
"(on wuh3 cxa4) (clear eni2) (arm-empty) (on-table kik1) (on-table cxa4) (on eni2 kik1) (clear wuh3)",
"(on wuh3 cxa4) (on-table kik1) (on-table cxa4) (holding eni2) (clear wuh3) (clear kik1)",
"(arm-empty) (on-table eni2) (on wuh3 cxa4) (clear eni2) (on-table kik1) (on-table cxa4) (clear wuh3) (clear kik1)",
"(clear eni2) (on-table eni2) (on-table kik1) (clear cxa4) (on-table cxa4) (holding wuh3) (clear kik1)",
"(arm-empty) (on-table eni2) (clear cxa4) (clear eni2) (on-table kik1) (on-table cxa4) (clear wuh3) (clear kik1) (on-table wuh3)",
"(on-table kik1) (clear cxa4) (on-table cxa4) (holding eni2) (clear wuh3) (clear kik1) (on-table wuh3)",
"(clear eni2) (arm-empty) (on-table kik1) (on-table cxa4) (on eni2 cxa4) (clear wuh3) (clear kik1) (on-table wuh3)",
"(clear eni2) (on-table kik1) (on-table cxa4) (on eni2 cxa4) (holding wuh3) (clear kik1)"
] |
file_165261
|
GOAL: (on-table ydd2) (clear avf4) (on avf4 ywo3) (holding ecb5) (on ywo3 bfd1) (on bfd1 ydd2)
|
GOAL: (on-table ydd2) (clear avf4) (on avf4 ywo3) (holding ecb5) (on ywo3 bfd1) (on bfd1 ydd2)
STATE: (clear ydd2) (on ywo3 ecb5) (arm-empty) (on-table ydd2) (on-table ecb5) (on avf4 ywo3) (on bfd1 avf4) (clear bfd1)
|
[
[
"unstack bfd1 avf4"
],
[
"stack bfd1 ydd2"
],
[
"unstack avf4 ywo3"
],
[
"put-down avf4"
],
[
"unstack ywo3 ecb5"
],
[
"stack ywo3 bfd1"
],
[
"pick-up avf4"
],
[
"stack avf4 ywo3"
],
[
"pick-up ecb5"
]
] |
[
"(holding bfd1) (clear ydd2) (on ywo3 ecb5) (on-table ydd2) (on-table ecb5) (clear avf4) (on avf4 ywo3)",
"(on ywo3 ecb5) (arm-empty) (on-table ydd2) (on-table ecb5) (clear avf4) (on avf4 ywo3) (on bfd1 ydd2) (clear bfd1)",
"(on ywo3 ecb5) (on-table ydd2) (on-table ecb5) (holding avf4) (clear ywo3) (on bfd1 ydd2) (clear bfd1)",
"(on ywo3 ecb5) (arm-empty) (on-table ydd2) (on-table ecb5) (clear avf4) (on bfd1 ydd2) (on-table avf4) (clear ywo3) (clear bfd1)",
"(on-table ydd2) (on-table ecb5) (clear avf4) (on-table avf4) (on bfd1 ydd2) (clear bfd1) (holding ywo3) (clear ecb5)",
"(arm-empty) (on-table ydd2) (on-table ecb5) (clear avf4) (on-table avf4) (on ywo3 bfd1) (clear ywo3) (on bfd1 ydd2) (clear ecb5)",
"(on-table ydd2) (on-table ecb5) (holding avf4) (on ywo3 bfd1) (clear ywo3) (on bfd1 ydd2) (clear ecb5)",
"(arm-empty) (on-table ydd2) (on-table ecb5) (clear avf4) (on avf4 ywo3) (on ywo3 bfd1) (on bfd1 ydd2) (clear ecb5)",
"(on-table ydd2) (clear avf4) (on avf4 ywo3) (holding ecb5) (on ywo3 bfd1) (on bfd1 ydd2)"
] |
file_60605
|
GOAL: (clear kdt2) (on urn3 gwx5) (arm-empty) (on-table kdt2) (on-table gwx5) (on-table fae1) (clear nmz4) (on-table nmz4) (clear urn3) (clear fae1)
|
GOAL: (clear kdt2) (on urn3 gwx5) (arm-empty) (on-table kdt2) (on-table gwx5) (on-table fae1) (clear nmz4) (on-table nmz4) (clear urn3) (clear fae1)
STATE: (clear kdt2) (arm-empty) (on-table kdt2) (on-table gwx5) (on-table nmz4) (on fae1 nmz4) (on urn3 fae1) (clear urn3) (clear gwx5)
|
[
[
"unstack urn3 fae1"
],
[
"stack urn3 gwx5"
],
[
"unstack fae1 nmz4"
],
[
"put-down fae1"
]
] |
[
"(clear kdt2) (on-table kdt2) (on-table gwx5) (on-table nmz4) (on fae1 nmz4) (holding urn3) (clear fae1) (clear gwx5)",
"(clear kdt2) (on urn3 gwx5) (arm-empty) (on-table kdt2) (on-table gwx5) (on-table nmz4) (on fae1 nmz4) (clear urn3) (clear fae1)",
"(holding fae1) (clear kdt2) (on urn3 gwx5) (on-table kdt2) (on-table gwx5) (clear nmz4) (on-table nmz4) (clear urn3)",
"(clear kdt2) (on urn3 gwx5) (arm-empty) (on-table kdt2) (on-table gwx5) (on-table fae1) (clear nmz4) (on-table nmz4) (clear urn3) (clear fae1)"
] |
file_65113
|
GOAL: (arm-empty) (on-table qdv5) (on hio3 rfe2) (on-table vnb4) (on vvq1 vnb4) (on rfe2 vvq1) (clear hio3) (clear qdv5)
|
GOAL: (arm-empty) (on-table qdv5) (on hio3 rfe2) (on-table vnb4) (on vvq1 vnb4) (on rfe2 vvq1) (clear hio3) (clear qdv5)
STATE: (clear rfe2) (on-table rfe2) (on-table qdv5) (on-table vnb4) (on vvq1 vnb4) (holding hio3) (clear vvq1) (clear qdv5)
|
[
[
"put-down hio3"
],
[
"pick-up rfe2"
],
[
"stack rfe2 vvq1"
],
[
"pick-up hio3"
],
[
"stack hio3 rfe2"
]
] |
[
"(clear rfe2) (arm-empty) (on-table rfe2) (on-table qdv5) (on-table vnb4) (on vvq1 vnb4) (clear hio3) (clear vvq1) (on-table hio3) (clear qdv5)",
"(on-table qdv5) (holding rfe2) (on-table vnb4) (on vvq1 vnb4) (clear hio3) (clear vvq1) (on-table hio3) (clear qdv5)",
"(clear rfe2) (arm-empty) (on-table qdv5) (clear qdv5) (on-table vnb4) (on rfe2 vvq1) (clear hio3) (on vvq1 vnb4) (on-table hio3)",
"(clear rfe2) (on-table qdv5) (on-table vnb4) (on vvq1 vnb4) (on rfe2 vvq1) (holding hio3) (clear qdv5)",
"(arm-empty) (on-table qdv5) (on hio3 rfe2) (on-table vnb4) (on vvq1 vnb4) (on rfe2 vvq1) (clear hio3) (clear qdv5)"
] |
file_195701
|
GOAL: (on bzm3 vyo5) (holding gfz2) (on vyo5 zox1) (on-table aeh4) (on zox1 aeh4) (clear bzm3)
|
GOAL: (on bzm3 vyo5) (holding gfz2) (on vyo5 zox1) (on-table aeh4) (on zox1 aeh4) (clear bzm3)
STATE: (clear gfz2) (on-table gfz2) (on-table vyo5) (holding aeh4) (on-table zox1) (clear bzm3) (clear zox1) (on-table bzm3) (clear vyo5)
|
[
[
"stack aeh4 vyo5"
],
[
"pick-up bzm3"
],
[
"stack bzm3 gfz2"
],
[
"unstack aeh4 vyo5"
],
[
"put-down aeh4"
],
[
"pick-up zox1"
],
[
"stack zox1 aeh4"
],
[
"pick-up vyo5"
],
[
"stack vyo5 zox1"
],
[
"unstack bzm3 gfz2"
],
[
"stack bzm3 vyo5"
],
[
"pick-up gfz2"
]
] |
[
"(clear gfz2) (arm-empty) (on-table gfz2) (on-table vyo5) (on aeh4 vyo5) (on-table zox1) (clear aeh4) (clear bzm3) (clear zox1) (on-table bzm3)",
"(clear gfz2) (on-table gfz2) (on-table vyo5) (on aeh4 vyo5) (on-table zox1) (clear aeh4) (holding bzm3) (clear zox1)",
"(arm-empty) (on-table gfz2) (on-table vyo5) (on aeh4 vyo5) (on-table zox1) (on bzm3 gfz2) (clear aeh4) (clear bzm3) (clear zox1)",
"(on-table gfz2) (on-table vyo5) (holding aeh4) (on-table zox1) (on bzm3 gfz2) (clear bzm3) (clear zox1) (clear vyo5)",
"(arm-empty) (on-table gfz2) (on-table vyo5) (on-table zox1) (on bzm3 gfz2) (clear aeh4) (on-table aeh4) (clear bzm3) (clear zox1) (clear vyo5)",
"(holding zox1) (on-table gfz2) (on-table vyo5) (on bzm3 gfz2) (clear aeh4) (on-table aeh4) (clear bzm3) (clear vyo5)",
"(arm-empty) (on-table gfz2) (on-table vyo5) (on bzm3 gfz2) (on-table aeh4) (on zox1 aeh4) (clear bzm3) (clear zox1) (clear vyo5)",
"(on-table gfz2) (on bzm3 gfz2) (holding vyo5) (on-table aeh4) (on zox1 aeh4) (clear bzm3) (clear zox1)",
"(arm-empty) (on-table gfz2) (on bzm3 gfz2) (on vyo5 zox1) (on-table aeh4) (on zox1 aeh4) (clear bzm3) (clear vyo5)",
"(clear gfz2) (on-table gfz2) (on vyo5 zox1) (on-table aeh4) (on zox1 aeh4) (holding bzm3) (clear vyo5)",
"(clear gfz2) (on bzm3 vyo5) (arm-empty) (on-table gfz2) (on vyo5 zox1) (on-table aeh4) (on zox1 aeh4) (clear bzm3)",
"(on bzm3 vyo5) (holding gfz2) (on vyo5 zox1) (on-table aeh4) (on zox1 aeh4) (clear bzm3)"
] |
file_184467
|
GOAL: (clear uin2) (on-table gqk5) (on-table rjc1) (clear ggu4) (on-table ggu4) (on uin2 rjc1) (holding yyt3) (clear gqk5)
|
GOAL: (clear uin2) (on-table gqk5) (on-table rjc1) (clear ggu4) (on-table ggu4) (on uin2 rjc1) (holding yyt3) (clear gqk5)
STATE: (arm-empty) (on ggu4 gqk5) (on-table rjc1) (on yyt3 uin2) (clear ggu4) (on gqk5 yyt3) (on uin2 rjc1)
|
[
[
"unstack ggu4 gqk5"
],
[
"put-down ggu4"
],
[
"unstack gqk5 yyt3"
],
[
"put-down gqk5"
],
[
"unstack yyt3 uin2"
]
] |
[
"(holding ggu4) (on gqk5 yyt3) (on uin2 rjc1) (clear gqk5) (on-table rjc1) (on yyt3 uin2)",
"(arm-empty) (clear ggu4) (on gqk5 yyt3) (on uin2 rjc1) (clear gqk5) (on-table rjc1) (on yyt3 uin2) (on-table ggu4)",
"(on-table rjc1) (on yyt3 uin2) (clear ggu4) (holding gqk5) (on-table ggu4) (on uin2 rjc1) (clear yyt3)",
"(arm-empty) (on-table gqk5) (clear ggu4) (on uin2 rjc1) (clear gqk5) (on-table rjc1) (on yyt3 uin2) (on-table ggu4) (clear yyt3)",
"(clear uin2) (on-table gqk5) (on-table rjc1) (clear ggu4) (on-table ggu4) (on uin2 rjc1) (holding yyt3) (clear gqk5)"
] |
file_192773
|
GOAL: (on xyb3 sre4) (clear rat2) (on sre4 xbo1) (arm-empty) (on-table iys5) (on-table xbo1) (on rat2 iys5) (clear xyb3)
|
GOAL: (on xyb3 sre4) (clear rat2) (on sre4 xbo1) (arm-empty) (on-table iys5) (on-table xbo1) (on rat2 iys5) (clear xyb3)
STATE: (on xyb3 sre4) (arm-empty) (on-table iys5) (on-table xbo1) (on sre4 rat2) (on rat2 iys5) (clear xyb3) (clear xbo1)
|
[
[
"unstack xyb3 sre4"
],
[
"put-down xyb3"
],
[
"unstack sre4 rat2"
],
[
"stack sre4 xbo1"
],
[
"pick-up xyb3"
],
[
"stack xyb3 sre4"
]
] |
[
"(on-table iys5) (on-table xbo1) (clear sre4) (on sre4 rat2) (on rat2 iys5) (holding xyb3) (clear xbo1)",
"(arm-empty) (on-table iys5) (clear sre4) (on rat2 iys5) (on-table xbo1) (on sre4 rat2) (clear xyb3) (clear xbo1) (on-table xyb3)",
"(clear rat2) (on-table iys5) (on-table xbo1) (holding sre4) (on rat2 iys5) (clear xyb3) (clear xbo1) (on-table xyb3)",
"(clear rat2) (on sre4 xbo1) (arm-empty) (on-table iys5) (on-table xbo1) (clear sre4) (on rat2 iys5) (clear xyb3) (on-table xyb3)",
"(clear rat2) (on sre4 xbo1) (on-table iys5) (on-table xbo1) (clear sre4) (on rat2 iys5) (holding xyb3)",
"(on xyb3 sre4) (clear rat2) (on sre4 xbo1) (arm-empty) (on-table iys5) (on-table xbo1) (on rat2 iys5) (clear xyb3)"
] |
file_214990
|
GOAL: (clear hkq2) (arm-empty) (on-table ydr1) (clear jrs4) (on-table jrs4) (on hkq2 ydr1) (clear hti3) (on-table hti3)
|
GOAL: (clear hkq2) (arm-empty) (on-table ydr1) (clear jrs4) (on-table jrs4) (on hkq2 ydr1) (clear hti3) (on-table hti3)
STATE: (holding ydr1) (clear hkq2) (clear jrs4) (on-table jrs4) (on hkq2 hti3) (on-table hti3)
|
[
[
"put-down ydr1"
],
[
"unstack hkq2 hti3"
],
[
"stack hkq2 ydr1"
]
] |
[
"(arm-empty) (clear jrs4) (clear hkq2) (on-table ydr1) (on-table jrs4) (on hkq2 hti3) (clear ydr1) (on-table hti3)",
"(on-table ydr1) (clear jrs4) (on-table jrs4) (holding hkq2) (clear hti3) (clear ydr1) (on-table hti3)",
"(clear hkq2) (arm-empty) (on-table ydr1) (clear jrs4) (on-table jrs4) (on hkq2 ydr1) (clear hti3) (on-table hti3)"
] |
file_136560
|
GOAL: (clear zfi2) (on eam1 ftq3) (arm-empty) (on-table hhu4) (on zfi2 hhu4) (clear eam1) (on-table ftq3)
|
GOAL: (clear zfi2) (on eam1 ftq3) (arm-empty) (on-table hhu4) (on zfi2 hhu4) (clear eam1) (on-table ftq3)
STATE: (arm-empty) (on-table zfi2) (clear hhu4) (on-table hhu4) (clear ftq3) (on eam1 zfi2) (clear eam1) (on-table ftq3)
|
[
[
"unstack eam1 zfi2"
],
[
"stack eam1 ftq3"
],
[
"pick-up zfi2"
],
[
"stack zfi2 hhu4"
]
] |
[
"(holding eam1) (clear zfi2) (on-table zfi2) (clear hhu4) (on-table hhu4) (clear ftq3) (on-table ftq3)",
"(clear zfi2) (on eam1 ftq3) (arm-empty) (on-table zfi2) (clear hhu4) (on-table hhu4) (clear eam1) (on-table ftq3)",
"(on eam1 ftq3) (clear hhu4) (on-table hhu4) (holding zfi2) (clear eam1) (on-table ftq3)",
"(clear zfi2) (on eam1 ftq3) (arm-empty) (on-table hhu4) (on zfi2 hhu4) (clear eam1) (on-table ftq3)"
] |
file_207248
|
GOAL: (holding ydk2) (on vey5 uxr1) (on-table syn4) (on uxr1 syn4) (clear xju3) (on-table xju3) (clear vey5)
|
GOAL: (holding ydk2) (on vey5 uxr1) (on-table syn4) (on uxr1 syn4) (clear xju3) (on-table xju3) (clear vey5)
STATE: (on-table ydk2) (on syn4 vey5) (on vey5 ydk2) (on uxr1 syn4) (holding xju3) (clear uxr1)
|
[
[
"put-down xju3"
],
[
"unstack uxr1 syn4"
],
[
"stack uxr1 xju3"
],
[
"unstack syn4 vey5"
],
[
"put-down syn4"
],
[
"unstack uxr1 xju3"
],
[
"stack uxr1 syn4"
],
[
"unstack vey5 ydk2"
],
[
"stack vey5 uxr1"
],
[
"pick-up ydk2"
]
] |
[
"(arm-empty) (on-table ydk2) (on syn4 vey5) (on vey5 ydk2) (on uxr1 syn4) (clear xju3) (clear uxr1) (on-table xju3)",
"(holding uxr1) (on-table ydk2) (on syn4 vey5) (on vey5 ydk2) (clear syn4) (clear xju3) (on-table xju3)",
"(on uxr1 xju3) (arm-empty) (on-table ydk2) (on syn4 vey5) (on vey5 ydk2) (clear syn4) (clear uxr1) (on-table xju3)",
"(on uxr1 xju3) (on-table ydk2) (holding syn4) (on vey5 ydk2) (clear uxr1) (on-table xju3) (clear vey5)",
"(on uxr1 xju3) (arm-empty) (on-table ydk2) (on vey5 ydk2) (clear syn4) (clear vey5) (on-table syn4) (clear uxr1) (on-table xju3)",
"(holding uxr1) (on-table ydk2) (on vey5 ydk2) (clear syn4) (on-table syn4) (clear xju3) (on-table xju3) (clear vey5)",
"(arm-empty) (on-table ydk2) (on vey5 ydk2) (on-table syn4) (on uxr1 syn4) (clear xju3) (clear uxr1) (on-table xju3) (clear vey5)",
"(clear ydk2) (on-table ydk2) (holding vey5) (on-table syn4) (on uxr1 syn4) (clear xju3) (clear uxr1) (on-table xju3)",
"(clear ydk2) (arm-empty) (on-table ydk2) (on vey5 uxr1) (on-table syn4) (on uxr1 syn4) (clear xju3) (on-table xju3) (clear vey5)",
"(holding ydk2) (on vey5 uxr1) (on-table syn4) (on uxr1 syn4) (clear xju3) (on-table xju3) (clear vey5)"
] |
file_188176
|
GOAL: (clear yhd2) (on-table qnf1) (holding dbt4) (on rer5 qnf1) (on yhd2 rer5) (clear dcd3) (on-table dcd3)
|
GOAL: (clear yhd2) (on-table qnf1) (holding dbt4) (on rer5 qnf1) (on yhd2 rer5) (clear dcd3) (on-table dcd3)
STATE: (holding qnf1) (on rer5 yhd2) (on dbt4 dcd3) (on yhd2 dbt4) (on-table dcd3) (clear rer5)
|
[
[
"put-down qnf1"
],
[
"unstack rer5 yhd2"
],
[
"stack rer5 qnf1"
],
[
"unstack yhd2 dbt4"
],
[
"stack yhd2 rer5"
],
[
"unstack dbt4 dcd3"
]
] |
[
"(arm-empty) (on rer5 yhd2) (on yhd2 dbt4) (clear rer5) (on-table qnf1) (on dbt4 dcd3) (clear qnf1) (on-table dcd3)",
"(clear yhd2) (on-table qnf1) (on dbt4 dcd3) (holding rer5) (on yhd2 dbt4) (clear qnf1) (on-table dcd3)",
"(on dbt4 dcd3) (on rer5 qnf1) (clear yhd2) (arm-empty) (on-table qnf1) (on yhd2 dbt4) (on-table dcd3) (clear rer5)",
"(on-table qnf1) (clear dbt4) (on dbt4 dcd3) (on rer5 qnf1) (holding yhd2) (on-table dcd3) (clear rer5)",
"(clear yhd2) (arm-empty) (on-table qnf1) (clear dbt4) (on dbt4 dcd3) (on rer5 qnf1) (on yhd2 rer5) (on-table dcd3)",
"(clear yhd2) (on-table qnf1) (holding dbt4) (on rer5 qnf1) (on yhd2 rer5) (clear dcd3) (on-table dcd3)"
] |
file_202848
|
GOAL: (arm-empty) (on wlu5 oyq4) (on-table rba1) (on jsy3 bmt2) (on-table oyq4) (on bmt2 rba1) (clear jsy3) (clear wlu5)
|
GOAL: (arm-empty) (on wlu5 oyq4) (on-table rba1) (on jsy3 bmt2) (on-table oyq4) (on bmt2 rba1) (clear jsy3) (clear wlu5)
STATE: (arm-empty) (on wlu5 oyq4) (on-table oyq4) (on bmt2 wlu5) (clear jsy3) (on rba1 bmt2) (clear rba1) (on-table jsy3)
|
[
[
"unstack rba1 bmt2"
],
[
"put-down rba1"
],
[
"unstack bmt2 wlu5"
],
[
"stack bmt2 rba1"
],
[
"pick-up jsy3"
],
[
"stack jsy3 bmt2"
]
] |
[
"(holding rba1) (clear bmt2) (on wlu5 oyq4) (on-table oyq4) (on bmt2 wlu5) (clear jsy3) (on-table jsy3)",
"(arm-empty) (on wlu5 oyq4) (on bmt2 wlu5) (clear bmt2) (on-table rba1) (on-table oyq4) (clear jsy3) (clear rba1) (on-table jsy3)",
"(on wlu5 oyq4) (on-table rba1) (on-table oyq4) (holding bmt2) (clear jsy3) (clear rba1) (on-table jsy3) (clear wlu5)",
"(clear bmt2) (arm-empty) (on wlu5 oyq4) (on-table rba1) (on-table oyq4) (on bmt2 rba1) (clear jsy3) (on-table jsy3) (clear wlu5)",
"(clear bmt2) (on wlu5 oyq4) (on-table rba1) (on-table oyq4) (on bmt2 rba1) (holding jsy3) (clear wlu5)",
"(arm-empty) (on wlu5 oyq4) (on-table rba1) (on jsy3 bmt2) (on-table oyq4) (on bmt2 rba1) (clear jsy3) (clear wlu5)"
] |
file_139503
|
GOAL: (on crw1 yto5) (clear sik2) (arm-empty) (on-table yto5) (clear rea4) (on-table rea4) (on sik2 crw1) (clear xmx3) (on-table xmx3)
|
GOAL: (on crw1 yto5) (clear sik2) (arm-empty) (on-table yto5) (clear rea4) (on-table rea4) (on sik2 crw1) (clear xmx3) (on-table xmx3)
STATE: (on-table crw1) (on xmx3 sik2) (holding yto5) (on-table rea4) (on sik2 rea4) (clear xmx3) (clear crw1)
|
[
[
"put-down yto5"
],
[
"pick-up crw1"
],
[
"stack crw1 yto5"
],
[
"unstack xmx3 sik2"
],
[
"put-down xmx3"
],
[
"unstack sik2 rea4"
],
[
"stack sik2 crw1"
]
] |
[
"(arm-empty) (on-table yto5) (on sik2 rea4) (clear yto5) (on-table crw1) (on xmx3 sik2) (on-table rea4) (clear xmx3) (clear crw1)",
"(holding crw1) (on-table yto5) (on xmx3 sik2) (on-table rea4) (on sik2 rea4) (clear xmx3) (clear yto5)",
"(on crw1 yto5) (arm-empty) (on-table yto5) (on xmx3 sik2) (on-table rea4) (on sik2 rea4) (clear xmx3) (clear crw1)",
"(on crw1 yto5) (clear sik2) (on-table yto5) (on-table rea4) (on sik2 rea4) (holding xmx3) (clear crw1)",
"(on crw1 yto5) (arm-empty) (on-table yto5) (on sik2 rea4) (clear sik2) (on-table rea4) (clear xmx3) (clear crw1) (on-table xmx3)",
"(on crw1 yto5) (on-table yto5) (clear rea4) (on-table rea4) (holding sik2) (clear xmx3) (clear crw1) (on-table xmx3)",
"(on crw1 yto5) (clear sik2) (arm-empty) (on-table yto5) (clear rea4) (on-table rea4) (on sik2 crw1) (clear xmx3) (on-table xmx3)"
] |
file_60544
|
GOAL: (clear ujx2) (on pfc4 sia1) (on-table ujx2) (on-table bhw5) (on-table sia1) (clear pfc4) (holding iyo3) (clear bhw5)
|
GOAL: (clear ujx2) (on pfc4 sia1) (on-table ujx2) (on-table bhw5) (on-table sia1) (clear pfc4) (holding iyo3) (clear bhw5)
STATE: (on iyo3 bhw5) (on-table ujx2) (holding pfc4) (on-table sia1) (on bhw5 ujx2) (clear iyo3) (clear sia1)
|
[
[
"stack pfc4 sia1"
],
[
"unstack iyo3 bhw5"
],
[
"stack iyo3 pfc4"
],
[
"unstack bhw5 ujx2"
],
[
"put-down bhw5"
],
[
"unstack iyo3 pfc4"
]
] |
[
"(on iyo3 bhw5) (on pfc4 sia1) (arm-empty) (on-table ujx2) (on-table sia1) (on bhw5 ujx2) (clear pfc4) (clear iyo3)",
"(on pfc4 sia1) (on-table ujx2) (on-table sia1) (on bhw5 ujx2) (clear pfc4) (holding iyo3) (clear bhw5)",
"(on iyo3 pfc4) (on pfc4 sia1) (arm-empty) (on-table ujx2) (on-table sia1) (on bhw5 ujx2) (clear iyo3) (clear bhw5)",
"(on iyo3 pfc4) (clear ujx2) (on pfc4 sia1) (on-table ujx2) (on-table sia1) (holding bhw5) (clear iyo3)",
"(on pfc4 sia1) (arm-empty) (on-table ujx2) (on-table bhw5) (clear bhw5) (on iyo3 pfc4) (clear ujx2) (on-table sia1) (clear iyo3)",
"(clear ujx2) (on pfc4 sia1) (on-table ujx2) (on-table bhw5) (on-table sia1) (clear pfc4) (holding iyo3) (clear bhw5)"
] |
file_222217
|
GOAL: (clear add2) (on egw3 ykg5) (arm-empty) (on-table vjc1) (on ykg5 vjc1) (on-table lhp4) (on add2 lhp4) (clear egw3)
|
GOAL: (clear add2) (on egw3 ykg5) (arm-empty) (on-table vjc1) (on ykg5 vjc1) (on-table lhp4) (on add2 lhp4) (clear egw3)
STATE: (on vjc1 ykg5) (clear add2) (arm-empty) (on-table ykg5) (clear lhp4) (on-table lhp4) (on add2 vjc1) (clear egw3) (on-table egw3)
|
[
[
"unstack add2 vjc1"
],
[
"stack add2 lhp4"
],
[
"pick-up egw3"
],
[
"stack egw3 add2"
],
[
"unstack vjc1 ykg5"
],
[
"put-down vjc1"
],
[
"pick-up ykg5"
],
[
"stack ykg5 vjc1"
],
[
"unstack egw3 add2"
],
[
"stack egw3 ykg5"
]
] |
[
"(on vjc1 ykg5) (on-table ykg5) (clear lhp4) (on-table lhp4) (holding add2) (clear egw3) (clear vjc1) (on-table egw3)",
"(on vjc1 ykg5) (clear add2) (arm-empty) (on-table ykg5) (on-table lhp4) (on add2 lhp4) (clear egw3) (clear vjc1) (on-table egw3)",
"(on vjc1 ykg5) (clear add2) (on-table ykg5) (on-table lhp4) (on add2 lhp4) (holding egw3) (clear vjc1)",
"(on vjc1 ykg5) (arm-empty) (on-table ykg5) (on egw3 add2) (on-table lhp4) (on add2 lhp4) (clear egw3) (clear vjc1)",
"(holding vjc1) (on-table ykg5) (on egw3 add2) (on-table lhp4) (on add2 lhp4) (clear egw3) (clear ykg5)",
"(arm-empty) (on-table ykg5) (on add2 lhp4) (clear ykg5) (on-table vjc1) (on egw3 add2) (on-table lhp4) (clear egw3) (clear vjc1)",
"(on-table vjc1) (on egw3 add2) (holding ykg5) (on-table lhp4) (on add2 lhp4) (clear egw3) (clear vjc1)",
"(arm-empty) (on add2 lhp4) (clear ykg5) (on-table vjc1) (on egw3 add2) (on ykg5 vjc1) (on-table lhp4) (clear egw3)",
"(clear add2) (on-table vjc1) (on ykg5 vjc1) (on-table lhp4) (on add2 lhp4) (holding egw3) (clear ykg5)",
"(clear add2) (on egw3 ykg5) (arm-empty) (on-table vjc1) (on ykg5 vjc1) (on-table lhp4) (on add2 lhp4) (clear egw3)"
] |
file_188979
|
GOAL: (clear zon2) (arm-empty) (on-table eyg1) (on gbj5 eyg1) (on-table eqd4) (on zon2 eqd4) (clear njk3) (on-table njk3) (clear gbj5)
|
GOAL: (clear zon2) (arm-empty) (on-table eyg1) (on gbj5 eyg1) (on-table eqd4) (on zon2 eqd4) (clear njk3) (on-table njk3) (clear gbj5)
STATE: (on-table eyg1) (clear eqd4) (holding gbj5) (on eqd4 zon2) (on zon2 njk3) (clear eyg1) (on-table njk3)
|
[
[
"stack gbj5 eyg1"
],
[
"unstack eqd4 zon2"
],
[
"put-down eqd4"
],
[
"unstack zon2 njk3"
],
[
"stack zon2 eqd4"
]
] |
[
"(arm-empty) (on-table eyg1) (clear eqd4) (on gbj5 eyg1) (on eqd4 zon2) (on zon2 njk3) (on-table njk3) (clear gbj5)",
"(clear zon2) (on-table eyg1) (holding eqd4) (on gbj5 eyg1) (on zon2 njk3) (on-table njk3) (clear gbj5)",
"(arm-empty) (clear eqd4) (clear gbj5) (clear zon2) (on-table eyg1) (on gbj5 eyg1) (on-table eqd4) (on zon2 njk3) (on-table njk3)",
"(on-table eyg1) (clear eqd4) (on gbj5 eyg1) (on-table eqd4) (holding zon2) (clear njk3) (on-table njk3) (clear gbj5)",
"(clear zon2) (arm-empty) (on-table eyg1) (on gbj5 eyg1) (on-table eqd4) (on zon2 eqd4) (clear njk3) (on-table njk3) (clear gbj5)"
] |
file_226447
|
GOAL: (clear uuh2) (on-table hhj1) (on uuh2 ygh4) (holding qai5) (on-table ygh4) (on zat3 hhj1) (clear zat3)
|
GOAL: (clear uuh2) (on-table hhj1) (on uuh2 ygh4) (holding qai5) (on-table ygh4) (on zat3 hhj1) (clear zat3)
STATE: (on hhj1 zat3) (arm-empty) (clear ygh4) (on qai5 hhj1) (on ygh4 uuh2) (on uuh2 qai5) (on-table zat3)
|
[
[
"unstack ygh4 uuh2"
],
[
"put-down ygh4"
],
[
"unstack uuh2 qai5"
],
[
"stack uuh2 ygh4"
],
[
"unstack qai5 hhj1"
],
[
"stack qai5 uuh2"
],
[
"unstack hhj1 zat3"
],
[
"put-down hhj1"
],
[
"pick-up zat3"
],
[
"stack zat3 hhj1"
],
[
"unstack qai5 uuh2"
]
] |
[
"(on qai5 hhj1) (clear uuh2) (on hhj1 zat3) (holding ygh4) (on uuh2 qai5) (on-table zat3)",
"(on hhj1 zat3) (arm-empty) (clear ygh4) (on uuh2 qai5) (clear uuh2) (on qai5 hhj1) (on-table ygh4) (on-table zat3)",
"(on hhj1 zat3) (clear ygh4) (on qai5 hhj1) (on-table ygh4) (holding uuh2) (on-table zat3) (clear qai5)",
"(clear uuh2) (on hhj1 zat3) (arm-empty) (on qai5 hhj1) (on-table ygh4) (on uuh2 ygh4) (on-table zat3) (clear qai5)",
"(clear uuh2) (on hhj1 zat3) (holding qai5) (on-table ygh4) (on uuh2 ygh4) (clear hhj1) (on-table zat3)",
"(on hhj1 zat3) (arm-empty) (on qai5 uuh2) (on-table ygh4) (on uuh2 ygh4) (clear hhj1) (on-table zat3) (clear qai5)",
"(holding hhj1) (on qai5 uuh2) (on-table ygh4) (on uuh2 ygh4) (clear zat3) (on-table zat3) (clear qai5)",
"(arm-empty) (on qai5 uuh2) (on uuh2 ygh4) (clear qai5) (on-table hhj1) (on-table ygh4) (clear zat3) (clear hhj1) (on-table zat3)",
"(on-table hhj1) (on qai5 uuh2) (on-table ygh4) (on uuh2 ygh4) (holding zat3) (clear hhj1) (clear qai5)",
"(arm-empty) (on-table hhj1) (on qai5 uuh2) (on uuh2 ygh4) (on-table ygh4) (on zat3 hhj1) (clear zat3) (clear qai5)",
"(clear uuh2) (on-table hhj1) (on uuh2 ygh4) (holding qai5) (on-table ygh4) (on zat3 hhj1) (clear zat3)"
] |
file_155080
|
GOAL: (clear pip2) (on wvu1 lcf3) (on-table pip2) (clear fzw4) (holding dpk5) (on-table fzw4) (clear wvu1) (on-table lcf3)
|
GOAL: (clear pip2) (on wvu1 lcf3) (on-table pip2) (clear fzw4) (holding dpk5) (on-table fzw4) (clear wvu1) (on-table lcf3)
STATE: (holding wvu1) (on-table pip2) (on dpk5 pip2) (clear fzw4) (on-table fzw4) (clear lcf3) (on-table lcf3) (clear dpk5)
|
[
[
"stack wvu1 lcf3"
],
[
"unstack dpk5 pip2"
]
] |
[
"(on wvu1 lcf3) (arm-empty) (on-table pip2) (on dpk5 pip2) (clear fzw4) (on-table fzw4) (clear wvu1) (on-table lcf3) (clear dpk5)",
"(clear pip2) (on wvu1 lcf3) (on-table pip2) (clear fzw4) (holding dpk5) (on-table fzw4) (clear wvu1) (on-table lcf3)"
] |
file_223261
|
GOAL: (on jvk1 ynj5) (on mdt3 xxl4) (arm-empty) (on-table ekr2) (on-table ynj5) (on xxl4 ekr2) (clear mdt3) (clear jvk1)
|
GOAL: (on jvk1 ynj5) (on mdt3 xxl4) (arm-empty) (on-table ekr2) (on-table ynj5) (on xxl4 ekr2) (clear mdt3) (clear jvk1)
STATE: (holding jvk1) (on ynj5 xxl4) (on-table ekr2) (on xxl4 ekr2) (clear mdt3) (on-table mdt3) (clear ynj5)
|
[
[
"stack jvk1 mdt3"
],
[
"unstack ynj5 xxl4"
],
[
"put-down ynj5"
],
[
"unstack jvk1 mdt3"
],
[
"stack jvk1 ynj5"
],
[
"pick-up mdt3"
],
[
"stack mdt3 xxl4"
]
] |
[
"(on jvk1 mdt3) (on ynj5 xxl4) (on-table ekr2) (arm-empty) (on xxl4 ekr2) (clear jvk1) (on-table mdt3) (clear ynj5)",
"(on jvk1 mdt3) (on-table ekr2) (clear xxl4) (holding ynj5) (on xxl4 ekr2) (clear jvk1) (on-table mdt3)",
"(on jvk1 mdt3) (arm-empty) (on-table ekr2) (on-table ynj5) (clear xxl4) (clear ynj5) (on xxl4 ekr2) (clear jvk1) (on-table mdt3)",
"(holding jvk1) (on-table ekr2) (on-table ynj5) (clear xxl4) (on xxl4 ekr2) (clear mdt3) (on-table mdt3) (clear ynj5)",
"(on jvk1 ynj5) (arm-empty) (on-table ekr2) (on-table ynj5) (clear xxl4) (on xxl4 ekr2) (clear mdt3) (clear jvk1) (on-table mdt3)",
"(on jvk1 ynj5) (on-table ekr2) (on-table ynj5) (clear xxl4) (on xxl4 ekr2) (holding mdt3) (clear jvk1)",
"(on jvk1 ynj5) (on mdt3 xxl4) (arm-empty) (on-table ekr2) (on-table ynj5) (on xxl4 ekr2) (clear mdt3) (clear jvk1)"
] |
file_62452
|
GOAL: (arm-empty) (on-table szg5) (on wbc1 pwu2) (clear szg5) (on hwu3 jeu4) (on-table jeu4) (on pwu2 hwu3) (clear wbc1)
|
GOAL: (arm-empty) (on-table szg5) (on wbc1 pwu2) (clear szg5) (on hwu3 jeu4) (on-table jeu4) (on pwu2 hwu3) (clear wbc1)
STATE: (on wbc1 szg5) (arm-empty) (on-table szg5) (on hwu3 pwu2) (clear jeu4) (on-table jeu4) (on pwu2 wbc1) (clear hwu3)
|
[
[
"unstack hwu3 pwu2"
],
[
"stack hwu3 jeu4"
],
[
"unstack pwu2 wbc1"
],
[
"stack pwu2 hwu3"
],
[
"unstack wbc1 szg5"
],
[
"stack wbc1 pwu2"
]
] |
[
"(on wbc1 szg5) (clear pwu2) (on-table szg5) (clear jeu4) (on-table jeu4) (on pwu2 wbc1) (holding hwu3)",
"(on wbc1 szg5) (clear pwu2) (on hwu3 jeu4) (arm-empty) (on-table szg5) (on-table jeu4) (on pwu2 wbc1) (clear hwu3)",
"(on wbc1 szg5) (on hwu3 jeu4) (on-table szg5) (on-table jeu4) (holding pwu2) (clear hwu3) (clear wbc1)",
"(on wbc1 szg5) (on hwu3 jeu4) (clear pwu2) (arm-empty) (on-table szg5) (on-table jeu4) (on pwu2 hwu3) (clear wbc1)",
"(holding wbc1) (on hwu3 jeu4) (clear pwu2) (on-table szg5) (on-table jeu4) (on pwu2 hwu3) (clear szg5)",
"(arm-empty) (on-table szg5) (on wbc1 pwu2) (clear szg5) (on hwu3 jeu4) (on-table jeu4) (on pwu2 hwu3) (clear wbc1)"
] |
file_213980
|
GOAL: (on bet1 hnx5) (clear zhj2) (arm-empty) (on hnx5 ohg4) (on-table ohg4) (on zhj2 bet1) (clear hwj3) (on-table hwj3)
|
GOAL: (on bet1 hnx5) (clear zhj2) (arm-empty) (on hnx5 ohg4) (on-table ohg4) (on zhj2 bet1) (clear hwj3) (on-table hwj3)
STATE: (on bet1 hwj3) (clear ohg4) (holding hnx5) (on ohg4 zhj2) (on zhj2 bet1) (on-table hwj3)
|
[
[
"put-down hnx5"
],
[
"unstack ohg4 zhj2"
],
[
"put-down ohg4"
],
[
"unstack zhj2 bet1"
],
[
"put-down zhj2"
],
[
"pick-up hnx5"
],
[
"stack hnx5 zhj2"
],
[
"unstack bet1 hwj3"
],
[
"put-down bet1"
],
[
"unstack hnx5 zhj2"
],
[
"stack hnx5 ohg4"
],
[
"pick-up bet1"
],
[
"stack bet1 hnx5"
],
[
"pick-up zhj2"
],
[
"stack zhj2 bet1"
]
] |
[
"(on bet1 hwj3) (arm-empty) (on-table hnx5) (clear ohg4) (on zhj2 bet1) (clear hnx5) (on ohg4 zhj2) (on-table hwj3)",
"(clear zhj2) (on bet1 hwj3) (on-table hnx5) (holding ohg4) (on zhj2 bet1) (on-table hwj3) (clear hnx5)",
"(on bet1 hwj3) (arm-empty) (on-table hnx5) (clear ohg4) (on zhj2 bet1) (clear hnx5) (clear zhj2) (on-table ohg4) (on-table hwj3)",
"(on bet1 hwj3) (on-table hnx5) (clear ohg4) (on-table ohg4) (holding zhj2) (clear bet1) (on-table hwj3) (clear hnx5)",
"(clear zhj2) (on bet1 hwj3) (arm-empty) (on-table zhj2) (on-table hnx5) (clear ohg4) (on-table ohg4) (clear bet1) (on-table hwj3) (clear hnx5)",
"(clear zhj2) (on bet1 hwj3) (on-table zhj2) (clear ohg4) (holding hnx5) (on-table ohg4) (clear bet1) (on-table hwj3)",
"(on bet1 hwj3) (arm-empty) (on-table zhj2) (on hnx5 zhj2) (clear ohg4) (on-table ohg4) (clear bet1) (on-table hwj3) (clear hnx5)",
"(holding bet1) (on-table zhj2) (on hnx5 zhj2) (clear ohg4) (on-table ohg4) (clear hwj3) (on-table hwj3) (clear hnx5)",
"(arm-empty) (on-table zhj2) (on-table bet1) (on hnx5 zhj2) (clear ohg4) (on-table ohg4) (clear hwj3) (clear bet1) (on-table hwj3) (clear hnx5)",
"(clear zhj2) (on-table zhj2) (on-table bet1) (clear ohg4) (holding hnx5) (on-table ohg4) (clear hwj3) (clear bet1) (on-table hwj3)",
"(clear zhj2) (arm-empty) (on hnx5 ohg4) (on-table zhj2) (on-table bet1) (on-table ohg4) (clear hwj3) (clear bet1) (on-table hwj3) (clear hnx5)",
"(holding bet1) (clear zhj2) (on hnx5 ohg4) (on-table zhj2) (on-table ohg4) (clear hwj3) (on-table hwj3) (clear hnx5)",
"(on bet1 hnx5) (clear zhj2) (arm-empty) (on hnx5 ohg4) (on-table zhj2) (on-table ohg4) (clear hwj3) (clear bet1) (on-table hwj3)",
"(on bet1 hnx5) (on hnx5 ohg4) (on-table ohg4) (holding zhj2) (clear hwj3) (clear bet1) (on-table hwj3)",
"(on bet1 hnx5) (clear zhj2) (arm-empty) (on hnx5 ohg4) (on-table ohg4) (on zhj2 bet1) (clear hwj3) (on-table hwj3)"
] |
file_61198
|
GOAL: (on-table qme5) (on-table vce1) (clear kln4) (on-table kln4) (holding pha2) (clear lev3) (clear vce1) (on-table lev3) (clear qme5)
|
GOAL: (on-table qme5) (on-table vce1) (clear kln4) (on-table kln4) (holding pha2) (clear lev3) (clear vce1) (on-table lev3) (clear qme5)
STATE: (arm-empty) (on-table qme5) (on vce1 kln4) (on kln4 pha2) (on pha2 lev3) (clear vce1) (on-table lev3) (clear qme5)
|
[
[
"unstack vce1 kln4"
],
[
"put-down vce1"
],
[
"unstack kln4 pha2"
],
[
"put-down kln4"
],
[
"unstack pha2 lev3"
]
] |
[
"(holding vce1) (on-table qme5) (clear kln4) (on kln4 pha2) (on pha2 lev3) (on-table lev3) (clear qme5)",
"(arm-empty) (on-table qme5) (clear kln4) (clear qme5) (on-table vce1) (on kln4 pha2) (on pha2 lev3) (clear vce1) (on-table lev3)",
"(clear pha2) (on-table qme5) (on-table vce1) (holding kln4) (on pha2 lev3) (clear vce1) (on-table lev3) (clear qme5)",
"(clear pha2) (arm-empty) (on-table qme5) (on-table vce1) (clear kln4) (on-table kln4) (on pha2 lev3) (clear vce1) (on-table lev3) (clear qme5)",
"(on-table qme5) (on-table vce1) (clear kln4) (on-table kln4) (holding pha2) (clear lev3) (clear vce1) (on-table lev3) (clear qme5)"
] |
file_187681
|
GOAL: (arm-empty) (on mwx2 ltp4) (on vfk5 qne3) (on-table ltp4) (on qne3 otb1) (on otb1 mwx2) (clear vfk5)
|
GOAL: (arm-empty) (on mwx2 ltp4) (on vfk5 qne3) (on-table ltp4) (on qne3 otb1) (on otb1 mwx2) (clear vfk5)
STATE: (on otb1 qne3) (arm-empty) (clear ltp4) (on vfk5 otb1) (on ltp4 mwx2) (on mwx2 vfk5) (on-table qne3)
|
[
[
"unstack ltp4 mwx2"
],
[
"put-down ltp4"
],
[
"unstack mwx2 vfk5"
],
[
"stack mwx2 ltp4"
],
[
"unstack vfk5 otb1"
],
[
"put-down vfk5"
],
[
"unstack otb1 qne3"
],
[
"stack otb1 mwx2"
],
[
"pick-up qne3"
],
[
"stack qne3 otb1"
],
[
"pick-up vfk5"
],
[
"stack vfk5 qne3"
]
] |
[
"(on vfk5 otb1) (clear mwx2) (on otb1 qne3) (holding ltp4) (on mwx2 vfk5) (on-table qne3)",
"(on otb1 qne3) (arm-empty) (clear ltp4) (on mwx2 vfk5) (clear mwx2) (on vfk5 otb1) (on-table ltp4) (on-table qne3)",
"(on otb1 qne3) (clear ltp4) (on vfk5 otb1) (on-table ltp4) (holding mwx2) (on-table qne3) (clear vfk5)",
"(clear mwx2) (on otb1 qne3) (arm-empty) (on vfk5 otb1) (on-table ltp4) (on mwx2 ltp4) (on-table qne3) (clear vfk5)",
"(clear mwx2) (on otb1 qne3) (holding vfk5) (on-table ltp4) (on mwx2 ltp4) (clear otb1) (on-table qne3)",
"(on otb1 qne3) (arm-empty) (on-table vfk5) (on mwx2 ltp4) (clear vfk5) (clear mwx2) (on-table ltp4) (clear otb1) (on-table qne3)",
"(holding otb1) (clear mwx2) (on-table vfk5) (on-table ltp4) (on mwx2 ltp4) (clear qne3) (on-table qne3) (clear vfk5)",
"(arm-empty) (on-table vfk5) (on-table ltp4) (on mwx2 ltp4) (clear qne3) (on otb1 mwx2) (clear otb1) (on-table qne3) (clear vfk5)",
"(on-table vfk5) (on-table ltp4) (on mwx2 ltp4) (on otb1 mwx2) (clear otb1) (holding qne3) (clear vfk5)",
"(arm-empty) (on-table vfk5) (on mwx2 ltp4) (on-table ltp4) (on qne3 otb1) (clear qne3) (on otb1 mwx2) (clear vfk5)",
"(on mwx2 ltp4) (holding vfk5) (on-table ltp4) (on qne3 otb1) (clear qne3) (on otb1 mwx2)",
"(arm-empty) (on mwx2 ltp4) (on vfk5 qne3) (on-table ltp4) (on qne3 otb1) (on otb1 mwx2) (clear vfk5)"
] |
file_155092
|
GOAL: (on imy3 iyu5) (on bhl1 imy3) (on-table cfg2) (on-table iyu5) (clear cfg2) (holding owv4) (clear bhl1)
|
GOAL: (on imy3 iyu5) (on bhl1 imy3) (on-table cfg2) (on-table iyu5) (clear cfg2) (holding owv4) (clear bhl1)
STATE: (holding bhl1) (on-table iyu5) (on imy3 cfg2) (on-table owv4) (on cfg2 owv4) (clear imy3) (clear iyu5)
|
[
[
"put-down bhl1"
],
[
"unstack imy3 cfg2"
],
[
"stack imy3 iyu5"
],
[
"pick-up bhl1"
],
[
"stack bhl1 imy3"
],
[
"unstack cfg2 owv4"
],
[
"put-down cfg2"
],
[
"pick-up owv4"
]
] |
[
"(arm-empty) (on-table iyu5) (on cfg2 owv4) (clear iyu5) (on-table bhl1) (on imy3 cfg2) (on-table owv4) (clear imy3) (clear bhl1)",
"(clear cfg2) (on-table iyu5) (on-table bhl1) (on-table owv4) (on cfg2 owv4) (holding imy3) (clear bhl1) (clear iyu5)",
"(clear cfg2) (on imy3 iyu5) (arm-empty) (on-table iyu5) (on-table bhl1) (on-table owv4) (on cfg2 owv4) (clear imy3) (clear bhl1)",
"(holding bhl1) (clear cfg2) (on imy3 iyu5) (on-table iyu5) (on-table owv4) (on cfg2 owv4) (clear imy3)",
"(clear cfg2) (on imy3 iyu5) (on bhl1 imy3) (arm-empty) (on-table iyu5) (on-table owv4) (on cfg2 owv4) (clear bhl1)",
"(on imy3 iyu5) (on bhl1 imy3) (on-table iyu5) (clear owv4) (on-table owv4) (holding cfg2) (clear bhl1)",
"(on imy3 iyu5) (on bhl1 imy3) (arm-empty) (on-table cfg2) (on-table iyu5) (clear owv4) (clear cfg2) (on-table owv4) (clear bhl1)",
"(on imy3 iyu5) (on bhl1 imy3) (on-table cfg2) (on-table iyu5) (clear cfg2) (holding owv4) (clear bhl1)"
] |
file_56514
|
GOAL: (arm-empty) (on-table tfz2) (on-table ouk1) (on wks3 tfz2) (clear cgu4) (on cif5 wks3) (on-table cgu4) (clear ouk1) (clear cif5)
|
GOAL: (arm-empty) (on-table tfz2) (on-table ouk1) (on wks3 tfz2) (clear cgu4) (on cif5 wks3) (on-table cgu4) (clear ouk1) (clear cif5)
STATE: (on ouk1 cif5) (on wks3 cgu4) (on cgu4 ouk1) (on-table cif5) (holding tfz2) (clear wks3)
|
[
[
"put-down tfz2"
],
[
"unstack wks3 cgu4"
],
[
"stack wks3 tfz2"
],
[
"unstack cgu4 ouk1"
],
[
"put-down cgu4"
],
[
"unstack ouk1 cif5"
],
[
"put-down ouk1"
],
[
"pick-up cif5"
],
[
"stack cif5 wks3"
]
] |
[
"(on ouk1 cif5) (on cgu4 ouk1) (arm-empty) (on-table tfz2) (on-table cif5) (on wks3 cgu4) (clear tfz2) (clear wks3)",
"(on ouk1 cif5) (on cgu4 ouk1) (on-table tfz2) (on-table cif5) (clear tfz2) (clear cgu4) (holding wks3)",
"(on ouk1 cif5) (on cgu4 ouk1) (arm-empty) (on-table tfz2) (on-table cif5) (on wks3 tfz2) (clear cgu4) (clear wks3)",
"(on ouk1 cif5) (on-table tfz2) (on-table cif5) (holding cgu4) (on wks3 tfz2) (clear wks3) (clear ouk1)",
"(on ouk1 cif5) (arm-empty) (on-table tfz2) (on-table cif5) (clear cgu4) (on wks3 tfz2) (on-table cgu4) (clear wks3) (clear ouk1)",
"(holding ouk1) (on-table tfz2) (on-table cif5) (on wks3 tfz2) (clear cgu4) (on-table cgu4) (clear wks3) (clear cif5)",
"(arm-empty) (on-table tfz2) (on-table cif5) (on-table ouk1) (on wks3 tfz2) (clear cgu4) (on-table cgu4) (clear wks3) (clear ouk1) (clear cif5)",
"(on-table tfz2) (on-table ouk1) (on wks3 tfz2) (clear cgu4) (holding cif5) (on-table cgu4) (clear wks3) (clear ouk1)",
"(arm-empty) (on-table tfz2) (on-table ouk1) (on wks3 tfz2) (clear cgu4) (on cif5 wks3) (on-table cgu4) (clear ouk1) (clear cif5)"
] |
file_22023
|
GOAL: (on who3 yxj4) (on yxj4 jyv1) (arm-empty) (on-table fwe2) (on-table ppw5) (clear who3) (on jyv1 fwe2) (clear ppw5)
|
GOAL: (on who3 yxj4) (on yxj4 jyv1) (arm-empty) (on-table fwe2) (on-table ppw5) (clear who3) (on jyv1 fwe2) (clear ppw5)
STATE: (arm-empty) (on yxj4 ppw5) (on-table jyv1) (on who3 fwe2) (on ppw5 jyv1) (on fwe2 yxj4) (clear who3)
|
[
[
"unstack who3 fwe2"
],
[
"put-down who3"
],
[
"unstack fwe2 yxj4"
],
[
"put-down fwe2"
],
[
"unstack yxj4 ppw5"
],
[
"stack yxj4 who3"
],
[
"unstack ppw5 jyv1"
],
[
"put-down ppw5"
],
[
"unstack yxj4 who3"
],
[
"stack yxj4 ppw5"
],
[
"pick-up jyv1"
],
[
"stack jyv1 fwe2"
],
[
"unstack yxj4 ppw5"
],
[
"stack yxj4 jyv1"
],
[
"pick-up who3"
],
[
"stack who3 yxj4"
]
] |
[
"(on yxj4 ppw5) (on fwe2 yxj4) (clear fwe2) (on-table jyv1) (on ppw5 jyv1) (holding who3)",
"(on ppw5 jyv1) (clear fwe2) (arm-empty) (on yxj4 ppw5) (on fwe2 yxj4) (clear who3) (on-table jyv1) (on-table who3)",
"(on yxj4 ppw5) (on-table jyv1) (clear yxj4) (on ppw5 jyv1) (holding fwe2) (clear who3) (on-table who3)",
"(arm-empty) (on-table fwe2) (on yxj4 ppw5) (clear yxj4) (clear fwe2) (on-table jyv1) (on ppw5 jyv1) (clear who3) (on-table who3)",
"(clear fwe2) (on-table fwe2) (on-table jyv1) (holding yxj4) (on ppw5 jyv1) (clear who3) (on-table who3) (clear ppw5)",
"(clear fwe2) (arm-empty) (on-table fwe2) (on-table jyv1) (clear yxj4) (on ppw5 jyv1) (on yxj4 who3) (on-table who3) (clear ppw5)",
"(clear fwe2) (on-table fwe2) (on-table jyv1) (clear yxj4) (on yxj4 who3) (holding ppw5) (clear jyv1) (on-table who3)",
"(clear fwe2) (arm-empty) (on-table fwe2) (on-table ppw5) (on-table jyv1) (clear yxj4) (on yxj4 who3) (clear jyv1) (on-table who3) (clear ppw5)",
"(clear fwe2) (on-table fwe2) (on-table ppw5) (on-table jyv1) (holding yxj4) (clear who3) (clear jyv1) (on-table who3) (clear ppw5)",
"(clear fwe2) (arm-empty) (on-table fwe2) (on-table ppw5) (on-table jyv1) (on yxj4 ppw5) (clear yxj4) (clear who3) (clear jyv1) (on-table who3)",
"(holding jyv1) (clear fwe2) (on-table fwe2) (on-table ppw5) (on yxj4 ppw5) (clear yxj4) (clear who3) (on-table who3)",
"(arm-empty) (on-table fwe2) (on-table ppw5) (on yxj4 ppw5) (clear yxj4) (clear who3) (on jyv1 fwe2) (clear jyv1) (on-table who3)",
"(on-table fwe2) (on-table ppw5) (holding yxj4) (clear who3) (on jyv1 fwe2) (clear jyv1) (on-table who3) (clear ppw5)",
"(on yxj4 jyv1) (arm-empty) (on-table fwe2) (on-table ppw5) (clear yxj4) (clear who3) (on jyv1 fwe2) (on-table who3) (clear ppw5)",
"(on yxj4 jyv1) (on-table fwe2) (on-table ppw5) (clear yxj4) (on jyv1 fwe2) (holding who3) (clear ppw5)",
"(on who3 yxj4) (on yxj4 jyv1) (arm-empty) (on-table fwe2) (on-table ppw5) (clear who3) (on jyv1 fwe2) (clear ppw5)"
] |
file_118939
|
GOAL: (on emb3 pis5) (arm-empty) (on-table gok2) (on pis5 gok2) (on-table lqf4) (on fwy1 lqf4) (clear emb3) (clear fwy1)
|
GOAL: (on emb3 pis5) (arm-empty) (on-table gok2) (on pis5 gok2) (on-table lqf4) (on fwy1 lqf4) (clear emb3) (clear fwy1)
STATE: (on emb3 pis5) (arm-empty) (on pis5 gok2) (on-table lqf4) (on fwy1 lqf4) (on gok2 fwy1) (clear emb3)
|
[
[
"unstack emb3 pis5"
],
[
"put-down emb3"
],
[
"unstack pis5 gok2"
],
[
"stack pis5 emb3"
],
[
"unstack gok2 fwy1"
],
[
"put-down gok2"
],
[
"unstack pis5 emb3"
],
[
"stack pis5 gok2"
],
[
"pick-up emb3"
],
[
"stack emb3 pis5"
]
] |
[
"(on pis5 gok2) (on gok2 fwy1) (clear pis5) (on-table lqf4) (on fwy1 lqf4) (holding emb3)",
"(arm-empty) (on pis5 gok2) (on gok2 fwy1) (clear pis5) (on-table lqf4) (on fwy1 lqf4) (clear emb3) (on-table emb3)",
"(clear gok2) (holding pis5) (on-table lqf4) (on fwy1 lqf4) (on gok2 fwy1) (clear emb3) (on-table emb3)",
"(clear gok2) (arm-empty) (on pis5 emb3) (on-table lqf4) (on fwy1 lqf4) (on gok2 fwy1) (on-table emb3) (clear pis5)",
"(holding gok2) (on pis5 emb3) (on-table lqf4) (on fwy1 lqf4) (clear fwy1) (on-table emb3) (clear pis5)",
"(arm-empty) (on-table gok2) (on pis5 emb3) (clear pis5) (clear gok2) (on-table lqf4) (on fwy1 lqf4) (clear fwy1) (on-table emb3)",
"(clear gok2) (on-table gok2) (holding pis5) (on-table lqf4) (on fwy1 lqf4) (clear emb3) (clear fwy1) (on-table emb3)",
"(arm-empty) (on-table gok2) (on pis5 gok2) (on-table lqf4) (on fwy1 lqf4) (clear emb3) (clear fwy1) (on-table emb3) (clear pis5)",
"(on-table gok2) (on pis5 gok2) (on-table lqf4) (on fwy1 lqf4) (holding emb3) (clear fwy1) (clear pis5)",
"(on emb3 pis5) (arm-empty) (on-table gok2) (on pis5 gok2) (on-table lqf4) (on fwy1 lqf4) (clear emb3) (clear fwy1)"
] |
file_66513
|
GOAL: (arm-empty) (on-table wwy2) (clear chx4) (clear pmv5) (on-table zsw1) (on jcu3 wwy2) (on pmv5 zsw1) (on-table chx4) (clear jcu3)
|
GOAL: (arm-empty) (on-table wwy2) (clear chx4) (clear pmv5) (on-table zsw1) (on jcu3 wwy2) (on pmv5 zsw1) (on-table chx4) (clear jcu3)
STATE: (on zsw1 pmv5) (clear wwy2) (on chx4 zsw1) (on jcu3 chx4) (arm-empty) (on-table pmv5) (on wwy2 jcu3)
|
[
[
"unstack wwy2 jcu3"
],
[
"put-down wwy2"
],
[
"unstack jcu3 chx4"
],
[
"stack jcu3 wwy2"
],
[
"unstack chx4 zsw1"
],
[
"stack chx4 jcu3"
],
[
"unstack zsw1 pmv5"
],
[
"put-down zsw1"
],
[
"pick-up pmv5"
],
[
"stack pmv5 zsw1"
],
[
"unstack chx4 jcu3"
],
[
"put-down chx4"
]
] |
[
"(on zsw1 pmv5) (on chx4 zsw1) (on-table pmv5) (on jcu3 chx4) (holding wwy2) (clear jcu3)",
"(on zsw1 pmv5) (on chx4 zsw1) (arm-empty) (on-table wwy2) (on-table pmv5) (on jcu3 chx4) (clear wwy2) (clear jcu3)",
"(on zsw1 pmv5) (on chx4 zsw1) (on-table wwy2) (on-table pmv5) (clear wwy2) (clear chx4) (holding jcu3)",
"(on zsw1 pmv5) (on chx4 zsw1) (arm-empty) (on-table wwy2) (on-table pmv5) (on jcu3 wwy2) (clear chx4) (clear jcu3)",
"(on zsw1 pmv5) (on-table wwy2) (on-table pmv5) (holding chx4) (on jcu3 wwy2) (clear jcu3) (clear zsw1)",
"(on zsw1 pmv5) (arm-empty) (on-table wwy2) (on-table pmv5) (on jcu3 wwy2) (clear chx4) (on chx4 jcu3) (clear zsw1)",
"(holding zsw1) (on-table wwy2) (on-table pmv5) (on jcu3 wwy2) (clear chx4) (on chx4 jcu3) (clear pmv5)",
"(arm-empty) (on-table wwy2) (on-table pmv5) (clear chx4) (clear pmv5) (on-table zsw1) (on jcu3 wwy2) (on chx4 jcu3) (clear zsw1)",
"(on-table wwy2) (on-table zsw1) (on jcu3 wwy2) (clear chx4) (on chx4 jcu3) (holding pmv5) (clear zsw1)",
"(arm-empty) (on-table wwy2) (clear chx4) (clear pmv5) (on-table zsw1) (on jcu3 wwy2) (on chx4 jcu3) (on pmv5 zsw1)",
"(on-table wwy2) (on-table zsw1) (holding chx4) (on jcu3 wwy2) (on pmv5 zsw1) (clear jcu3) (clear pmv5)",
"(arm-empty) (on-table wwy2) (clear chx4) (clear pmv5) (on-table zsw1) (on jcu3 wwy2) (on pmv5 zsw1) (on-table chx4) (clear jcu3)"
] |
file_41559
|
GOAL: (on uhj1 wze3) (arm-empty) (on xyp5 wyu2) (clear ogc4) (on-table ogc4) (on wyu2 uhj1) (on-table wze3) (clear xyp5)
|
GOAL: (on uhj1 wze3) (arm-empty) (on xyp5 wyu2) (clear ogc4) (on-table ogc4) (on wyu2 uhj1) (on-table wze3) (clear xyp5)
STATE: (clear wyu2) (on ogc4 uhj1) (on uhj1 wze3) (on-table wyu2) (arm-empty) (on-table xyp5) (clear ogc4) (on-table wze3) (clear xyp5)
|
[
[
"pick-up wyu2"
],
[
"stack wyu2 xyp5"
],
[
"unstack ogc4 uhj1"
],
[
"put-down ogc4"
],
[
"unstack wyu2 xyp5"
],
[
"stack wyu2 uhj1"
],
[
"pick-up xyp5"
],
[
"stack xyp5 wyu2"
]
] |
[
"(on ogc4 uhj1) (on uhj1 wze3) (on-table xyp5) (clear ogc4) (holding wyu2) (on-table wze3) (clear xyp5)",
"(clear wyu2) (on ogc4 uhj1) (on uhj1 wze3) (arm-empty) (on-table xyp5) (clear ogc4) (on wyu2 xyp5) (on-table wze3)",
"(clear wyu2) (on uhj1 wze3) (on-table xyp5) (holding ogc4) (on wyu2 xyp5) (clear uhj1) (on-table wze3)",
"(on uhj1 wze3) (arm-empty) (on-table xyp5) (clear ogc4) (on wyu2 xyp5) (clear wyu2) (on-table ogc4) (clear uhj1) (on-table wze3)",
"(on uhj1 wze3) (on-table xyp5) (clear ogc4) (on-table ogc4) (holding wyu2) (clear uhj1) (on-table wze3) (clear xyp5)",
"(clear wyu2) (on uhj1 wze3) (arm-empty) (on-table xyp5) (clear ogc4) (on-table ogc4) (on wyu2 uhj1) (on-table wze3) (clear xyp5)",
"(clear wyu2) (on uhj1 wze3) (clear ogc4) (holding xyp5) (on-table ogc4) (on wyu2 uhj1) (on-table wze3)",
"(on uhj1 wze3) (arm-empty) (on xyp5 wyu2) (clear ogc4) (on-table ogc4) (on wyu2 uhj1) (on-table wze3) (clear xyp5)"
] |
file_202652
|
GOAL: (on ets3 ubf4) (on-table ubf4) (arm-empty) (on ags2 ets3) (on oor1 ags2) (clear oor1)
|
GOAL: (on ets3 ubf4) (on-table ubf4) (arm-empty) (on ags2 ets3) (on oor1 ags2) (clear oor1)
STATE: (clear ags2) (on oor1 ets3) (arm-empty) (on-table ags2) (clear ubf4) (on-table ubf4) (clear oor1) (on-table ets3)
|
[
[
"unstack oor1 ets3"
],
[
"stack oor1 ags2"
],
[
"pick-up ets3"
],
[
"stack ets3 ubf4"
],
[
"unstack oor1 ags2"
],
[
"put-down oor1"
],
[
"pick-up ags2"
],
[
"stack ags2 ets3"
],
[
"pick-up oor1"
],
[
"stack oor1 ags2"
]
] |
[
"(holding oor1) (clear ags2) (on-table ags2) (clear ubf4) (on-table ubf4) (clear ets3) (on-table ets3)",
"(arm-empty) (on-table ags2) (clear ubf4) (on-table ubf4) (clear ets3) (on oor1 ags2) (clear oor1) (on-table ets3)",
"(on-table ags2) (clear ubf4) (on-table ubf4) (on oor1 ags2) (clear oor1) (holding ets3)",
"(on ets3 ubf4) (arm-empty) (on-table ags2) (on-table ubf4) (clear ets3) (on oor1 ags2) (clear oor1)",
"(on-table ags2) (holding oor1) (on ets3 ubf4) (clear ags2) (on-table ubf4) (clear ets3)",
"(arm-empty) (on-table ags2) (on ets3 ubf4) (clear ags2) (on-table oor1) (on-table ubf4) (clear ets3) (clear oor1)",
"(on ets3 ubf4) (on-table oor1) (on-table ubf4) (holding ags2) (clear ets3) (clear oor1)",
"(on ets3 ubf4) (clear ags2) (arm-empty) (on-table oor1) (on-table ubf4) (on ags2 ets3) (clear oor1)",
"(holding oor1) (on ets3 ubf4) (clear ags2) (on-table ubf4) (on ags2 ets3)",
"(on ets3 ubf4) (on-table ubf4) (arm-empty) (on ags2 ets3) (on oor1 ags2) (clear oor1)"
] |
file_200485
|
GOAL: (clear mgz2) (arm-empty) (on jlz4 vft3) (on mtk5 sqy1) (on sqy1 jlz4) (on mgz2 mtk5) (on-table vft3)
|
GOAL: (clear mgz2) (arm-empty) (on jlz4 vft3) (on mtk5 sqy1) (on sqy1 jlz4) (on mgz2 mtk5) (on-table vft3)
STATE: (on sqy1 mtk5) (clear mgz2) (on jlz4 sqy1) (arm-empty) (on-table mgz2) (on-table mtk5) (clear jlz4) (clear vft3) (on-table vft3)
|
[
[
"unstack jlz4 sqy1"
],
[
"stack jlz4 vft3"
],
[
"unstack sqy1 mtk5"
],
[
"stack sqy1 jlz4"
],
[
"pick-up mtk5"
],
[
"stack mtk5 sqy1"
],
[
"pick-up mgz2"
],
[
"stack mgz2 mtk5"
]
] |
[
"(on sqy1 mtk5) (clear mgz2) (on-table mgz2) (on-table mtk5) (holding jlz4) (clear vft3) (clear sqy1) (on-table vft3)",
"(on sqy1 mtk5) (clear mgz2) (arm-empty) (on-table mgz2) (on-table mtk5) (clear jlz4) (on jlz4 vft3) (clear sqy1) (on-table vft3)",
"(holding sqy1) (clear mgz2) (on-table mgz2) (on-table mtk5) (clear jlz4) (on jlz4 vft3) (on-table vft3) (clear mtk5)",
"(clear mgz2) (arm-empty) (on-table mgz2) (on-table mtk5) (on jlz4 vft3) (on sqy1 jlz4) (clear sqy1) (on-table vft3) (clear mtk5)",
"(clear mgz2) (on-table mgz2) (on jlz4 vft3) (holding mtk5) (on sqy1 jlz4) (clear sqy1) (on-table vft3)",
"(arm-empty) (on-table mgz2) (clear mtk5) (clear mgz2) (on jlz4 vft3) (on mtk5 sqy1) (on sqy1 jlz4) (on-table vft3)",
"(holding mgz2) (on jlz4 vft3) (on mtk5 sqy1) (on sqy1 jlz4) (on-table vft3) (clear mtk5)",
"(clear mgz2) (arm-empty) (on jlz4 vft3) (on mtk5 sqy1) (on sqy1 jlz4) (on mgz2 mtk5) (on-table vft3)"
] |
file_151898
|
GOAL: (holding mmk1) (clear khw2) (on-table hnr5) (on-table mxm4) (on khw2 mxm4) (clear obs3) (on-table obs3) (clear hnr5)
|
GOAL: (holding mmk1) (clear khw2) (on-table hnr5) (on-table mxm4) (on khw2 mxm4) (clear obs3) (on-table obs3) (clear hnr5)
STATE: (clear mmk1) (arm-empty) (on-table hnr5) (clear mxm4) (on-table mxm4) (on khw2 obs3) (on mmk1 khw2) (on-table obs3) (clear hnr5)
|
[
[
"unstack mmk1 khw2"
],
[
"stack mmk1 hnr5"
],
[
"unstack khw2 obs3"
],
[
"stack khw2 mxm4"
],
[
"unstack mmk1 hnr5"
]
] |
[
"(holding mmk1) (clear khw2) (on-table hnr5) (clear mxm4) (on-table mxm4) (on khw2 obs3) (on-table obs3) (clear hnr5)",
"(on mmk1 hnr5) (clear khw2) (arm-empty) (on-table hnr5) (clear mxm4) (on-table mxm4) (on khw2 obs3) (clear mmk1) (on-table obs3)",
"(on mmk1 hnr5) (on-table hnr5) (clear mxm4) (on-table mxm4) (holding khw2) (clear obs3) (clear mmk1) (on-table obs3)",
"(on mmk1 hnr5) (clear khw2) (arm-empty) (on-table hnr5) (on-table mxm4) (on khw2 mxm4) (clear obs3) (clear mmk1) (on-table obs3)",
"(holding mmk1) (clear khw2) (on-table hnr5) (on-table mxm4) (on khw2 mxm4) (clear obs3) (on-table obs3) (clear hnr5)"
] |
file_102623
|
GOAL: (on sxd4 pnq1) (clear sxd4) (arm-empty) (on div2 rgr3) (on pnq1 div2) (on-table rgr3)
|
GOAL: (on sxd4 pnq1) (clear sxd4) (arm-empty) (on div2 rgr3) (on pnq1 div2) (on-table rgr3)
STATE: (on rgr3 sxd4) (clear div2) (arm-empty) (on-table div2) (on-table pnq1) (on-table sxd4) (clear rgr3) (clear pnq1)
|
[
[
"unstack rgr3 sxd4"
],
[
"put-down rgr3"
],
[
"pick-up div2"
],
[
"stack div2 rgr3"
],
[
"pick-up pnq1"
],
[
"stack pnq1 div2"
],
[
"pick-up sxd4"
],
[
"stack sxd4 pnq1"
]
] |
[
"(clear div2) (on-table div2) (on-table pnq1) (clear sxd4) (on-table sxd4) (holding rgr3) (clear pnq1)",
"(arm-empty) (on-table div2) (clear sxd4) (clear div2) (on-table pnq1) (on-table sxd4) (clear rgr3) (clear pnq1) (on-table rgr3)",
"(on-table pnq1) (clear sxd4) (on-table sxd4) (holding div2) (clear rgr3) (clear pnq1) (on-table rgr3)",
"(clear div2) (arm-empty) (on-table pnq1) (clear sxd4) (on-table sxd4) (on div2 rgr3) (clear pnq1) (on-table rgr3)",
"(holding pnq1) (clear div2) (clear sxd4) (on-table sxd4) (on div2 rgr3) (on-table rgr3)",
"(arm-empty) (clear sxd4) (on-table sxd4) (on div2 rgr3) (on pnq1 div2) (on-table rgr3) (clear pnq1)",
"(on div2 rgr3) (holding sxd4) (on pnq1 div2) (on-table rgr3) (clear pnq1)",
"(on sxd4 pnq1) (clear sxd4) (arm-empty) (on div2 rgr3) (on pnq1 div2) (on-table rgr3)"
] |
file_172521
|
GOAL: (clear dxx2) (on-table afr5) (on-table viw1) (holding zbz4) (on dxx2 viw1) (clear rlu3) (on-table rlu3) (clear afr5)
|
GOAL: (clear dxx2) (on-table afr5) (on-table viw1) (holding zbz4) (on dxx2 viw1) (clear rlu3) (on-table rlu3) (clear afr5)
STATE: (clear dxx2) (on-table viw1) (holding afr5) (on-table zbz4) (on dxx2 zbz4) (clear rlu3) (clear viw1) (on-table rlu3)
|
[
[
"stack afr5 rlu3"
],
[
"unstack dxx2 zbz4"
],
[
"stack dxx2 viw1"
],
[
"pick-up zbz4"
],
[
"stack zbz4 dxx2"
],
[
"unstack afr5 rlu3"
],
[
"put-down afr5"
],
[
"unstack zbz4 dxx2"
]
] |
[
"(clear dxx2) (arm-empty) (on-table viw1) (on afr5 rlu3) (on-table zbz4) (on dxx2 zbz4) (clear viw1) (on-table rlu3) (clear afr5)",
"(on-table viw1) (clear zbz4) (on afr5 rlu3) (on-table zbz4) (holding dxx2) (clear viw1) (on-table rlu3) (clear afr5)",
"(clear dxx2) (arm-empty) (on-table viw1) (clear zbz4) (on afr5 rlu3) (on-table zbz4) (on dxx2 viw1) (on-table rlu3) (clear afr5)",
"(clear dxx2) (on-table viw1) (holding zbz4) (on afr5 rlu3) (on dxx2 viw1) (on-table rlu3) (clear afr5)",
"(arm-empty) (on-table viw1) (clear zbz4) (on afr5 rlu3) (on zbz4 dxx2) (on dxx2 viw1) (on-table rlu3) (clear afr5)",
"(on-table viw1) (clear zbz4) (holding afr5) (on zbz4 dxx2) (on dxx2 viw1) (clear rlu3) (on-table rlu3)",
"(arm-empty) (on-table afr5) (clear zbz4) (on dxx2 viw1) (clear afr5) (on-table viw1) (on zbz4 dxx2) (clear rlu3) (on-table rlu3)",
"(clear dxx2) (on-table afr5) (on-table viw1) (holding zbz4) (on dxx2 viw1) (clear rlu3) (on-table rlu3) (clear afr5)"
] |
file_80614
|
GOAL: (arm-empty) (on-table luz2) (on omc4 uoi5) (on uoi5 luz2) (clear omc4) (on-table scl1) (clear pjb3) (clear scl1) (on-table pjb3)
|
GOAL: (arm-empty) (on-table luz2) (on omc4 uoi5) (on uoi5 luz2) (clear omc4) (on-table scl1) (clear pjb3) (clear scl1) (on-table pjb3)
STATE: (arm-empty) (on-table luz2) (on-table scl1) (on uoi5 luz2) (clear omc4) (on-table omc4) (clear pjb3) (clear scl1) (on-table pjb3) (clear uoi5)
|
[
[
"pick-up pjb3"
],
[
"stack pjb3 scl1"
],
[
"pick-up omc4"
],
[
"stack omc4 uoi5"
],
[
"unstack pjb3 scl1"
],
[
"put-down pjb3"
]
] |
[
"(on-table luz2) (on-table scl1) (on uoi5 luz2) (clear omc4) (on-table omc4) (holding pjb3) (clear scl1) (clear uoi5)",
"(arm-empty) (on-table luz2) (on-table scl1) (on uoi5 luz2) (clear omc4) (on-table omc4) (on pjb3 scl1) (clear pjb3) (clear uoi5)",
"(on-table luz2) (on-table scl1) (holding omc4) (on uoi5 luz2) (on pjb3 scl1) (clear pjb3) (clear uoi5)",
"(arm-empty) (on-table luz2) (on omc4 uoi5) (on-table scl1) (on uoi5 luz2) (clear omc4) (on pjb3 scl1) (clear pjb3)",
"(on-table luz2) (on omc4 uoi5) (on-table scl1) (on uoi5 luz2) (clear omc4) (holding pjb3) (clear scl1)",
"(arm-empty) (on-table luz2) (on omc4 uoi5) (on uoi5 luz2) (clear omc4) (on-table scl1) (clear pjb3) (clear scl1) (on-table pjb3)"
] |
file_70681
|
GOAL: (arm-empty) (on-table ihv2) (on kyq4 rbw5) (clear kyq4) (on rbw5 aya3) (clear ihv2) (on-table bru1) (clear bru1) (on-table aya3)
|
GOAL: (arm-empty) (on-table ihv2) (on kyq4 rbw5) (clear kyq4) (on rbw5 aya3) (clear ihv2) (on-table bru1) (clear bru1) (on-table aya3)
STATE: (on aya3 kyq4) (on kyq4 bru1) (on-table ihv2) (holding rbw5) (clear aya3) (on bru1 ihv2)
|
[
[
"put-down rbw5"
],
[
"unstack aya3 kyq4"
],
[
"put-down aya3"
],
[
"pick-up rbw5"
],
[
"stack rbw5 aya3"
],
[
"unstack kyq4 bru1"
],
[
"stack kyq4 rbw5"
],
[
"unstack bru1 ihv2"
],
[
"put-down bru1"
]
] |
[
"(on kyq4 bru1) (arm-empty) (on-table ihv2) (on-table rbw5) (on bru1 ihv2) (clear rbw5) (on aya3 kyq4) (clear aya3)",
"(on kyq4 bru1) (on-table ihv2) (on-table rbw5) (clear kyq4) (on bru1 ihv2) (holding aya3) (clear rbw5)",
"(on kyq4 bru1) (arm-empty) (on-table ihv2) (on-table rbw5) (clear kyq4) (on bru1 ihv2) (clear rbw5) (clear aya3) (on-table aya3)",
"(on kyq4 bru1) (on-table ihv2) (clear kyq4) (holding rbw5) (clear aya3) (on bru1 ihv2) (on-table aya3)",
"(on kyq4 bru1) (arm-empty) (on-table ihv2) (clear kyq4) (on rbw5 aya3) (on bru1 ihv2) (on-table aya3) (clear rbw5)",
"(on-table ihv2) (holding kyq4) (on rbw5 aya3) (on bru1 ihv2) (clear bru1) (on-table aya3) (clear rbw5)",
"(arm-empty) (on-table ihv2) (on kyq4 rbw5) (clear kyq4) (on rbw5 aya3) (on bru1 ihv2) (clear bru1) (on-table aya3)",
"(holding bru1) (clear ihv2) (on-table ihv2) (on kyq4 rbw5) (clear kyq4) (on rbw5 aya3) (on-table aya3)",
"(arm-empty) (on-table ihv2) (on kyq4 rbw5) (clear kyq4) (on rbw5 aya3) (clear ihv2) (on-table bru1) (clear bru1) (on-table aya3)"
] |
file_124918
|
GOAL: (arm-empty) (on-table uwe1) (on xap5 rcd2) (on rcd2 vns4) (on vns4 cum3) (on cum3 uwe1) (clear xap5)
|
GOAL: (arm-empty) (on-table uwe1) (on xap5 rcd2) (on rcd2 vns4) (on vns4 cum3) (on cum3 uwe1) (clear xap5)
STATE: (holding uwe1) (on-table rcd2) (on vns4 xap5) (on xap5 rcd2) (clear vns4) (clear cum3) (on-table cum3)
|
[
[
"put-down uwe1"
],
[
"pick-up cum3"
],
[
"stack cum3 uwe1"
],
[
"unstack vns4 xap5"
],
[
"stack vns4 cum3"
],
[
"unstack xap5 rcd2"
],
[
"put-down xap5"
],
[
"pick-up rcd2"
],
[
"stack rcd2 vns4"
],
[
"pick-up xap5"
],
[
"stack xap5 rcd2"
]
] |
[
"(arm-empty) (on-table rcd2) (on vns4 xap5) (on xap5 rcd2) (clear vns4) (on-table uwe1) (clear cum3) (clear uwe1) (on-table cum3)",
"(on-table rcd2) (on vns4 xap5) (on-table uwe1) (on xap5 rcd2) (clear vns4) (holding cum3) (clear uwe1)",
"(arm-empty) (on-table rcd2) (on vns4 xap5) (on-table uwe1) (on xap5 rcd2) (clear vns4) (on cum3 uwe1) (clear cum3)",
"(on-table rcd2) (on-table uwe1) (holding vns4) (on xap5 rcd2) (on cum3 uwe1) (clear cum3) (clear xap5)",
"(arm-empty) (on-table rcd2) (on xap5 rcd2) (clear vns4) (on cum3 uwe1) (clear xap5) (on-table uwe1) (on vns4 cum3)",
"(clear rcd2) (on-table rcd2) (on-table uwe1) (clear vns4) (on vns4 cum3) (holding xap5) (on cum3 uwe1)",
"(arm-empty) (on-table rcd2) (on-table xap5) (clear vns4) (on cum3 uwe1) (clear xap5) (clear rcd2) (on-table uwe1) (on vns4 cum3)",
"(on-table xap5) (on-table uwe1) (clear vns4) (on vns4 cum3) (holding rcd2) (on cum3 uwe1) (clear xap5)",
"(arm-empty) (on-table xap5) (on cum3 uwe1) (on rcd2 vns4) (clear xap5) (clear rcd2) (on-table uwe1) (on vns4 cum3)",
"(clear rcd2) (on-table uwe1) (on rcd2 vns4) (on vns4 cum3) (holding xap5) (on cum3 uwe1)",
"(arm-empty) (on-table uwe1) (on xap5 rcd2) (on rcd2 vns4) (on vns4 cum3) (on cum3 uwe1) (clear xap5)"
] |
file_192116
|
GOAL: (on-table sls2) (on-table sgd1) (holding yav4) (on bie3 sls2) (on jwn5 bie3) (clear sgd1) (clear jwn5)
|
GOAL: (on-table sls2) (on-table sgd1) (holding yav4) (on bie3 sls2) (on jwn5 bie3) (clear sgd1) (clear jwn5)
STATE: (clear sls2) (on yav4 sgd1) (on jwn5 yav4) (on-table sls2) (arm-empty) (on-table sgd1) (clear bie3) (on-table bie3) (clear jwn5)
|
[
[
"pick-up bie3"
],
[
"stack bie3 sls2"
],
[
"unstack jwn5 yav4"
],
[
"stack jwn5 bie3"
],
[
"unstack yav4 sgd1"
]
] |
[
"(clear sls2) (on yav4 sgd1) (on jwn5 yav4) (on-table sls2) (on-table sgd1) (holding bie3) (clear jwn5)",
"(on yav4 sgd1) (on jwn5 yav4) (on-table sls2) (arm-empty) (on-table sgd1) (on bie3 sls2) (clear bie3) (clear jwn5)",
"(on yav4 sgd1) (on-table sls2) (on-table sgd1) (on bie3 sls2) (clear yav4) (holding jwn5) (clear bie3)",
"(on yav4 sgd1) (arm-empty) (on-table sls2) (on-table sgd1) (on bie3 sls2) (clear yav4) (on jwn5 bie3) (clear jwn5)",
"(on-table sls2) (on-table sgd1) (holding yav4) (on bie3 sls2) (on jwn5 bie3) (clear sgd1) (clear jwn5)"
] |
file_200306
|
GOAL: (clear mwt2) (on-table mwt2) (on-table pvn5) (on-table oqr4) (on imu1 oqr4) (holding zar3) (clear imu1) (clear pvn5)
|
GOAL: (clear mwt2) (on-table mwt2) (on-table pvn5) (on-table oqr4) (on imu1 oqr4) (holding zar3) (clear imu1) (clear pvn5)
STATE: (on oqr4 imu1) (on pvn5 oqr4) (on-table mwt2) (arm-empty) (clear zar3) (on imu1 mwt2) (on-table zar3) (clear pvn5)
|
[
[
"unstack pvn5 oqr4"
],
[
"put-down pvn5"
],
[
"unstack oqr4 imu1"
],
[
"put-down oqr4"
],
[
"unstack imu1 mwt2"
],
[
"stack imu1 oqr4"
],
[
"pick-up zar3"
]
] |
[
"(on oqr4 imu1) (on-table mwt2) (clear oqr4) (holding pvn5) (clear zar3) (on imu1 mwt2) (on-table zar3)",
"(on oqr4 imu1) (arm-empty) (on-table mwt2) (on-table pvn5) (clear oqr4) (on imu1 mwt2) (clear pvn5) (clear zar3) (on-table zar3)",
"(on-table mwt2) (on-table pvn5) (holding oqr4) (clear zar3) (on imu1 mwt2) (clear imu1) (on-table zar3) (clear pvn5)",
"(arm-empty) (on-table mwt2) (on-table pvn5) (clear oqr4) (on-table oqr4) (clear zar3) (on imu1 mwt2) (clear imu1) (on-table zar3) (clear pvn5)",
"(holding imu1) (clear mwt2) (on-table mwt2) (on-table pvn5) (clear oqr4) (on-table oqr4) (clear zar3) (on-table zar3) (clear pvn5)",
"(clear mwt2) (arm-empty) (on-table mwt2) (on-table pvn5) (on-table oqr4) (on imu1 oqr4) (clear zar3) (clear imu1) (on-table zar3) (clear pvn5)",
"(clear mwt2) (on-table mwt2) (on-table pvn5) (on-table oqr4) (on imu1 oqr4) (holding zar3) (clear imu1) (clear pvn5)"
] |
file_196762
|
GOAL: (arm-empty) (on-table jvc5) (clear xuk4) (on mmk2 lbj1) (clear jvc5) (on-table lbj1) (on xuk4 mmk2) (clear nkw3) (on-table nkw3)
|
GOAL: (arm-empty) (on-table jvc5) (clear xuk4) (on mmk2 lbj1) (clear jvc5) (on-table lbj1) (on xuk4 mmk2) (clear nkw3) (on-table nkw3)
STATE: (arm-empty) (on xuk4 jvc5) (on-table lbj1) (on jvc5 mmk2) (clear xuk4) (on mmk2 lbj1) (clear nkw3) (on-table nkw3)
|
[
[
"unstack xuk4 jvc5"
],
[
"put-down xuk4"
],
[
"unstack jvc5 mmk2"
],
[
"stack jvc5 nkw3"
],
[
"pick-up xuk4"
],
[
"stack xuk4 mmk2"
],
[
"unstack jvc5 nkw3"
],
[
"put-down jvc5"
]
] |
[
"(on-table lbj1) (holding xuk4) (on jvc5 mmk2) (on mmk2 lbj1) (clear nkw3) (on-table nkw3) (clear jvc5)",
"(arm-empty) (on jvc5 mmk2) (clear xuk4) (on mmk2 lbj1) (clear jvc5) (on-table lbj1) (on-table xuk4) (clear nkw3) (on-table nkw3)",
"(clear mmk2) (on-table lbj1) (clear xuk4) (holding jvc5) (on-table xuk4) (on mmk2 lbj1) (clear nkw3) (on-table nkw3)",
"(clear mmk2) (arm-empty) (on-table lbj1) (clear xuk4) (on jvc5 nkw3) (on-table xuk4) (on mmk2 lbj1) (on-table nkw3) (clear jvc5)",
"(clear mmk2) (on-table lbj1) (holding xuk4) (on jvc5 nkw3) (on mmk2 lbj1) (on-table nkw3) (clear jvc5)",
"(arm-empty) (on-table lbj1) (clear xuk4) (on jvc5 nkw3) (on xuk4 mmk2) (on mmk2 lbj1) (on-table nkw3) (clear jvc5)",
"(on-table lbj1) (clear xuk4) (holding jvc5) (on xuk4 mmk2) (on mmk2 lbj1) (clear nkw3) (on-table nkw3)",
"(arm-empty) (on-table jvc5) (clear xuk4) (on mmk2 lbj1) (clear jvc5) (on-table lbj1) (on xuk4 mmk2) (clear nkw3) (on-table nkw3)"
] |
file_114315
|
GOAL: (on-table cgc2) (clear who4) (holding hnw5) (on-table who4) (on nhz3 owp1) (clear nhz3) (on owp1 cgc2)
|
GOAL: (on-table cgc2) (clear who4) (holding hnw5) (on-table who4) (on nhz3 owp1) (clear nhz3) (on owp1 cgc2)
STATE: (on-table cgc2) (holding who4) (on hnw5 nhz3) (on nhz3 owp1) (on owp1 cgc2) (clear hnw5)
|
[
[
"put-down who4"
],
[
"unstack hnw5 nhz3"
]
] |
[
"(arm-empty) (on-table cgc2) (clear who4) (on hnw5 nhz3) (on nhz3 owp1) (on owp1 cgc2) (clear hnw5) (on-table who4)",
"(on-table cgc2) (clear who4) (holding hnw5) (on-table who4) (on nhz3 owp1) (clear nhz3) (on owp1 cgc2)"
] |
file_72312
|
GOAL: (arm-empty) (on-table kyy5) (on hzf4 iml3) (on bpl2 hzf4) (on pdw1 bpl2) (clear pdw1) (on-table iml3) (clear kyy5)
|
GOAL: (arm-empty) (on-table kyy5) (on hzf4 iml3) (on bpl2 hzf4) (on pdw1 bpl2) (clear pdw1) (on-table iml3) (clear kyy5)
STATE: (on pdw1 kyy5) (arm-empty) (on-table kyy5) (clear hzf4) (on hzf4 bpl2) (on bpl2 pdw1) (clear iml3) (on-table iml3)
|
[
[
"unstack hzf4 bpl2"
],
[
"stack hzf4 iml3"
],
[
"unstack bpl2 pdw1"
],
[
"stack bpl2 hzf4"
],
[
"unstack pdw1 kyy5"
],
[
"stack pdw1 bpl2"
]
] |
[
"(on pdw1 kyy5) (clear bpl2) (on-table kyy5) (holding hzf4) (on bpl2 pdw1) (clear iml3) (on-table iml3)",
"(on pdw1 kyy5) (clear bpl2) (arm-empty) (on-table kyy5) (clear hzf4) (on hzf4 iml3) (on bpl2 pdw1) (on-table iml3)",
"(on pdw1 kyy5) (on-table kyy5) (clear hzf4) (on hzf4 iml3) (holding bpl2) (clear pdw1) (on-table iml3)",
"(on pdw1 kyy5) (clear bpl2) (arm-empty) (on-table kyy5) (on hzf4 iml3) (on bpl2 hzf4) (clear pdw1) (on-table iml3)",
"(holding pdw1) (clear bpl2) (on-table kyy5) (on hzf4 iml3) (on bpl2 hzf4) (on-table iml3) (clear kyy5)",
"(arm-empty) (on-table kyy5) (on hzf4 iml3) (on bpl2 hzf4) (on pdw1 bpl2) (clear pdw1) (on-table iml3) (clear kyy5)"
] |
file_123641
|
GOAL: (on cli3 qmh4) (clear xdt2) (arm-empty) (on-table xdt2) (on-table elu1) (on-table qmh4) (clear cli3) (clear elu1)
|
GOAL: (on cli3 qmh4) (clear xdt2) (arm-empty) (on-table xdt2) (on-table elu1) (on-table qmh4) (clear cli3) (clear elu1)
STATE: (holding xdt2) (on-table qmh4) (on elu1 qmh4) (on cli3 elu1) (clear cli3)
|
[
[
"put-down xdt2"
],
[
"unstack cli3 elu1"
],
[
"stack cli3 xdt2"
],
[
"unstack elu1 qmh4"
],
[
"put-down elu1"
],
[
"unstack cli3 xdt2"
],
[
"stack cli3 qmh4"
]
] |
[
"(on-table qmh4) (clear xdt2) (arm-empty) (on-table xdt2) (on cli3 elu1) (clear cli3) (on elu1 qmh4)",
"(on-table xdt2) (clear xdt2) (on-table qmh4) (on elu1 qmh4) (holding cli3) (clear elu1)",
"(arm-empty) (on-table xdt2) (on cli3 xdt2) (on-table qmh4) (on elu1 qmh4) (clear cli3) (clear elu1)",
"(on-table xdt2) (clear qmh4) (holding elu1) (on cli3 xdt2) (on-table qmh4) (clear cli3)",
"(arm-empty) (on-table xdt2) (clear qmh4) (on-table elu1) (on cli3 xdt2) (on-table qmh4) (clear cli3) (clear elu1)",
"(clear xdt2) (on-table xdt2) (on-table elu1) (clear qmh4) (on-table qmh4) (holding cli3) (clear elu1)",
"(on cli3 qmh4) (clear xdt2) (arm-empty) (on-table xdt2) (on-table elu1) (on-table qmh4) (clear cli3) (clear elu1)"
] |
file_132957
|
GOAL: (clear gbu2) (on-table gbu2) (on-table lol1) (clear uwl4) (holding ptw5) (on-table uwl4) (clear drv3) (clear lol1) (on-table drv3)
|
GOAL: (clear gbu2) (on-table gbu2) (on-table lol1) (clear uwl4) (holding ptw5) (on-table uwl4) (clear drv3) (clear lol1) (on-table drv3)
STATE: (clear gbu2) (on uwl4 lol1) (on-table gbu2) (on-table lol1) (clear uwl4) (holding ptw5) (clear drv3) (on-table drv3)
|
[
[
"put-down ptw5"
],
[
"unstack uwl4 lol1"
],
[
"put-down uwl4"
],
[
"pick-up ptw5"
]
] |
[
"(clear gbu2) (on uwl4 lol1) (arm-empty) (on-table gbu2) (on-table ptw5) (on-table lol1) (clear uwl4) (clear drv3) (on-table drv3) (clear ptw5)",
"(clear gbu2) (on-table gbu2) (on-table ptw5) (on-table lol1) (holding uwl4) (clear drv3) (clear lol1) (on-table drv3) (clear ptw5)",
"(clear gbu2) (arm-empty) (on-table gbu2) (on-table ptw5) (on-table lol1) (clear uwl4) (on-table uwl4) (clear drv3) (clear lol1) (on-table drv3) (clear ptw5)",
"(clear gbu2) (on-table gbu2) (on-table lol1) (clear uwl4) (holding ptw5) (on-table uwl4) (clear drv3) (clear lol1) (on-table drv3)"
] |
file_181757
|
GOAL: (on usz1 jkw5) (clear tqk2) (on-table jkw5) (holding fvi4) (on tqk2 kas3) (clear usz1) (on-table kas3)
|
GOAL: (on usz1 jkw5) (clear tqk2) (on-table jkw5) (holding fvi4) (on tqk2 kas3) (clear usz1) (on-table kas3)
STATE: (on usz1 jkw5) (clear tqk2) (arm-empty) (on-table tqk2) (on-table jkw5) (clear fvi4) (on-table fvi4) (clear kas3) (clear usz1) (on-table kas3)
|
[
[
"pick-up fvi4"
],
[
"stack fvi4 usz1"
],
[
"pick-up tqk2"
],
[
"stack tqk2 kas3"
],
[
"unstack fvi4 usz1"
]
] |
[
"(on usz1 jkw5) (clear tqk2) (on-table tqk2) (on-table jkw5) (holding fvi4) (clear kas3) (clear usz1) (on-table kas3)",
"(on usz1 jkw5) (clear tqk2) (on fvi4 usz1) (arm-empty) (on-table tqk2) (on-table jkw5) (clear fvi4) (clear kas3) (on-table kas3)",
"(on usz1 jkw5) (on fvi4 usz1) (on-table jkw5) (clear fvi4) (holding tqk2) (clear kas3) (on-table kas3)",
"(on usz1 jkw5) (clear tqk2) (on fvi4 usz1) (arm-empty) (on-table jkw5) (clear fvi4) (on tqk2 kas3) (on-table kas3)",
"(on usz1 jkw5) (clear tqk2) (on-table jkw5) (holding fvi4) (on tqk2 kas3) (clear usz1) (on-table kas3)"
] |
file_180967
|
GOAL: (on iva1 cge3) (arm-empty) (on-table ttt2) (on-table uqi5) (clear oco4) (on oco4 ttt2) (clear iva1) (on-table cge3) (clear uqi5)
|
GOAL: (on iva1 cge3) (arm-empty) (on-table ttt2) (on-table uqi5) (clear oco4) (on oco4 ttt2) (clear iva1) (on-table cge3) (clear uqi5)
STATE: (on uqi5 oco4) (on-table oco4) (on ttt2 uqi5) (on iva1 ttt2) (clear iva1) (holding cge3)
|
[
[
"put-down cge3"
],
[
"unstack iva1 ttt2"
],
[
"stack iva1 cge3"
],
[
"unstack ttt2 uqi5"
],
[
"stack ttt2 iva1"
],
[
"unstack uqi5 oco4"
],
[
"put-down uqi5"
],
[
"pick-up oco4"
],
[
"stack oco4 uqi5"
],
[
"unstack ttt2 iva1"
],
[
"put-down ttt2"
],
[
"unstack oco4 uqi5"
],
[
"stack oco4 ttt2"
]
] |
[
"(on-table oco4) (arm-empty) (on uqi5 oco4) (on ttt2 uqi5) (clear cge3) (on iva1 ttt2) (clear iva1) (on-table cge3)",
"(holding iva1) (clear ttt2) (on uqi5 oco4) (on-table oco4) (on ttt2 uqi5) (clear cge3) (on-table cge3)",
"(clear ttt2) (on iva1 cge3) (on uqi5 oco4) (arm-empty) (on-table oco4) (on ttt2 uqi5) (clear iva1) (on-table cge3)",
"(on iva1 cge3) (on uqi5 oco4) (on-table oco4) (holding ttt2) (clear iva1) (on-table cge3) (clear uqi5)",
"(clear ttt2) (on iva1 cge3) (on uqi5 oco4) (arm-empty) (on-table oco4) (on ttt2 iva1) (on-table cge3) (clear uqi5)",
"(clear ttt2) (on iva1 cge3) (clear oco4) (holding uqi5) (on-table oco4) (on ttt2 iva1) (on-table cge3)",
"(on iva1 cge3) (arm-empty) (on-table uqi5) (clear oco4) (on ttt2 iva1) (clear uqi5) (clear ttt2) (on-table oco4) (on-table cge3)",
"(clear ttt2) (on iva1 cge3) (on-table uqi5) (holding oco4) (on ttt2 iva1) (on-table cge3) (clear uqi5)",
"(clear ttt2) (on iva1 cge3) (arm-empty) (on oco4 uqi5) (on-table uqi5) (clear oco4) (on ttt2 iva1) (on-table cge3)",
"(on iva1 cge3) (on oco4 uqi5) (on-table uqi5) (clear oco4) (holding ttt2) (clear iva1) (on-table cge3)",
"(on iva1 cge3) (arm-empty) (on-table ttt2) (on-table uqi5) (on oco4 uqi5) (clear oco4) (clear ttt2) (clear iva1) (on-table cge3)",
"(clear ttt2) (on iva1 cge3) (on-table ttt2) (on-table uqi5) (holding oco4) (clear iva1) (on-table cge3) (clear uqi5)",
"(on iva1 cge3) (arm-empty) (on-table ttt2) (on-table uqi5) (clear oco4) (on oco4 ttt2) (clear iva1) (on-table cge3) (clear uqi5)"
] |
file_29604
|
GOAL: (on zew3 odc4) (clear zxc2) (arm-empty) (on-table ell5) (on-table ibm1) (on-table odc4) (on zxc2 zew3) (clear ibm1) (clear ell5)
|
GOAL: (on zew3 odc4) (clear zxc2) (arm-empty) (on-table ell5) (on-table ibm1) (on-table odc4) (on zxc2 zew3) (clear ibm1) (clear ell5)
STATE: (on-table ibm1) (clear odc4) (on ell5 ibm1) (on-table odc4) (holding zxc2) (clear zew3) (on-table zew3) (clear ell5)
|
[
[
"put-down zxc2"
],
[
"unstack ell5 ibm1"
],
[
"stack ell5 zxc2"
],
[
"pick-up zew3"
],
[
"stack zew3 odc4"
],
[
"unstack ell5 zxc2"
],
[
"put-down ell5"
],
[
"pick-up zxc2"
],
[
"stack zxc2 zew3"
]
] |
[
"(clear zxc2) (arm-empty) (on-table zxc2) (on-table ibm1) (clear odc4) (on ell5 ibm1) (on-table odc4) (clear zew3) (on-table zew3) (clear ell5)",
"(clear zxc2) (on-table zxc2) (on-table ibm1) (clear odc4) (holding ell5) (on-table odc4) (clear zew3) (clear ibm1) (on-table zew3)",
"(arm-empty) (on-table zxc2) (on-table ibm1) (on ell5 zxc2) (clear odc4) (on-table odc4) (clear zew3) (clear ibm1) (on-table zew3) (clear ell5)",
"(on-table zxc2) (on-table ibm1) (on ell5 zxc2) (clear odc4) (on-table odc4) (holding zew3) (clear ibm1) (clear ell5)",
"(on zew3 odc4) (arm-empty) (on-table zxc2) (on-table ibm1) (on ell5 zxc2) (on-table odc4) (clear zew3) (clear ibm1) (clear ell5)",
"(on zew3 odc4) (clear zxc2) (on-table zxc2) (on-table ibm1) (holding ell5) (on-table odc4) (clear zew3) (clear ibm1)",
"(on zew3 odc4) (clear zxc2) (arm-empty) (on-table zxc2) (on-table ell5) (on-table ibm1) (on-table odc4) (clear zew3) (clear ibm1) (clear ell5)",
"(on zew3 odc4) (on-table ell5) (on-table ibm1) (on-table odc4) (holding zxc2) (clear zew3) (clear ibm1) (clear ell5)",
"(on zew3 odc4) (clear zxc2) (arm-empty) (on-table ell5) (on-table ibm1) (on-table odc4) (on zxc2 zew3) (clear ibm1) (clear ell5)"
] |
file_210566
|
GOAL: (clear pkr2) (arm-empty) (on-table pkr2) (on-table cba1) (clear xid4) (on-table xid4) (on avr3 cba1) (clear avr3)
|
GOAL: (clear pkr2) (arm-empty) (on-table pkr2) (on-table cba1) (clear xid4) (on-table xid4) (on avr3 cba1) (clear avr3)
STATE: (holding cba1) (on-table pkr2) (on avr3 pkr2) (clear xid4) (on-table xid4) (clear avr3)
|
[
[
"put-down cba1"
],
[
"unstack avr3 pkr2"
],
[
"stack avr3 cba1"
]
] |
[
"(arm-empty) (on-table pkr2) (clear xid4) (on-table cba1) (on avr3 pkr2) (on-table xid4) (clear avr3) (clear cba1)",
"(clear pkr2) (on-table pkr2) (on-table cba1) (clear xid4) (on-table xid4) (holding avr3) (clear cba1)",
"(clear pkr2) (arm-empty) (on-table pkr2) (on-table cba1) (clear xid4) (on-table xid4) (on avr3 cba1) (clear avr3)"
] |
file_104550
|
GOAL: (clear xox2) (on-table xox2) (holding txd5) (on-table myz4) (on lec1 myz4) (on qlt3 lec1) (clear qlt3)
|
GOAL: (clear xox2) (on-table xox2) (holding txd5) (on-table myz4) (on lec1 myz4) (on qlt3 lec1) (clear qlt3)
STATE: (on lec1 txd5) (clear xox2) (on myz4 lec1) (on qlt3 myz4) (arm-empty) (on-table txd5) (on xox2 qlt3)
|
[
[
"unstack xox2 qlt3"
],
[
"put-down xox2"
],
[
"unstack qlt3 myz4"
],
[
"stack qlt3 xox2"
],
[
"unstack myz4 lec1"
],
[
"put-down myz4"
],
[
"unstack lec1 txd5"
],
[
"stack lec1 myz4"
],
[
"unstack qlt3 xox2"
],
[
"stack qlt3 lec1"
],
[
"pick-up txd5"
]
] |
[
"(on lec1 txd5) (on myz4 lec1) (on-table txd5) (on qlt3 myz4) (holding xox2) (clear qlt3)",
"(on lec1 txd5) (on myz4 lec1) (arm-empty) (on-table xox2) (on-table txd5) (on qlt3 myz4) (clear xox2) (clear qlt3)",
"(on lec1 txd5) (on myz4 lec1) (on-table xox2) (on-table txd5) (clear xox2) (clear myz4) (holding qlt3)",
"(on lec1 txd5) (on myz4 lec1) (arm-empty) (on-table xox2) (on-table txd5) (on qlt3 xox2) (clear myz4) (clear qlt3)",
"(on lec1 txd5) (on-table xox2) (on-table txd5) (holding myz4) (on qlt3 xox2) (clear qlt3) (clear lec1)",
"(on lec1 txd5) (arm-empty) (on-table xox2) (on-table txd5) (clear myz4) (on qlt3 xox2) (on-table myz4) (clear qlt3) (clear lec1)",
"(holding lec1) (on-table xox2) (on-table txd5) (on qlt3 xox2) (clear myz4) (on-table myz4) (clear qlt3) (clear txd5)",
"(arm-empty) (on-table xox2) (on-table txd5) (on qlt3 xox2) (on-table myz4) (on lec1 myz4) (clear qlt3) (clear lec1) (clear txd5)",
"(clear xox2) (on-table xox2) (on-table txd5) (on-table myz4) (on lec1 myz4) (holding qlt3) (clear lec1) (clear txd5)",
"(clear xox2) (arm-empty) (on-table xox2) (on-table txd5) (on-table myz4) (on lec1 myz4) (on qlt3 lec1) (clear qlt3) (clear txd5)",
"(clear xox2) (on-table xox2) (holding txd5) (on-table myz4) (on lec1 myz4) (on qlt3 lec1) (clear qlt3)"
] |
file_41667
|
GOAL: (arm-empty) (on-table zju2) (on ppe4 piw5) (on-table jfm1) (on piw5 zju2) (clear ppe4) (on gkk3 jfm1) (clear gkk3)
|
GOAL: (arm-empty) (on-table zju2) (on ppe4 piw5) (on-table jfm1) (on piw5 zju2) (clear ppe4) (on gkk3 jfm1) (clear gkk3)
STATE: (on gkk3 piw5) (on jfm1 gkk3) (on-table zju2) (holding ppe4) (on piw5 zju2) (clear jfm1)
|
[
[
"put-down ppe4"
],
[
"unstack jfm1 gkk3"
],
[
"put-down jfm1"
],
[
"unstack gkk3 piw5"
],
[
"stack gkk3 jfm1"
],
[
"pick-up ppe4"
],
[
"stack ppe4 piw5"
]
] |
[
"(on gkk3 piw5) (on jfm1 gkk3) (arm-empty) (on-table zju2) (on piw5 zju2) (clear ppe4) (on-table ppe4) (clear jfm1)",
"(holding jfm1) (on gkk3 piw5) (on-table zju2) (on piw5 zju2) (clear ppe4) (on-table ppe4) (clear gkk3)",
"(on gkk3 piw5) (arm-empty) (on-table zju2) (on piw5 zju2) (clear ppe4) (on-table jfm1) (on-table ppe4) (clear gkk3) (clear jfm1)",
"(on-table zju2) (on-table jfm1) (on piw5 zju2) (clear ppe4) (on-table ppe4) (holding gkk3) (clear jfm1) (clear piw5)",
"(arm-empty) (on-table zju2) (on-table jfm1) (on piw5 zju2) (clear ppe4) (on-table ppe4) (on gkk3 jfm1) (clear gkk3) (clear piw5)",
"(on-table zju2) (on-table jfm1) (holding ppe4) (on piw5 zju2) (on gkk3 jfm1) (clear gkk3) (clear piw5)",
"(arm-empty) (on-table zju2) (on ppe4 piw5) (on-table jfm1) (on piw5 zju2) (clear ppe4) (on gkk3 jfm1) (clear gkk3)"
] |
file_174106
|
GOAL: (clear zgb2) (on msj4 evi1) (on-table evi1) (clear msj4) (holding wzv5) (on zgb2 jnc3) (on-table jnc3)
|
GOAL: (clear zgb2) (on msj4 evi1) (on-table evi1) (clear msj4) (holding wzv5) (on zgb2 jnc3) (on-table jnc3)
STATE: (holding evi1) (clear zgb2) (on-table zgb2) (on-table wzv5) (clear msj4) (on msj4 jnc3) (on-table jnc3) (clear wzv5)
|
[
[
"stack evi1 msj4"
],
[
"pick-up wzv5"
],
[
"stack wzv5 zgb2"
],
[
"unstack evi1 msj4"
],
[
"put-down evi1"
],
[
"unstack msj4 jnc3"
],
[
"stack msj4 evi1"
],
[
"unstack wzv5 zgb2"
],
[
"stack wzv5 msj4"
],
[
"pick-up zgb2"
],
[
"stack zgb2 jnc3"
],
[
"unstack wzv5 msj4"
]
] |
[
"(clear zgb2) (arm-empty) (on-table zgb2) (on-table wzv5) (on msj4 jnc3) (on evi1 msj4) (clear evi1) (on-table jnc3) (clear wzv5)",
"(clear zgb2) (on-table zgb2) (on msj4 jnc3) (holding wzv5) (on evi1 msj4) (clear evi1) (on-table jnc3)",
"(arm-empty) (on-table zgb2) (on wzv5 zgb2) (on msj4 jnc3) (on evi1 msj4) (clear evi1) (on-table jnc3) (clear wzv5)",
"(holding evi1) (on-table zgb2) (on wzv5 zgb2) (clear msj4) (on msj4 jnc3) (on-table jnc3) (clear wzv5)",
"(arm-empty) (on-table zgb2) (on wzv5 zgb2) (clear msj4) (clear wzv5) (on-table evi1) (on msj4 jnc3) (clear evi1) (on-table jnc3)",
"(on-table zgb2) (on-table evi1) (holding msj4) (on wzv5 zgb2) (clear jnc3) (clear evi1) (on-table jnc3) (clear wzv5)",
"(on msj4 evi1) (arm-empty) (on-table zgb2) (on-table evi1) (on wzv5 zgb2) (clear msj4) (clear jnc3) (on-table jnc3) (clear wzv5)",
"(clear zgb2) (on msj4 evi1) (on-table zgb2) (on-table evi1) (clear msj4) (holding wzv5) (clear jnc3) (on-table jnc3)",
"(clear zgb2) (on msj4 evi1) (on wzv5 msj4) (on-table zgb2) (arm-empty) (on-table evi1) (clear jnc3) (on-table jnc3) (clear wzv5)",
"(on msj4 evi1) (on wzv5 msj4) (on-table evi1) (holding zgb2) (clear jnc3) (on-table jnc3) (clear wzv5)",
"(clear zgb2) (on msj4 evi1) (on wzv5 msj4) (arm-empty) (on-table evi1) (on zgb2 jnc3) (on-table jnc3) (clear wzv5)",
"(clear zgb2) (on msj4 evi1) (on-table evi1) (clear msj4) (holding wzv5) (on zgb2 jnc3) (on-table jnc3)"
] |
file_41947
|
GOAL: (on-table xqy2) (on-table dwg1) (holding coy4) (on scu3 xqy2) (on ato5 scu3) (clear dwg1) (clear ato5)
|
GOAL: (on-table xqy2) (on-table dwg1) (holding coy4) (on scu3 xqy2) (on ato5 scu3) (clear dwg1) (clear ato5)
STATE: (holding dwg1) (on-table xqy2) (on coy4 ato5) (on scu3 xqy2) (clear coy4) (on ato5 scu3)
|
[
[
"put-down dwg1"
],
[
"unstack coy4 ato5"
]
] |
[
"(arm-empty) (on-table xqy2) (on coy4 ato5) (clear coy4) (on ato5 scu3) (on-table dwg1) (on scu3 xqy2) (clear dwg1)",
"(on-table xqy2) (on-table dwg1) (holding coy4) (on scu3 xqy2) (on ato5 scu3) (clear dwg1) (clear ato5)"
] |
file_201301
|
GOAL: (on-table lar2) (on-table xrg1) (holding yiy4) (on brv5 lar2) (clear udt3) (clear xrg1) (on-table udt3) (clear brv5)
|
GOAL: (on-table lar2) (on-table xrg1) (holding yiy4) (on brv5 lar2) (clear udt3) (clear xrg1) (on-table udt3) (clear brv5)
STATE: (clear lar2) (on udt3 brv5) (arm-empty) (on-table xrg1) (on brv5 xrg1) (on yiy4 udt3) (on lar2 yiy4)
|
[
[
"unstack lar2 yiy4"
],
[
"put-down lar2"
],
[
"unstack yiy4 udt3"
],
[
"stack yiy4 lar2"
],
[
"unstack udt3 brv5"
],
[
"put-down udt3"
],
[
"unstack brv5 xrg1"
],
[
"put-down brv5"
],
[
"unstack yiy4 lar2"
],
[
"put-down yiy4"
],
[
"pick-up brv5"
],
[
"stack brv5 lar2"
],
[
"pick-up yiy4"
]
] |
[
"(on udt3 brv5) (clear yiy4) (on-table xrg1) (on brv5 xrg1) (on yiy4 udt3) (holding lar2)",
"(on udt3 brv5) (arm-empty) (on-table lar2) (clear yiy4) (clear lar2) (on-table xrg1) (on brv5 xrg1) (on yiy4 udt3)",
"(on udt3 brv5) (clear lar2) (on-table lar2) (on-table xrg1) (holding yiy4) (on brv5 xrg1) (clear udt3)",
"(on udt3 brv5) (arm-empty) (on-table lar2) (on-table xrg1) (clear yiy4) (on brv5 xrg1) (on yiy4 lar2) (clear udt3)",
"(on-table lar2) (on-table xrg1) (clear yiy4) (on brv5 xrg1) (on yiy4 lar2) (holding udt3) (clear brv5)",
"(arm-empty) (on-table lar2) (clear yiy4) (clear brv5) (on-table xrg1) (on brv5 xrg1) (on yiy4 lar2) (clear udt3) (on-table udt3)",
"(on-table lar2) (on-table xrg1) (clear yiy4) (holding brv5) (on yiy4 lar2) (clear udt3) (clear xrg1) (on-table udt3)",
"(arm-empty) (on-table lar2) (on-table brv5) (on-table xrg1) (clear yiy4) (on yiy4 lar2) (clear udt3) (clear xrg1) (on-table udt3) (clear brv5)",
"(clear lar2) (on-table lar2) (on-table brv5) (on-table xrg1) (holding yiy4) (clear udt3) (clear xrg1) (on-table udt3) (clear brv5)",
"(clear lar2) (arm-empty) (on-table lar2) (on-table brv5) (on-table xrg1) (clear yiy4) (on-table yiy4) (clear udt3) (clear xrg1) (on-table udt3) (clear brv5)",
"(clear lar2) (on-table lar2) (on-table xrg1) (clear yiy4) (holding brv5) (on-table yiy4) (clear udt3) (clear xrg1) (on-table udt3)",
"(arm-empty) (on-table lar2) (on-table xrg1) (on brv5 lar2) (clear yiy4) (on-table yiy4) (clear udt3) (clear xrg1) (on-table udt3) (clear brv5)",
"(on-table lar2) (on-table xrg1) (holding yiy4) (on brv5 lar2) (clear udt3) (clear xrg1) (on-table udt3) (clear brv5)"
] |
file_175733
|
GOAL: (clear vzu2) (arm-empty) (on-table vzu2) (on-table gkm5) (on sfj4 gkm5) (on dij1 sfj4) (clear cex3) (clear dij1) (on-table cex3)
|
GOAL: (clear vzu2) (arm-empty) (on-table vzu2) (on-table gkm5) (on sfj4 gkm5) (on dij1 sfj4) (clear cex3) (clear dij1) (on-table cex3)
STATE: (on cex3 sfj4) (clear vzu2) (on dij1 cex3) (arm-empty) (on-table vzu2) (on sfj4 gkm5) (on-table gkm5) (clear dij1)
|
[
[
"unstack dij1 cex3"
],
[
"put-down dij1"
],
[
"unstack cex3 sfj4"
],
[
"put-down cex3"
],
[
"pick-up vzu2"
],
[
"stack vzu2 sfj4"
],
[
"pick-up dij1"
],
[
"stack dij1 cex3"
],
[
"unstack vzu2 sfj4"
],
[
"put-down vzu2"
],
[
"unstack dij1 cex3"
],
[
"stack dij1 sfj4"
]
] |
[
"(holding dij1) (on cex3 sfj4) (clear vzu2) (on-table vzu2) (on sfj4 gkm5) (on-table gkm5) (clear cex3)",
"(arm-empty) (on-table vzu2) (on sfj4 gkm5) (on-table gkm5) (on cex3 sfj4) (clear vzu2) (on-table dij1) (clear cex3) (clear dij1)",
"(clear vzu2) (on-table vzu2) (on sfj4 gkm5) (on-table gkm5) (on-table dij1) (clear sfj4) (holding cex3) (clear dij1)",
"(clear vzu2) (arm-empty) (on-table vzu2) (on sfj4 gkm5) (on-table gkm5) (on-table dij1) (clear sfj4) (clear cex3) (clear dij1) (on-table cex3)",
"(on sfj4 gkm5) (on-table gkm5) (on-table dij1) (clear sfj4) (holding vzu2) (clear cex3) (clear dij1) (on-table cex3)",
"(clear vzu2) (arm-empty) (on sfj4 gkm5) (on-table gkm5) (on-table dij1) (on vzu2 sfj4) (clear cex3) (clear dij1) (on-table cex3)",
"(holding dij1) (clear vzu2) (on sfj4 gkm5) (on-table gkm5) (on vzu2 sfj4) (clear cex3) (on-table cex3)",
"(clear vzu2) (on dij1 cex3) (arm-empty) (on-table gkm5) (on sfj4 gkm5) (on vzu2 sfj4) (clear dij1) (on-table cex3)",
"(on dij1 cex3) (on-table gkm5) (on sfj4 gkm5) (clear sfj4) (holding vzu2) (clear dij1) (on-table cex3)",
"(on dij1 cex3) (arm-empty) (on-table vzu2) (on-table gkm5) (on sfj4 gkm5) (clear sfj4) (clear vzu2) (clear dij1) (on-table cex3)",
"(holding dij1) (clear vzu2) (on-table vzu2) (on-table gkm5) (on sfj4 gkm5) (clear sfj4) (clear cex3) (on-table cex3)",
"(clear vzu2) (arm-empty) (on-table vzu2) (on-table gkm5) (on sfj4 gkm5) (on dij1 sfj4) (clear cex3) (clear dij1) (on-table cex3)"
] |
file_177275
|
GOAL: (on ovc1 mkw3) (on agp4 ovc1) (arm-empty) (on aci5 ops2) (on ops2 agp4) (on-table mkw3) (clear aci5)
|
GOAL: (on ovc1 mkw3) (on agp4 ovc1) (arm-empty) (on aci5 ops2) (on ops2 agp4) (on-table mkw3) (clear aci5)
STATE: (on-table ops2) (on-table aci5) (holding agp4) (clear mkw3) (on ovc1 ops2) (clear ovc1) (on-table mkw3) (clear aci5)
|
[
[
"stack agp4 aci5"
],
[
"unstack ovc1 ops2"
],
[
"stack ovc1 mkw3"
],
[
"unstack agp4 aci5"
],
[
"stack agp4 ovc1"
],
[
"pick-up ops2"
],
[
"stack ops2 agp4"
],
[
"pick-up aci5"
],
[
"stack aci5 ops2"
]
] |
[
"(arm-empty) (on-table ops2) (on-table aci5) (on agp4 aci5) (clear agp4) (clear mkw3) (on ovc1 ops2) (clear ovc1) (on-table mkw3)",
"(holding ovc1) (clear ops2) (on-table ops2) (on-table aci5) (on agp4 aci5) (clear agp4) (clear mkw3) (on-table mkw3)",
"(clear ops2) (on ovc1 mkw3) (arm-empty) (on-table ops2) (on-table aci5) (on agp4 aci5) (clear agp4) (clear ovc1) (on-table mkw3)",
"(clear ops2) (on ovc1 mkw3) (on-table ops2) (on-table aci5) (holding agp4) (clear ovc1) (on-table mkw3) (clear aci5)",
"(clear ops2) (on ovc1 mkw3) (on agp4 ovc1) (on-table ops2) (on-table aci5) (arm-empty) (clear agp4) (on-table mkw3) (clear aci5)",
"(on ovc1 mkw3) (on agp4 ovc1) (on-table aci5) (clear agp4) (holding ops2) (on-table mkw3) (clear aci5)",
"(clear ops2) (on ovc1 mkw3) (on agp4 ovc1) (arm-empty) (on-table aci5) (on ops2 agp4) (on-table mkw3) (clear aci5)",
"(clear ops2) (on ovc1 mkw3) (on agp4 ovc1) (holding aci5) (on ops2 agp4) (on-table mkw3)",
"(on ovc1 mkw3) (on agp4 ovc1) (arm-empty) (on aci5 ops2) (on ops2 agp4) (on-table mkw3) (clear aci5)"
] |
file_117430
|
GOAL: (on mmg5 qby1) (on gtx3 fkl4) (on-table fkl4) (arm-empty) (on vnq2 gtx3) (on qby1 vnq2) (clear mmg5)
|
GOAL: (on mmg5 qby1) (on gtx3 fkl4) (on-table fkl4) (arm-empty) (on vnq2 gtx3) (on qby1 vnq2) (clear mmg5)
STATE: (on gtx3 fkl4) (arm-empty) (on-table mmg5) (clear mmg5) (on-table fkl4) (on vnq2 gtx3) (on qby1 vnq2) (clear qby1)
|
[
[
"pick-up mmg5"
],
[
"stack mmg5 qby1"
]
] |
[
"(on gtx3 fkl4) (holding mmg5) (on-table fkl4) (on vnq2 gtx3) (on qby1 vnq2) (clear qby1)",
"(on mmg5 qby1) (on gtx3 fkl4) (on-table fkl4) (arm-empty) (on vnq2 gtx3) (on qby1 vnq2) (clear mmg5)"
] |
file_119100
|
GOAL: (on ifg3 xso5) (arm-empty) (on xso5 sdy4) (on-table sdy4) (on lex2 ifg3) (on ccn1 lex2) (clear ccn1)
|
GOAL: (on ifg3 xso5) (arm-empty) (on xso5 sdy4) (on-table sdy4) (on lex2 ifg3) (on ccn1 lex2) (clear ccn1)
STATE: (on-table ccn1) (on xso5 lex2) (clear sdy4) (on-table sdy4) (on lex2 ccn1) (holding ifg3) (clear xso5)
|
[
[
"put-down ifg3"
],
[
"unstack xso5 lex2"
],
[
"stack xso5 sdy4"
],
[
"pick-up ifg3"
],
[
"stack ifg3 xso5"
],
[
"unstack lex2 ccn1"
],
[
"stack lex2 ifg3"
],
[
"pick-up ccn1"
],
[
"stack ccn1 lex2"
]
] |
[
"(arm-empty) (on xso5 lex2) (clear sdy4) (on lex2 ccn1) (clear xso5) (on-table ccn1) (on-table sdy4) (clear ifg3) (on-table ifg3)",
"(clear lex2) (on-table ccn1) (clear sdy4) (holding xso5) (on-table sdy4) (on lex2 ccn1) (clear ifg3) (on-table ifg3)",
"(clear lex2) (arm-empty) (on xso5 sdy4) (on-table ccn1) (on-table sdy4) (on lex2 ccn1) (clear ifg3) (on-table ifg3) (clear xso5)",
"(clear lex2) (on xso5 sdy4) (on-table ccn1) (on-table sdy4) (on lex2 ccn1) (holding ifg3) (clear xso5)",
"(clear lex2) (on ifg3 xso5) (on xso5 sdy4) (arm-empty) (on-table ccn1) (on-table sdy4) (on lex2 ccn1) (clear ifg3)",
"(on ifg3 xso5) (on xso5 sdy4) (on-table ccn1) (on-table sdy4) (holding lex2) (clear ifg3) (clear ccn1)",
"(on ifg3 xso5) (clear lex2) (on xso5 sdy4) (arm-empty) (on-table ccn1) (on-table sdy4) (on lex2 ifg3) (clear ccn1)",
"(holding ccn1) (on ifg3 xso5) (clear lex2) (on xso5 sdy4) (on-table sdy4) (on lex2 ifg3)",
"(on ifg3 xso5) (arm-empty) (on xso5 sdy4) (on-table sdy4) (on lex2 ifg3) (on ccn1 lex2) (clear ccn1)"
] |
file_4115
|
GOAL: (arm-empty) (on-table bbh5) (on sdg4 bbh5) (on gim3 hnb2) (on vco1 sdg4) (on hnb2 vco1) (clear gim3)
|
GOAL: (arm-empty) (on-table bbh5) (on sdg4 bbh5) (on gim3 hnb2) (on vco1 sdg4) (on hnb2 vco1) (clear gim3)
STATE: (clear hnb2) (arm-empty) (on-table hnb2) (on-table bbh5) (on sdg4 bbh5) (on vco1 sdg4) (on gim3 vco1) (clear gim3)
|
[
[
"unstack gim3 vco1"
],
[
"put-down gim3"
],
[
"pick-up hnb2"
],
[
"stack hnb2 vco1"
],
[
"pick-up gim3"
],
[
"stack gim3 hnb2"
]
] |
[
"(clear hnb2) (on-table hnb2) (on-table bbh5) (on sdg4 bbh5) (on vco1 sdg4) (holding gim3) (clear vco1)",
"(arm-empty) (on-table hnb2) (on-table bbh5) (on sdg4 bbh5) (clear hnb2) (on vco1 sdg4) (clear gim3) (clear vco1) (on-table gim3)",
"(on-table bbh5) (on sdg4 bbh5) (holding hnb2) (on vco1 sdg4) (clear gim3) (clear vco1) (on-table gim3)",
"(arm-empty) (on-table bbh5) (on sdg4 bbh5) (on hnb2 vco1) (clear hnb2) (on vco1 sdg4) (clear gim3) (on-table gim3)",
"(clear hnb2) (on-table bbh5) (on sdg4 bbh5) (on vco1 sdg4) (on hnb2 vco1) (holding gim3)",
"(arm-empty) (on-table bbh5) (on sdg4 bbh5) (on gim3 hnb2) (on vco1 sdg4) (on hnb2 vco1) (clear gim3)"
] |
file_215700
|
GOAL: (clear zch2) (on-table jye1) (clear led4) (on-table led4) (on zch2 jye1) (holding tzs3)
|
GOAL: (clear zch2) (on-table jye1) (clear led4) (on-table led4) (on zch2 jye1) (holding tzs3)
STATE: (arm-empty) (on-table led4) (on zch2 led4) (clear tzs3) (on jye1 zch2) (clear jye1) (on-table tzs3)
|
[
[
"unstack jye1 zch2"
],
[
"put-down jye1"
],
[
"unstack zch2 led4"
],
[
"stack zch2 jye1"
],
[
"pick-up tzs3"
]
] |
[
"(on zch2 led4) (holding jye1) (clear zch2) (on-table led4) (clear tzs3) (on-table tzs3)",
"(arm-empty) (on zch2 led4) (clear zch2) (on-table jye1) (on-table led4) (clear tzs3) (clear jye1) (on-table tzs3)",
"(on-table jye1) (clear led4) (on-table led4) (holding zch2) (clear tzs3) (clear jye1) (on-table tzs3)",
"(clear zch2) (arm-empty) (on-table jye1) (clear led4) (on-table led4) (on zch2 jye1) (clear tzs3) (on-table tzs3)",
"(clear zch2) (on-table jye1) (clear led4) (on-table led4) (on zch2 jye1) (holding tzs3)"
] |
file_69342
|
GOAL: (arm-empty) (on-table tuz2) (on anx5 tuz2) (on lmu4 tqx3) (on gut1 lmu4) (clear gut1) (on-table tqx3) (clear anx5)
|
GOAL: (arm-empty) (on-table tuz2) (on anx5 tuz2) (on lmu4 tqx3) (on gut1 lmu4) (clear gut1) (on-table tqx3) (clear anx5)
STATE: (on-table anx5) (on-table gut1) (clear lmu4) (on lmu4 tqx3) (holding tuz2) (clear gut1) (on-table tqx3) (clear anx5)
|
[
[
"put-down tuz2"
],
[
"pick-up anx5"
],
[
"stack anx5 tuz2"
],
[
"pick-up gut1"
],
[
"stack gut1 lmu4"
]
] |
[
"(clear tuz2) (arm-empty) (on-table tuz2) (on-table anx5) (on-table gut1) (clear lmu4) (on lmu4 tqx3) (clear gut1) (on-table tqx3) (clear anx5)",
"(clear tuz2) (on-table tuz2) (on-table gut1) (clear lmu4) (on lmu4 tqx3) (holding anx5) (clear gut1) (on-table tqx3)",
"(arm-empty) (on-table tuz2) (on-table gut1) (on anx5 tuz2) (clear lmu4) (on lmu4 tqx3) (clear gut1) (on-table tqx3) (clear anx5)",
"(holding gut1) (on-table tuz2) (on anx5 tuz2) (clear lmu4) (on lmu4 tqx3) (on-table tqx3) (clear anx5)",
"(arm-empty) (on-table tuz2) (on anx5 tuz2) (on lmu4 tqx3) (on gut1 lmu4) (clear gut1) (on-table tqx3) (clear anx5)"
] |
file_104920
|
GOAL: (clear utm2) (on njn1 qrm3) (arm-empty) (on utm2 njn1) (on-table qrm3)
|
GOAL: (clear utm2) (on njn1 qrm3) (arm-empty) (on utm2 njn1) (on-table qrm3)
STATE: (clear utm2) (on-table utm2) (on-table njn1) (holding qrm3) (clear njn1)
|
[
[
"put-down qrm3"
],
[
"pick-up njn1"
],
[
"stack njn1 qrm3"
],
[
"pick-up utm2"
],
[
"stack utm2 njn1"
]
] |
[
"(clear utm2) (arm-empty) (on-table utm2) (on-table njn1) (clear qrm3) (clear njn1) (on-table qrm3)",
"(holding njn1) (clear utm2) (on-table utm2) (clear qrm3) (on-table qrm3)",
"(clear utm2) (on njn1 qrm3) (arm-empty) (on-table utm2) (clear njn1) (on-table qrm3)",
"(on njn1 qrm3) (holding utm2) (clear njn1) (on-table qrm3)",
"(clear utm2) (on njn1 qrm3) (arm-empty) (on utm2 njn1) (on-table qrm3)"
] |
file_58209
|
GOAL: (on ihx1 yjq5) (arm-empty) (on-table yjq5) (clear qvz4) (on chr2 ihx1) (on qvz4 chr2) (clear zkd3) (on-table zkd3)
|
GOAL: (on ihx1 yjq5) (arm-empty) (on-table yjq5) (clear qvz4) (on chr2 ihx1) (on qvz4 chr2) (clear zkd3) (on-table zkd3)
STATE: (on ihx1 yjq5) (clear chr2) (on-table chr2) (holding qvz4) (on yjq5 zkd3) (clear ihx1) (on-table zkd3)
|
[
[
"stack qvz4 chr2"
],
[
"unstack ihx1 yjq5"
],
[
"put-down ihx1"
],
[
"unstack yjq5 zkd3"
],
[
"put-down yjq5"
],
[
"unstack qvz4 chr2"
],
[
"stack qvz4 zkd3"
],
[
"pick-up ihx1"
],
[
"stack ihx1 yjq5"
],
[
"pick-up chr2"
],
[
"stack chr2 ihx1"
],
[
"unstack qvz4 zkd3"
],
[
"stack qvz4 chr2"
]
] |
[
"(on ihx1 yjq5) (arm-empty) (on-table chr2) (clear qvz4) (on yjq5 zkd3) (on qvz4 chr2) (clear ihx1) (on-table zkd3)",
"(holding ihx1) (on-table chr2) (clear qvz4) (on yjq5 zkd3) (on qvz4 chr2) (on-table zkd3) (clear yjq5)",
"(arm-empty) (on-table chr2) (clear qvz4) (on yjq5 zkd3) (clear yjq5) (on-table ihx1) (on qvz4 chr2) (clear ihx1) (on-table zkd3)",
"(on-table chr2) (on-table ihx1) (clear qvz4) (holding yjq5) (on qvz4 chr2) (clear zkd3) (clear ihx1) (on-table zkd3)",
"(arm-empty) (on-table chr2) (on-table yjq5) (on-table ihx1) (clear qvz4) (on qvz4 chr2) (clear zkd3) (clear ihx1) (on-table zkd3) (clear yjq5)",
"(clear chr2) (on-table chr2) (on-table yjq5) (on-table ihx1) (holding qvz4) (clear zkd3) (clear ihx1) (on-table zkd3) (clear yjq5)",
"(clear chr2) (arm-empty) (on-table chr2) (on-table yjq5) (on-table ihx1) (clear qvz4) (on qvz4 zkd3) (clear ihx1) (on-table zkd3) (clear yjq5)",
"(holding ihx1) (clear chr2) (on-table chr2) (on-table yjq5) (clear qvz4) (on qvz4 zkd3) (on-table zkd3) (clear yjq5)",
"(on ihx1 yjq5) (clear chr2) (arm-empty) (on-table chr2) (on-table yjq5) (clear qvz4) (on qvz4 zkd3) (clear ihx1) (on-table zkd3)",
"(on ihx1 yjq5) (on-table yjq5) (clear qvz4) (on qvz4 zkd3) (holding chr2) (clear ihx1) (on-table zkd3)",
"(on ihx1 yjq5) (clear chr2) (arm-empty) (on-table yjq5) (clear qvz4) (on qvz4 zkd3) (on chr2 ihx1) (on-table zkd3)",
"(on ihx1 yjq5) (clear chr2) (on-table yjq5) (holding qvz4) (on chr2 ihx1) (clear zkd3) (on-table zkd3)",
"(on ihx1 yjq5) (arm-empty) (on-table yjq5) (clear qvz4) (on chr2 ihx1) (on qvz4 chr2) (clear zkd3) (on-table zkd3)"
] |
file_161203
|
GOAL: (on mcc4 uqc1) (on-table rvw2) (on-table uqc1) (on sjz3 rvw2) (clear mcc4) (holding bkz5) (clear sjz3)
|
GOAL: (on mcc4 uqc1) (on-table rvw2) (on-table uqc1) (on sjz3 rvw2) (clear mcc4) (holding bkz5) (clear sjz3)
STATE: (holding uqc1) (clear rvw2) (on-table bkz5) (clear mcc4) (on-table mcc4) (on rvw2 sjz3) (on-table sjz3) (clear bkz5)
|
[
[
"stack uqc1 bkz5"
],
[
"unstack rvw2 sjz3"
],
[
"put-down rvw2"
],
[
"pick-up sjz3"
],
[
"stack sjz3 rvw2"
],
[
"unstack uqc1 bkz5"
],
[
"put-down uqc1"
],
[
"pick-up mcc4"
],
[
"stack mcc4 uqc1"
],
[
"pick-up bkz5"
]
] |
[
"(on uqc1 bkz5) (clear rvw2) (arm-empty) (on-table bkz5) (clear mcc4) (on-table mcc4) (on rvw2 sjz3) (clear uqc1) (on-table sjz3)",
"(on uqc1 bkz5) (on-table bkz5) (clear mcc4) (on-table mcc4) (holding rvw2) (clear sjz3) (clear uqc1) (on-table sjz3)",
"(on uqc1 bkz5) (clear rvw2) (arm-empty) (on-table rvw2) (on-table bkz5) (clear mcc4) (on-table mcc4) (clear sjz3) (clear uqc1) (on-table sjz3)",
"(on uqc1 bkz5) (clear rvw2) (on-table rvw2) (on-table bkz5) (clear mcc4) (on-table mcc4) (holding sjz3) (clear uqc1)",
"(on uqc1 bkz5) (arm-empty) (on-table rvw2) (on-table bkz5) (on sjz3 rvw2) (clear mcc4) (on-table mcc4) (clear sjz3) (clear uqc1)",
"(holding uqc1) (on-table rvw2) (on-table bkz5) (on sjz3 rvw2) (clear mcc4) (on-table mcc4) (clear sjz3) (clear bkz5)",
"(arm-empty) (on-table rvw2) (on-table bkz5) (on-table uqc1) (on sjz3 rvw2) (clear mcc4) (on-table mcc4) (clear sjz3) (clear uqc1) (clear bkz5)",
"(on-table rvw2) (on-table bkz5) (on-table uqc1) (holding mcc4) (on sjz3 rvw2) (clear sjz3) (clear uqc1) (clear bkz5)",
"(on mcc4 uqc1) (arm-empty) (on-table rvw2) (on-table bkz5) (on-table uqc1) (on sjz3 rvw2) (clear mcc4) (clear sjz3) (clear bkz5)",
"(on mcc4 uqc1) (on-table rvw2) (on-table uqc1) (on sjz3 rvw2) (clear mcc4) (holding bkz5) (clear sjz3)"
] |
file_182801
|
GOAL: (on vlx1 mqs3) (on gpu4 vlx1) (on-table pvo2) (on-table hps5) (arm-empty) (on mqs3 pvo2) (clear gpu4) (clear hps5)
|
GOAL: (on vlx1 mqs3) (on gpu4 vlx1) (on-table pvo2) (on-table hps5) (arm-empty) (on mqs3 pvo2) (clear gpu4) (clear hps5)
STATE: (on-table pvo2) (on-table vlx1) (on mqs3 pvo2) (clear gpu4) (holding hps5) (on-table gpu4) (clear mqs3) (clear vlx1)
|
[
[
"put-down hps5"
],
[
"pick-up gpu4"
],
[
"stack gpu4 hps5"
],
[
"pick-up vlx1"
],
[
"stack vlx1 mqs3"
],
[
"unstack gpu4 hps5"
],
[
"stack gpu4 vlx1"
]
] |
[
"(arm-empty) (on-table pvo2) (on-table hps5) (on-table vlx1) (on mqs3 pvo2) (clear gpu4) (on-table gpu4) (clear mqs3) (clear vlx1) (clear hps5)",
"(on-table pvo2) (on-table hps5) (on-table vlx1) (holding gpu4) (on mqs3 pvo2) (clear mqs3) (clear vlx1) (clear hps5)",
"(arm-empty) (on-table pvo2) (on-table hps5) (on-table vlx1) (on gpu4 hps5) (on mqs3 pvo2) (clear gpu4) (clear mqs3) (clear vlx1)",
"(holding vlx1) (on-table pvo2) (on-table hps5) (on gpu4 hps5) (on mqs3 pvo2) (clear gpu4) (clear mqs3)",
"(on vlx1 mqs3) (arm-empty) (on-table pvo2) (on-table hps5) (on gpu4 hps5) (on mqs3 pvo2) (clear gpu4) (clear vlx1)",
"(on vlx1 mqs3) (on-table pvo2) (on-table hps5) (holding gpu4) (on mqs3 pvo2) (clear vlx1) (clear hps5)",
"(on vlx1 mqs3) (on gpu4 vlx1) (on-table pvo2) (on-table hps5) (arm-empty) (on mqs3 pvo2) (clear gpu4) (clear hps5)"
] |
file_152245
|
GOAL: (arm-empty) (on-table xlz1) (on rle3 isn2) (clear bqf4) (on-table bqf4) (on isn2 xlz1) (clear rle3)
|
GOAL: (arm-empty) (on-table xlz1) (on rle3 isn2) (clear bqf4) (on-table bqf4) (on isn2 xlz1) (clear rle3)
STATE: (arm-empty) (on-table xlz1) (on rle3 isn2) (on-table bqf4) (on isn2 bqf4) (clear rle3) (clear xlz1)
|
[
[
"unstack rle3 isn2"
],
[
"put-down rle3"
],
[
"unstack isn2 bqf4"
],
[
"stack isn2 xlz1"
],
[
"pick-up rle3"
],
[
"stack rle3 isn2"
]
] |
[
"(on isn2 bqf4) (clear isn2) (on-table xlz1) (on-table bqf4) (holding rle3) (clear xlz1)",
"(clear isn2) (on-table bqf4) (arm-empty) (on isn2 bqf4) (clear rle3) (on-table xlz1) (clear xlz1) (on-table rle3)",
"(on-table xlz1) (clear bqf4) (on-table bqf4) (holding isn2) (clear rle3) (clear xlz1) (on-table rle3)",
"(clear isn2) (arm-empty) (on-table xlz1) (clear bqf4) (on-table bqf4) (on isn2 xlz1) (clear rle3) (on-table rle3)",
"(clear isn2) (on-table xlz1) (clear bqf4) (on-table bqf4) (on isn2 xlz1) (holding rle3)",
"(arm-empty) (on-table xlz1) (on rle3 isn2) (clear bqf4) (on-table bqf4) (on isn2 xlz1) (clear rle3)"
] |
file_202001
|
GOAL: (holding onr1) (on fty5 xls4) (on-table tqy2) (on ssu3 tqy2) (on-table xls4) (clear ssu3) (clear fty5)
|
GOAL: (holding onr1) (on fty5 xls4) (on-table tqy2) (on ssu3 tqy2) (on-table xls4) (clear ssu3) (clear fty5)
STATE: (holding onr1) (on ssu3 xls4) (clear tqy2) (on-table tqy2) (on-table fty5) (on-table xls4) (clear ssu3) (clear fty5)
|
[
[
"stack onr1 tqy2"
],
[
"unstack ssu3 xls4"
],
[
"put-down ssu3"
],
[
"pick-up fty5"
],
[
"stack fty5 xls4"
],
[
"pick-up ssu3"
],
[
"stack ssu3 fty5"
],
[
"unstack onr1 tqy2"
],
[
"put-down onr1"
],
[
"unstack ssu3 fty5"
],
[
"stack ssu3 tqy2"
],
[
"pick-up onr1"
]
] |
[
"(on ssu3 xls4) (arm-empty) (on-table tqy2) (on-table fty5) (on-table xls4) (clear ssu3) (on onr1 tqy2) (clear onr1) (clear fty5)",
"(on-table tqy2) (on-table fty5) (clear xls4) (on-table xls4) (on onr1 tqy2) (clear onr1) (holding ssu3) (clear fty5)",
"(arm-empty) (on-table tqy2) (on-table fty5) (clear xls4) (on-table xls4) (clear ssu3) (on onr1 tqy2) (clear onr1) (on-table ssu3) (clear fty5)",
"(on-table tqy2) (clear xls4) (holding fty5) (on-table xls4) (clear ssu3) (on onr1 tqy2) (clear onr1) (on-table ssu3)",
"(arm-empty) (on fty5 xls4) (on-table tqy2) (on-table xls4) (clear ssu3) (on onr1 tqy2) (clear onr1) (on-table ssu3) (clear fty5)",
"(on fty5 xls4) (on-table tqy2) (on-table xls4) (on onr1 tqy2) (clear onr1) (holding ssu3) (clear fty5)",
"(on ssu3 fty5) (arm-empty) (on fty5 xls4) (on-table tqy2) (on-table xls4) (clear ssu3) (on onr1 tqy2) (clear onr1)",
"(holding onr1) (on ssu3 fty5) (on fty5 xls4) (on-table tqy2) (clear tqy2) (on-table xls4) (clear ssu3)",
"(on ssu3 fty5) (arm-empty) (on fty5 xls4) (on-table tqy2) (clear tqy2) (on-table onr1) (on-table xls4) (clear ssu3) (clear onr1)",
"(on fty5 xls4) (on-table tqy2) (clear tqy2) (on-table onr1) (on-table xls4) (holding ssu3) (clear onr1) (clear fty5)",
"(arm-empty) (on fty5 xls4) (on-table tqy2) (on-table onr1) (on ssu3 tqy2) (on-table xls4) (clear ssu3) (clear onr1) (clear fty5)",
"(holding onr1) (on fty5 xls4) (on-table tqy2) (on ssu3 tqy2) (on-table xls4) (clear ssu3) (clear fty5)"
] |
file_94830
|
GOAL: (on tku3 gmw4) (clear xpx2) (on ntr1 oty5) (arm-empty) (on-table xpx2) (on-table oty5) (on-table gmw4) (clear tku3) (clear ntr1)
|
GOAL: (on tku3 gmw4) (clear xpx2) (on ntr1 oty5) (arm-empty) (on-table xpx2) (on-table oty5) (on-table gmw4) (clear tku3) (clear ntr1)
STATE: (clear xpx2) (arm-empty) (on-table xpx2) (on-table ntr1) (clear gmw4) (on oty5 tku3) (on-table gmw4) (clear ntr1) (on-table tku3) (clear oty5)
|
[
[
"unstack oty5 tku3"
],
[
"put-down oty5"
],
[
"pick-up tku3"
],
[
"stack tku3 gmw4"
],
[
"pick-up ntr1"
],
[
"stack ntr1 oty5"
]
] |
[
"(clear xpx2) (on-table xpx2) (on-table ntr1) (clear gmw4) (holding oty5) (on-table gmw4) (clear tku3) (clear ntr1) (on-table tku3)",
"(clear xpx2) (arm-empty) (on-table xpx2) (on-table oty5) (on-table ntr1) (clear gmw4) (on-table gmw4) (clear tku3) (clear ntr1) (on-table tku3) (clear oty5)",
"(clear xpx2) (on-table xpx2) (on-table oty5) (on-table ntr1) (clear gmw4) (on-table gmw4) (holding tku3) (clear ntr1) (clear oty5)",
"(on tku3 gmw4) (clear xpx2) (arm-empty) (on-table xpx2) (on-table oty5) (on-table ntr1) (on-table gmw4) (clear tku3) (clear ntr1) (clear oty5)",
"(holding ntr1) (on tku3 gmw4) (clear xpx2) (on-table xpx2) (on-table oty5) (on-table gmw4) (clear tku3) (clear oty5)",
"(on tku3 gmw4) (clear xpx2) (on ntr1 oty5) (arm-empty) (on-table xpx2) (on-table oty5) (on-table gmw4) (clear tku3) (clear ntr1)"
] |
file_118704
|
GOAL: (holding gzv1) (on-table ben2) (on cls4 cue5) (on cue5 ben2) (clear cls4) (clear icl3) (on-table icl3)
|
GOAL: (holding gzv1) (on-table ben2) (on cls4 cue5) (on cue5 ben2) (clear cls4) (clear icl3) (on-table icl3)
STATE: (on icl3 cue5) (on cls4 gzv1) (on gzv1 icl3) (on-table ben2) (arm-empty) (on cue5 ben2) (clear cls4)
|
[
[
"unstack cls4 gzv1"
],
[
"put-down cls4"
],
[
"unstack gzv1 icl3"
],
[
"stack gzv1 cls4"
],
[
"unstack icl3 cue5"
],
[
"put-down icl3"
],
[
"unstack gzv1 cls4"
],
[
"stack gzv1 icl3"
],
[
"pick-up cls4"
],
[
"stack cls4 cue5"
],
[
"unstack gzv1 icl3"
]
] |
[
"(on icl3 cue5) (on gzv1 icl3) (on-table ben2) (holding cls4) (on cue5 ben2) (clear gzv1)",
"(on icl3 cue5) (on gzv1 icl3) (arm-empty) (on-table ben2) (on cue5 ben2) (clear cls4) (on-table cls4) (clear gzv1)",
"(holding gzv1) (on icl3 cue5) (on-table ben2) (on cue5 ben2) (clear cls4) (on-table cls4) (clear icl3)",
"(on icl3 cue5) (arm-empty) (on-table ben2) (on cue5 ben2) (on-table cls4) (on gzv1 cls4) (clear icl3) (clear gzv1)",
"(on-table ben2) (on cue5 ben2) (on-table cls4) (on gzv1 cls4) (holding icl3) (clear gzv1) (clear cue5)",
"(arm-empty) (on-table ben2) (on cue5 ben2) (clear cue5) (on-table cls4) (on gzv1 cls4) (clear icl3) (clear gzv1) (on-table icl3)",
"(holding gzv1) (on-table ben2) (on cue5 ben2) (clear cls4) (on-table cls4) (clear icl3) (on-table icl3) (clear cue5)",
"(on gzv1 icl3) (arm-empty) (on-table ben2) (on cue5 ben2) (clear cls4) (on-table cls4) (clear gzv1) (on-table icl3) (clear cue5)",
"(on gzv1 icl3) (on-table ben2) (holding cls4) (on cue5 ben2) (clear gzv1) (on-table icl3) (clear cue5)",
"(on gzv1 icl3) (arm-empty) (on-table ben2) (on cls4 cue5) (on cue5 ben2) (clear cls4) (clear gzv1) (on-table icl3)",
"(holding gzv1) (on-table ben2) (on cls4 cue5) (on cue5 ben2) (clear cls4) (clear icl3) (on-table icl3)"
] |
file_23954
|
GOAL: (on fue3 rbd5) (on jso4 otr1) (on rbd5 jso4) (on-table epo2) (arm-empty) (clear fue3) (on otr1 epo2)
|
GOAL: (on fue3 rbd5) (on jso4 otr1) (on rbd5 jso4) (on-table epo2) (arm-empty) (clear fue3) (on otr1 epo2)
STATE: (clear epo2) (on-table epo2) (holding rbd5) (on-table jso4) (on otr1 jso4) (clear fue3) (clear otr1) (on-table fue3)
|
[
[
"stack rbd5 fue3"
],
[
"unstack otr1 jso4"
],
[
"stack otr1 epo2"
],
[
"pick-up jso4"
],
[
"stack jso4 otr1"
],
[
"unstack rbd5 fue3"
],
[
"stack rbd5 jso4"
],
[
"pick-up fue3"
],
[
"stack fue3 rbd5"
]
] |
[
"(clear epo2) (arm-empty) (on-table epo2) (on rbd5 fue3) (on-table jso4) (on otr1 jso4) (clear otr1) (on-table fue3) (clear rbd5)",
"(holding otr1) (clear epo2) (on-table epo2) (clear jso4) (on rbd5 fue3) (on-table jso4) (on-table fue3) (clear rbd5)",
"(arm-empty) (on-table epo2) (clear jso4) (on rbd5 fue3) (on-table jso4) (on otr1 epo2) (clear otr1) (on-table fue3) (clear rbd5)",
"(on-table epo2) (holding jso4) (on rbd5 fue3) (on otr1 epo2) (clear otr1) (on-table fue3) (clear rbd5)",
"(on jso4 otr1) (arm-empty) (on-table epo2) (clear jso4) (on rbd5 fue3) (on otr1 epo2) (on-table fue3) (clear rbd5)",
"(on jso4 otr1) (on-table epo2) (clear jso4) (holding rbd5) (clear fue3) (on otr1 epo2) (on-table fue3)",
"(on jso4 otr1) (on rbd5 jso4) (on-table epo2) (arm-empty) (clear fue3) (on otr1 epo2) (on-table fue3) (clear rbd5)",
"(on jso4 otr1) (on rbd5 jso4) (on-table epo2) (on otr1 epo2) (holding fue3) (clear rbd5)",
"(on fue3 rbd5) (on jso4 otr1) (on rbd5 jso4) (on-table epo2) (arm-empty) (clear fue3) (on otr1 epo2)"
] |
file_12483
|
GOAL: (clear wlx2) (on-table wlx2) (on-table rwl1) (holding yxs4) (on jfx5 rwl1) (clear vgu3) (on-table vgu3) (clear jfx5)
|
GOAL: (clear wlx2) (on-table wlx2) (on-table rwl1) (holding yxs4) (on jfx5 rwl1) (clear vgu3) (on-table vgu3) (clear jfx5)
STATE: (on-table wlx2) (on-table jfx5) (holding yxs4) (on-table rwl1) (on vgu3 wlx2) (clear vgu3) (clear rwl1) (clear jfx5)
|
[
[
"stack yxs4 vgu3"
],
[
"pick-up jfx5"
],
[
"stack jfx5 rwl1"
],
[
"unstack yxs4 vgu3"
],
[
"stack yxs4 jfx5"
],
[
"unstack vgu3 wlx2"
],
[
"put-down vgu3"
],
[
"unstack yxs4 jfx5"
]
] |
[
"(arm-empty) (on-table wlx2) (on-table jfx5) (on-table rwl1) (on vgu3 wlx2) (clear yxs4) (on yxs4 vgu3) (clear rwl1) (clear jfx5)",
"(on-table wlx2) (on-table rwl1) (on vgu3 wlx2) (clear yxs4) (on yxs4 vgu3) (holding jfx5) (clear rwl1)",
"(arm-empty) (on-table wlx2) (clear yxs4) (clear jfx5) (on-table rwl1) (on vgu3 wlx2) (on yxs4 vgu3) (on jfx5 rwl1)",
"(on-table wlx2) (on-table rwl1) (holding yxs4) (on vgu3 wlx2) (on jfx5 rwl1) (clear vgu3) (clear jfx5)",
"(arm-empty) (on-table wlx2) (on yxs4 jfx5) (on-table rwl1) (on vgu3 wlx2) (clear yxs4) (on jfx5 rwl1) (clear vgu3)",
"(clear wlx2) (on-table wlx2) (on yxs4 jfx5) (on-table rwl1) (clear yxs4) (on jfx5 rwl1) (holding vgu3)",
"(arm-empty) (on-table wlx2) (on yxs4 jfx5) (clear yxs4) (clear wlx2) (on-table rwl1) (on jfx5 rwl1) (clear vgu3) (on-table vgu3)",
"(clear wlx2) (on-table wlx2) (on-table rwl1) (holding yxs4) (on jfx5 rwl1) (clear vgu3) (on-table vgu3) (clear jfx5)"
] |
file_174704
|
GOAL: (arm-empty) (on-table dxu2) (on-table rnl5) (clear uel4) (on ose3 ans1) (clear rnl5) (clear dxu2) (on-table ans1) (on uel4 ose3)
|
GOAL: (arm-empty) (on-table dxu2) (on-table rnl5) (clear uel4) (on ose3 ans1) (clear rnl5) (clear dxu2) (on-table ans1) (on uel4 ose3)
STATE: (on-table dxu2) (on uel4 rnl5) (on-table ans1) (on rnl5 dxu2) (clear uel4) (holding ose3) (clear ans1)
|
[
[
"stack ose3 ans1"
],
[
"unstack uel4 rnl5"
],
[
"stack uel4 ose3"
],
[
"unstack rnl5 dxu2"
],
[
"put-down rnl5"
]
] |
[
"(arm-empty) (on-table dxu2) (on uel4 rnl5) (on-table ans1) (on rnl5 dxu2) (clear uel4) (on ose3 ans1) (clear ose3)",
"(on-table dxu2) (on-table ans1) (holding uel4) (on rnl5 dxu2) (on ose3 ans1) (clear ose3) (clear rnl5)",
"(arm-empty) (on-table dxu2) (on rnl5 dxu2) (clear uel4) (on ose3 ans1) (clear rnl5) (on-table ans1) (on uel4 ose3)",
"(clear dxu2) (on-table dxu2) (on-table ans1) (clear uel4) (on uel4 ose3) (holding rnl5) (on ose3 ans1)",
"(arm-empty) (on-table dxu2) (on-table rnl5) (clear uel4) (on ose3 ans1) (clear rnl5) (clear dxu2) (on-table ans1) (on uel4 ose3)"
] |
file_80234
|
GOAL: (holding dqv1) (clear hnk2) (on-table hnk2) (on-table jaf5) (on jim4 jaf5) (clear jim4) (clear vod3) (on-table vod3)
|
GOAL: (holding dqv1) (clear hnk2) (on-table hnk2) (on-table jaf5) (on jim4 jaf5) (clear jim4) (clear vod3) (on-table vod3)
STATE: (clear hnk2) (arm-empty) (on jim4 jaf5) (on jaf5 vod3) (on dqv1 jim4) (on hnk2 dqv1) (on-table vod3)
|
[
[
"unstack hnk2 dqv1"
],
[
"put-down hnk2"
],
[
"unstack dqv1 jim4"
],
[
"stack dqv1 hnk2"
],
[
"unstack jim4 jaf5"
],
[
"stack jim4 dqv1"
],
[
"unstack jaf5 vod3"
],
[
"put-down jaf5"
],
[
"unstack jim4 dqv1"
],
[
"stack jim4 jaf5"
],
[
"unstack dqv1 hnk2"
]
] |
[
"(on jim4 jaf5) (on jaf5 vod3) (on dqv1 jim4) (holding hnk2) (clear dqv1) (on-table vod3)",
"(clear hnk2) (arm-empty) (on-table hnk2) (on jim4 jaf5) (on-table vod3) (on dqv1 jim4) (on jaf5 vod3) (clear dqv1)",
"(holding dqv1) (clear hnk2) (on-table hnk2) (on jim4 jaf5) (clear jim4) (on jaf5 vod3) (on-table vod3)",
"(arm-empty) (on-table hnk2) (on jim4 jaf5) (clear jim4) (on jaf5 vod3) (on dqv1 hnk2) (clear dqv1) (on-table vod3)",
"(on-table hnk2) (holding jim4) (on jaf5 vod3) (on dqv1 hnk2) (clear dqv1) (on-table vod3) (clear jaf5)",
"(on jim4 dqv1) (arm-empty) (on-table hnk2) (clear jim4) (on jaf5 vod3) (on dqv1 hnk2) (on-table vod3) (clear jaf5)",
"(on jim4 dqv1) (on-table hnk2) (clear jim4) (holding jaf5) (clear vod3) (on dqv1 hnk2) (on-table vod3)",
"(on jim4 dqv1) (arm-empty) (on-table hnk2) (on-table jaf5) (clear jim4) (on dqv1 hnk2) (clear jaf5) (clear vod3) (on-table vod3)",
"(on-table hnk2) (on-table jaf5) (holding jim4) (clear vod3) (on dqv1 hnk2) (clear dqv1) (on-table vod3) (clear jaf5)",
"(arm-empty) (on-table hnk2) (on-table jaf5) (on jim4 jaf5) (clear jim4) (clear vod3) (on dqv1 hnk2) (clear dqv1) (on-table vod3)",
"(holding dqv1) (clear hnk2) (on-table hnk2) (on-table jaf5) (on jim4 jaf5) (clear jim4) (clear vod3) (on-table vod3)"
] |
file_156121
|
GOAL: (on cau3 tms4) (on cfc1 cau3) (on-table ssw5) (on tms4 ssw5) (holding mpr2) (clear cfc1)
|
GOAL: (on cau3 tms4) (on cfc1 cau3) (on-table ssw5) (on tms4 ssw5) (holding mpr2) (clear cfc1)
STATE: (arm-empty) (on ssw5 tms4) (on-table mpr2) (on tms4 cau3) (on cau3 cfc1) (on cfc1 mpr2) (clear ssw5)
|
[
[
"unstack ssw5 tms4"
],
[
"put-down ssw5"
],
[
"unstack tms4 cau3"
],
[
"stack tms4 ssw5"
],
[
"unstack cau3 cfc1"
],
[
"stack cau3 tms4"
],
[
"unstack cfc1 mpr2"
],
[
"stack cfc1 cau3"
],
[
"pick-up mpr2"
]
] |
[
"(on tms4 cau3) (holding ssw5) (clear tms4) (on-table mpr2) (on cau3 cfc1) (on cfc1 mpr2)",
"(arm-empty) (on-table mpr2) (on-table ssw5) (clear tms4) (on cau3 cfc1) (on cfc1 mpr2) (clear ssw5) (on tms4 cau3)",
"(on-table mpr2) (on-table ssw5) (holding tms4) (on cau3 cfc1) (clear cau3) (on cfc1 mpr2) (clear ssw5)",
"(arm-empty) (on-table mpr2) (on-table ssw5) (on tms4 ssw5) (clear tms4) (on cau3 cfc1) (clear cau3) (on cfc1 mpr2)",
"(on-table mpr2) (on-table ssw5) (on tms4 ssw5) (clear tms4) (on cfc1 mpr2) (clear cfc1) (holding cau3)",
"(on cau3 tms4) (arm-empty) (on-table mpr2) (on-table ssw5) (on tms4 ssw5) (clear cau3) (on cfc1 mpr2) (clear cfc1)",
"(holding cfc1) (on cau3 tms4) (clear mpr2) (on-table mpr2) (on-table ssw5) (on tms4 ssw5) (clear cau3)",
"(on cau3 tms4) (clear mpr2) (on cfc1 cau3) (arm-empty) (on-table mpr2) (on-table ssw5) (on tms4 ssw5) (clear cfc1)",
"(on cau3 tms4) (on cfc1 cau3) (on-table ssw5) (on tms4 ssw5) (holding mpr2) (clear cfc1)"
] |
file_116904
|
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