Split (1)

test · 3.39k rows

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goal stringlengths 64 162	input stringlengths 130 312	actions listlengths 1 18	next_states listlengths 1 18	source_file stringlengths 6 11
GOAL: (holding hus1) (on-table akh5) (on xnd4 akh5) (on edy3 imk2) (on imk2 xnd4) (clear edy3)	GOAL: (holding hus1) (on-table akh5) (on xnd4 akh5) (on edy3 imk2) (on imk2 xnd4) (clear edy3) STATE: (clear imk2) (arm-empty) (on-table akh5) (on-table hus1) (on xnd4 akh5) (on imk2 xnd4) (clear edy3) (clear hus1) (on-table edy3)	[ [ "pick-up edy3" ], [ "stack edy3 imk2" ], [ "pick-up hus1" ] ]	[ "(clear imk2) (on-table akh5) (on-table hus1) (on xnd4 akh5) (on imk2 xnd4) (holding edy3) (clear hus1)", "(arm-empty) (on-table akh5) (on-table hus1) (on xnd4 akh5) (on edy3 imk2) (on imk2 xnd4) (clear edy3) (clear hus1)", "(holding hus1) (on-table akh5) (on xnd4 akh5) (on edy3 imk2) (on imk2 xnd4) (clear edy3)" ]	file_137400
GOAL: (on gue5 bjp4) (on-table oel2) (on-table bjp4) (on gpe1 oel2) (clear gpe1) (holding hej3) (clear gue5)	GOAL: (on gue5 bjp4) (on-table oel2) (on-table bjp4) (on gpe1 oel2) (clear gpe1) (holding hej3) (clear gue5) STATE: (arm-empty) (on-table oel2) (on-table gue5) (on-table gpe1) (on hej3 oel2) (clear bjp4) (on-table bjp4) (clear hej3) (clear gpe1) (clear gue5)	[ [ "pick-up gue5" ], [ "stack gue5 gpe1" ], [ "unstack hej3 oel2" ], [ "put-down hej3" ], [ "unstack gue5 gpe1" ], [ "stack gue5 hej3" ], [ "pick-up gpe1" ], [ "stack gpe1 oel2" ], [ "unstack gue5 hej3" ], [ "stack gue5 bjp4" ], [ "pick-up hej3" ] ]	[ "(on-table oel2) (on-table gpe1) (on hej3 oel2) (clear bjp4) (holding gue5) (on-table bjp4) (clear hej3) (clear gpe1)", "(arm-empty) (on-table oel2) (on-table gpe1) (on hej3 oel2) (clear bjp4) (on gue5 gpe1) (on-table bjp4) (clear hej3) (clear gue5)", "(clear oel2) (on-table oel2) (on-table gpe1) (clear bjp4) (on gue5 gpe1) (on-table bjp4) (holding hej3) (clear gue5)", "(clear oel2) (arm-empty) (on-table oel2) (on-table gpe1) (clear bjp4) (on gue5 gpe1) (on-table bjp4) (clear hej3) (on-table hej3) (clear gue5)", "(clear oel2) (on-table oel2) (on-table gpe1) (clear bjp4) (holding gue5) (on-table bjp4) (clear hej3) (clear gpe1) (on-table hej3)", "(clear oel2) (arm-empty) (on-table oel2) (on-table gpe1) (clear bjp4) (on gue5 hej3) (on-table bjp4) (clear gpe1) (on-table hej3) (clear gue5)", "(holding gpe1) (clear oel2) (on-table oel2) (clear bjp4) (on gue5 hej3) (on-table bjp4) (on-table hej3) (clear gue5)", "(arm-empty) (on-table oel2) (clear bjp4) (on gue5 hej3) (on-table bjp4) (on gpe1 oel2) (clear gpe1) (on-table hej3) (clear gue5)", "(on-table oel2) (clear bjp4) (holding gue5) (on-table bjp4) (clear hej3) (on gpe1 oel2) (clear gpe1) (on-table hej3)", "(arm-empty) (on gue5 bjp4) (on-table oel2) (on-table bjp4) (clear hej3) (on gpe1 oel2) (clear gpe1) (on-table hej3) (clear gue5)", "(on gue5 bjp4) (on-table oel2) (on-table bjp4) (on gpe1 oel2) (clear gpe1) (holding hej3) (clear gue5)" ]	file_45787
GOAL: (on kpx1 yhl3) (on-table pyc5) (clear qht4) (on-table qht4) (holding aaw2) (clear kpx1) (on-table yhl3) (clear pyc5)	GOAL: (on kpx1 yhl3) (on-table pyc5) (clear qht4) (on-table qht4) (holding aaw2) (clear kpx1) (on-table yhl3) (clear pyc5) STATE: (on yhl3 qht4) (arm-empty) (on pyc5 kpx1) (on-table qht4) (on aaw2 yhl3) (on kpx1 aaw2) (clear pyc5)	[ [ "unstack pyc5 kpx1" ], [ "put-down pyc5" ], [ "unstack kpx1 aaw2" ], [ "stack kpx1 pyc5" ], [ "unstack aaw2 yhl3" ], [ "stack aaw2 kpx1" ], [ "unstack yhl3 qht4" ], [ "put-down yhl3" ], [ "unstack aaw2 kpx1" ], [ "put-down aaw2" ], [ "unstack kpx1 pyc5" ], [ "stack kpx1 yhl3" ], [ "pick-up aaw2" ] ]	[ "(holding pyc5) (on kpx1 aaw2) (on yhl3 qht4) (on-table qht4) (on aaw2 yhl3) (clear kpx1)", "(arm-empty) (on-table pyc5) (on kpx1 aaw2) (clear pyc5) (on yhl3 qht4) (on-table qht4) (on aaw2 yhl3) (clear kpx1)", "(holding kpx1) (on yhl3 qht4) (clear aaw2) (on-table pyc5) (on-table qht4) (on aaw2 yhl3) (clear pyc5)", "(on yhl3 qht4) (clear aaw2) (on kpx1 pyc5) (arm-empty) (on-table pyc5) (on-table qht4) (on aaw2 yhl3) (clear kpx1)", "(on yhl3 qht4) (on kpx1 pyc5) (on-table pyc5) (on-table qht4) (holding aaw2) (clear yhl3) (clear kpx1)", "(on yhl3 qht4) (on kpx1 pyc5) (clear aaw2) (arm-empty) (on-table pyc5) (on-table qht4) (on aaw2 kpx1) (clear yhl3)", "(on kpx1 pyc5) (clear aaw2) (on-table pyc5) (clear qht4) (on-table qht4) (on aaw2 kpx1) (holding yhl3)", "(on kpx1 pyc5) (arm-empty) (on-table pyc5) (clear qht4) (on aaw2 kpx1) (clear aaw2) (on-table qht4) (clear yhl3) (on-table yhl3)", "(on kpx1 pyc5) (on-table pyc5) (clear qht4) (on-table qht4) (holding aaw2) (clear yhl3) (clear kpx1) (on-table yhl3)", "(on kpx1 pyc5) (clear aaw2) (arm-empty) (on-table aaw2) (on-table pyc5) (clear qht4) (on-table qht4) (clear yhl3) (clear kpx1) (on-table yhl3)", "(holding kpx1) (clear aaw2) (on-table aaw2) (on-table pyc5) (clear qht4) (on-table qht4) (clear yhl3) (on-table yhl3) (clear pyc5)", "(clear aaw2) (on kpx1 yhl3) (arm-empty) (on-table aaw2) (on-table pyc5) (clear qht4) (on-table qht4) (clear kpx1) (on-table yhl3) (clear pyc5)", "(on kpx1 yhl3) (on-table pyc5) (clear qht4) (on-table qht4) (holding aaw2) (clear kpx1) (on-table yhl3) (clear pyc5)" ]	file_220564
GOAL: (clear kid2) (arm-empty) (on-table kid2) (on gmc5 tmt3) (on-table eox4) (on pxo1 eox4) (clear pxo1) (on-table tmt3) (clear gmc5)	GOAL: (clear kid2) (arm-empty) (on-table kid2) (on gmc5 tmt3) (on-table eox4) (on pxo1 eox4) (clear pxo1) (on-table tmt3) (clear gmc5) STATE: (on tmt3 eox4) (on eox4 pxo1) (on-table kid2) (holding gmc5) (clear tmt3) (on pxo1 kid2)	[ [ "put-down gmc5" ], [ "unstack tmt3 eox4" ], [ "put-down tmt3" ], [ "pick-up gmc5" ], [ "stack gmc5 tmt3" ], [ "unstack eox4 pxo1" ], [ "put-down eox4" ], [ "unstack pxo1 kid2" ], [ "stack pxo1 eox4" ] ]	[ "(on eox4 pxo1) (arm-empty) (on-table kid2) (on-table gmc5) (on pxo1 kid2) (clear gmc5) (on tmt3 eox4) (clear tmt3)", "(on eox4 pxo1) (on-table kid2) (on-table gmc5) (clear eox4) (on pxo1 kid2) (holding tmt3) (clear gmc5)", "(on eox4 pxo1) (arm-empty) (on-table kid2) (on-table gmc5) (clear eox4) (on pxo1 kid2) (clear gmc5) (clear tmt3) (on-table tmt3)", "(on eox4 pxo1) (on-table kid2) (clear eox4) (holding gmc5) (clear tmt3) (on pxo1 kid2) (on-table tmt3)", "(on eox4 pxo1) (arm-empty) (on-table kid2) (clear eox4) (on gmc5 tmt3) (on pxo1 kid2) (on-table tmt3) (clear gmc5)", "(on-table kid2) (holding eox4) (on gmc5 tmt3) (on pxo1 kid2) (clear pxo1) (on-table tmt3) (clear gmc5)", "(arm-empty) (on-table kid2) (clear eox4) (on gmc5 tmt3) (on pxo1 kid2) (clear gmc5) (on-table eox4) (clear pxo1) (on-table tmt3)", "(holding pxo1) (clear kid2) (on-table kid2) (clear eox4) (on gmc5 tmt3) (on-table eox4) (on-table tmt3) (clear gmc5)", "(clear kid2) (arm-empty) (on-table kid2) (on gmc5 tmt3) (on-table eox4) (on pxo1 eox4) (clear pxo1) (on-table tmt3) (clear gmc5)" ]	file_125042
GOAL: (on aiu3 tjp5) (on dym1 aiu3) (on nyd4 dym1) (clear prn2) (on-table tjp5) (arm-empty) (on prn2 nyd4)	GOAL: (on aiu3 tjp5) (on dym1 aiu3) (on nyd4 dym1) (clear prn2) (on-table tjp5) (arm-empty) (on prn2 nyd4) STATE: (on-table prn2) (holding nyd4) (on tjp5 aiu3) (on aiu3 dym1) (on dym1 prn2) (clear tjp5)	[ [ "put-down nyd4" ], [ "unstack tjp5 aiu3" ], [ "put-down tjp5" ], [ "unstack aiu3 dym1" ], [ "stack aiu3 tjp5" ], [ "unstack dym1 prn2" ], [ "stack dym1 aiu3" ], [ "pick-up nyd4" ], [ "stack nyd4 dym1" ], [ "pick-up prn2" ], [ "stack prn2 nyd4" ] ]	[ "(arm-empty) (on-table prn2) (clear nyd4) (on tjp5 aiu3) (on aiu3 dym1) (on dym1 prn2) (clear tjp5) (on-table nyd4)", "(on-table prn2) (clear nyd4) (holding tjp5) (on-table nyd4) (on aiu3 dym1) (clear aiu3) (on dym1 prn2)", "(arm-empty) (on-table prn2) (on-table tjp5) (clear nyd4) (on aiu3 dym1) (on dym1 prn2) (clear tjp5) (on-table nyd4) (clear aiu3)", "(on-table prn2) (on-table tjp5) (clear nyd4) (on-table nyd4) (on dym1 prn2) (clear dym1) (holding aiu3) (clear tjp5)", "(on aiu3 tjp5) (arm-empty) (on-table prn2) (on-table tjp5) (clear nyd4) (on-table nyd4) (clear aiu3) (on dym1 prn2) (clear dym1)", "(holding dym1) (on aiu3 tjp5) (clear prn2) (on-table prn2) (on-table tjp5) (clear nyd4) (on-table nyd4) (clear aiu3)", "(on aiu3 tjp5) (clear prn2) (on dym1 aiu3) (on-table prn2) (on-table tjp5) (arm-empty) (clear nyd4) (on-table nyd4) (clear dym1)", "(on aiu3 tjp5) (clear prn2) (on dym1 aiu3) (on-table prn2) (on-table tjp5) (holding nyd4) (clear dym1)", "(on aiu3 tjp5) (on dym1 aiu3) (on nyd4 dym1) (on-table prn2) (on-table tjp5) (arm-empty) (clear nyd4) (clear prn2)", "(on aiu3 tjp5) (on dym1 aiu3) (on nyd4 dym1) (on-table tjp5) (clear nyd4) (holding prn2)", "(on aiu3 tjp5) (on dym1 aiu3) (on nyd4 dym1) (clear prn2) (on-table tjp5) (arm-empty) (on prn2 nyd4)" ]	file_72503
GOAL: (holding bbt1) (clear vsl2) (on-table vsl2) (on-table xtu5) (on tla4 xtu5) (clear tla4) (clear goz3) (on-table goz3)	GOAL: (holding bbt1) (clear vsl2) (on-table vsl2) (on-table xtu5) (on tla4 xtu5) (clear tla4) (clear goz3) (on-table goz3) STATE: (clear bbt1) (on-table vsl2) (on-table xtu5) (clear tla4) (on-table tla4) (holding goz3) (on bbt1 vsl2) (clear xtu5)	[ [ "put-down goz3" ], [ "pick-up tla4" ], [ "stack tla4 xtu5" ], [ "unstack bbt1 vsl2" ] ]	[ "(clear bbt1) (arm-empty) (on-table vsl2) (on-table xtu5) (clear tla4) (on-table tla4) (clear goz3) (on bbt1 vsl2) (on-table goz3) (clear xtu5)", "(on-table vsl2) (on-table xtu5) (holding tla4) (clear goz3) (on bbt1 vsl2) (clear bbt1) (on-table goz3) (clear xtu5)", "(arm-empty) (on-table vsl2) (on-table xtu5) (on tla4 xtu5) (clear tla4) (clear goz3) (on bbt1 vsl2) (clear bbt1) (on-table goz3)", "(holding bbt1) (clear vsl2) (on-table vsl2) (on-table xtu5) (on tla4 xtu5) (clear tla4) (clear goz3) (on-table goz3)" ]	file_17642
GOAL: (on kua3 ans5) (arm-empty) (on-table yfa1) (on ans5 xtx2) (on-table yxe4) (on xtx2 yxe4) (clear kua3) (clear yfa1)	GOAL: (on kua3 ans5) (arm-empty) (on-table yfa1) (on ans5 xtx2) (on-table yxe4) (on xtx2 yxe4) (clear kua3) (clear yfa1) STATE: (on-table ans5) (on-table yfa1) (clear yxe4) (on-table yxe4) (holding xtx2) (on kua3 yfa1) (clear kua3) (clear ans5)	[ [ "stack xtx2 yxe4" ], [ "pick-up ans5" ], [ "stack ans5 xtx2" ], [ "unstack kua3 yfa1" ], [ "stack kua3 ans5" ] ]	[ "(clear xtx2) (arm-empty) (on-table ans5) (on-table yfa1) (on xtx2 yxe4) (on-table yxe4) (on kua3 yfa1) (clear kua3) (clear ans5)", "(clear xtx2) (on-table yfa1) (on kua3 yfa1) (holding ans5) (on-table yxe4) (on xtx2 yxe4) (clear kua3)", "(arm-empty) (on-table yfa1) (on ans5 xtx2) (on xtx2 yxe4) (on-table yxe4) (on kua3 yfa1) (clear kua3) (clear ans5)", "(on-table yfa1) (on ans5 xtx2) (on xtx2 yxe4) (on-table yxe4) (holding kua3) (clear yfa1) (clear ans5)", "(on kua3 ans5) (arm-empty) (on-table yfa1) (on ans5 xtx2) (on-table yxe4) (on xtx2 yxe4) (clear kua3) (clear yfa1)" ]	file_203465
GOAL: (clear yjn2) (arm-empty) (on gya5 goc4) (on-table vgp1) (on-table goc4) (on uhg3 vgp1) (on yjn2 uhg3) (clear gya5)	GOAL: (clear yjn2) (arm-empty) (on gya5 goc4) (on-table vgp1) (on-table goc4) (on uhg3 vgp1) (on yjn2 uhg3) (clear gya5) STATE: (clear yjn2) (arm-empty) (on gya5 goc4) (on-table yjn2) (on-table vgp1) (on-table goc4) (clear uhg3) (clear vgp1) (on-table uhg3) (clear gya5)	[ [ "pick-up uhg3" ], [ "stack uhg3 vgp1" ], [ "pick-up yjn2" ], [ "stack yjn2 uhg3" ] ]	[ "(clear yjn2) (on gya5 goc4) (on-table yjn2) (on-table vgp1) (on-table goc4) (holding uhg3) (clear vgp1) (clear gya5)", "(clear yjn2) (arm-empty) (on gya5 goc4) (on-table yjn2) (on-table vgp1) (on-table goc4) (on uhg3 vgp1) (clear uhg3) (clear gya5)", "(on gya5 goc4) (on-table vgp1) (on-table goc4) (holding yjn2) (on uhg3 vgp1) (clear uhg3) (clear gya5)", "(clear yjn2) (arm-empty) (on gya5 goc4) (on-table vgp1) (on-table goc4) (on uhg3 vgp1) (on yjn2 uhg3) (clear gya5)" ]	file_158774
GOAL: (on ovh4 bhd1) (on xyo5 ovh4) (on-table mhk2) (arm-empty) (on-table bhd1) (on qbs3 mhk2) (clear qbs3) (clear xyo5)	GOAL: (on ovh4 bhd1) (on xyo5 ovh4) (on-table mhk2) (arm-empty) (on-table bhd1) (on qbs3 mhk2) (clear qbs3) (clear xyo5) STATE: (clear mhk2) (arm-empty) (on-table mhk2) (on-table xyo5) (on-table ovh4) (on bhd1 ovh4) (on qbs3 bhd1) (clear qbs3) (clear xyo5)	[ [ "unstack qbs3 bhd1" ], [ "stack qbs3 mhk2" ], [ "unstack bhd1 ovh4" ], [ "stack bhd1 xyo5" ], [ "pick-up ovh4" ], [ "stack ovh4 qbs3" ], [ "unstack bhd1 xyo5" ], [ "put-down bhd1" ], [ "unstack ovh4 qbs3" ], [ "stack ovh4 bhd1" ], [ "pick-up xyo5" ], [ "stack xyo5 ovh4" ] ]	[ "(clear mhk2) (on-table mhk2) (on-table xyo5) (on-table ovh4) (on bhd1 ovh4) (holding qbs3) (clear bhd1) (clear xyo5)", "(arm-empty) (on-table mhk2) (on-table xyo5) (on qbs3 mhk2) (on-table ovh4) (on bhd1 ovh4) (clear qbs3) (clear bhd1) (clear xyo5)", "(holding bhd1) (on-table mhk2) (on-table xyo5) (on qbs3 mhk2) (clear ovh4) (on-table ovh4) (clear qbs3) (clear xyo5)", "(on bhd1 xyo5) (arm-empty) (on-table mhk2) (on-table xyo5) (on qbs3 mhk2) (clear ovh4) (on-table ovh4) (clear qbs3) (clear bhd1)", "(on bhd1 xyo5) (on-table mhk2) (on-table xyo5) (holding ovh4) (on qbs3 mhk2) (clear qbs3) (clear bhd1)", "(on bhd1 xyo5) (arm-empty) (on-table mhk2) (on-table xyo5) (on qbs3 mhk2) (clear ovh4) (on ovh4 qbs3) (clear bhd1)", "(holding bhd1) (on-table mhk2) (on-table xyo5) (on qbs3 mhk2) (clear ovh4) (on ovh4 qbs3) (clear xyo5)", "(arm-empty) (on-table mhk2) (on-table xyo5) (clear ovh4) (clear xyo5) (on-table bhd1) (on qbs3 mhk2) (on ovh4 qbs3) (clear bhd1)", "(on-table mhk2) (on-table xyo5) (on-table bhd1) (holding ovh4) (on qbs3 mhk2) (clear qbs3) (clear bhd1) (clear xyo5)", "(on ovh4 bhd1) (arm-empty) (on-table mhk2) (on-table xyo5) (on-table bhd1) (on qbs3 mhk2) (clear ovh4) (clear qbs3) (clear xyo5)", "(on ovh4 bhd1) (on-table mhk2) (on-table bhd1) (on qbs3 mhk2) (clear ovh4) (holding xyo5) (clear qbs3)", "(on ovh4 bhd1) (on xyo5 ovh4) (on-table mhk2) (arm-empty) (on-table bhd1) (on qbs3 mhk2) (clear qbs3) (clear xyo5)" ]	file_65130
GOAL: (on yng3 tec4) (on zri1 yng3) (arm-empty) (on-table pae2) (on tec4 pae2) (clear zri1)	GOAL: (on yng3 tec4) (on zri1 yng3) (arm-empty) (on-table pae2) (on tec4 pae2) (clear zri1) STATE: (arm-empty) (on-table zri1) (clear tec4) (on yng3 zri1) (on tec4 pae2) (on pae2 yng3)	[ [ "unstack tec4 pae2" ], [ "put-down tec4" ], [ "unstack pae2 yng3" ], [ "put-down pae2" ], [ "pick-up tec4" ], [ "stack tec4 pae2" ], [ "unstack yng3 zri1" ], [ "stack yng3 tec4" ], [ "pick-up zri1" ], [ "stack zri1 yng3" ] ]	[ "(on yng3 zri1) (holding tec4) (clear pae2) (on pae2 yng3) (on-table zri1)", "(on-table zri1) (clear pae2) (on-table tec4) (clear tec4) (arm-empty) (on yng3 zri1) (on pae2 yng3)", "(clear tec4) (on yng3 zri1) (on-table zri1) (on-table tec4) (holding pae2) (clear yng3)", "(arm-empty) (on-table pae2) (clear tec4) (on yng3 zri1) (clear pae2) (on-table zri1) (on-table tec4) (clear yng3)", "(clear pae2) (on-table pae2) (on-table zri1) (holding tec4) (on yng3 zri1) (clear yng3)", "(arm-empty) (on-table pae2) (on-table zri1) (clear tec4) (on yng3 zri1) (on tec4 pae2) (clear yng3)", "(on-table pae2) (clear tec4) (on-table zri1) (on tec4 pae2) (holding yng3) (clear zri1)", "(on yng3 tec4) (arm-empty) (on-table pae2) (on-table zri1) (on tec4 pae2) (clear yng3) (clear zri1)", "(on tec4 pae2) (holding zri1) (on yng3 tec4) (on-table pae2) (clear yng3)", "(on yng3 tec4) (on zri1 yng3) (arm-empty) (on-table pae2) (on tec4 pae2) (clear zri1)" ]	file_116143
GOAL: (clear yqe2) (on-table yqe2) (on-table zbc1) (clear mwq4) (on mwq4 hba3) (holding lus5) (on hba3 zbc1)	GOAL: (clear yqe2) (on-table yqe2) (on-table zbc1) (clear mwq4) (on mwq4 hba3) (holding lus5) (on hba3 zbc1) STATE: (arm-empty) (on-table lus5) (on-table zbc1) (on hba3 yqe2) (clear mwq4) (on mwq4 hba3) (on yqe2 lus5) (clear zbc1)	[ [ "unstack mwq4 hba3" ], [ "put-down mwq4" ], [ "unstack hba3 yqe2" ], [ "stack hba3 zbc1" ], [ "pick-up mwq4" ], [ "stack mwq4 hba3" ], [ "unstack yqe2 lus5" ], [ "put-down yqe2" ], [ "pick-up lus5" ] ]	[ "(on-table lus5) (on-table zbc1) (holding mwq4) (on hba3 yqe2) (on yqe2 lus5) (clear hba3) (clear zbc1)", "(arm-empty) (on-table lus5) (clear mwq4) (on yqe2 lus5) (on-table zbc1) (on hba3 yqe2) (on-table mwq4) (clear hba3) (clear zbc1)", "(clear yqe2) (on-table lus5) (on-table zbc1) (clear mwq4) (on-table mwq4) (on yqe2 lus5) (holding hba3) (clear zbc1)", "(clear yqe2) (arm-empty) (on-table lus5) (on-table zbc1) (clear mwq4) (on-table mwq4) (on hba3 zbc1) (on yqe2 lus5) (clear hba3)", "(clear yqe2) (on-table lus5) (on-table zbc1) (holding mwq4) (on hba3 zbc1) (on yqe2 lus5) (clear hba3)", "(arm-empty) (on-table lus5) (clear mwq4) (on hba3 zbc1) (on yqe2 lus5) (clear yqe2) (on-table zbc1) (on mwq4 hba3)", "(on-table lus5) (on-table zbc1) (clear mwq4) (on mwq4 hba3) (holding yqe2) (on hba3 zbc1) (clear lus5)", "(arm-empty) (on-table yqe2) (on-table lus5) (clear mwq4) (on hba3 zbc1) (clear lus5) (clear yqe2) (on-table zbc1) (on mwq4 hba3)", "(clear yqe2) (on-table yqe2) (on-table zbc1) (clear mwq4) (on mwq4 hba3) (holding lus5) (on hba3 zbc1)" ]	file_12084
GOAL: (holding ycv1) (on joz3 rkn4) (clear jht2) (on ubg5 joz3) (on-table rkn4) (on jht2 ubg5)	GOAL: (holding ycv1) (on joz3 rkn4) (clear jht2) (on ubg5 joz3) (on-table rkn4) (on jht2 ubg5) STATE: (holding ycv1) (on joz3 rkn4) (clear jht2) (on-table ubg5) (on rkn4 ubg5) (on jht2 joz3)	[ [ "put-down ycv1" ], [ "unstack jht2 joz3" ], [ "stack jht2 ycv1" ], [ "unstack joz3 rkn4" ], [ "stack joz3 jht2" ], [ "unstack rkn4 ubg5" ], [ "put-down rkn4" ], [ "unstack joz3 jht2" ], [ "stack joz3 rkn4" ], [ "pick-up ubg5" ], [ "stack ubg5 joz3" ], [ "unstack jht2 ycv1" ], [ "stack jht2 ubg5" ], [ "pick-up ycv1" ] ]	[ "(arm-empty) (on-table ubg5) (on rkn4 ubg5) (on joz3 rkn4) (clear jht2) (on-table ycv1) (on jht2 joz3) (clear ycv1)", "(on joz3 rkn4) (on-table ubg5) (on rkn4 ubg5) (on-table ycv1) (holding jht2) (clear joz3) (clear ycv1)", "(arm-empty) (on-table ubg5) (on rkn4 ubg5) (on jht2 ycv1) (on joz3 rkn4) (clear jht2) (on-table ycv1) (clear joz3)", "(clear jht2) (on-table ubg5) (on rkn4 ubg5) (on-table ycv1) (clear rkn4) (on jht2 ycv1) (holding joz3)", "(arm-empty) (on-table ubg5) (on-table ycv1) (on rkn4 ubg5) (on joz3 jht2) (clear rkn4) (on jht2 ycv1) (clear joz3)", "(on-table ubg5) (on-table ycv1) (holding rkn4) (on joz3 jht2) (on jht2 ycv1) (clear joz3) (clear ubg5)", "(arm-empty) (on-table ubg5) (clear rkn4) (on jht2 ycv1) (clear ubg5) (on-table ycv1) (on joz3 jht2) (on-table rkn4) (clear joz3)", "(clear jht2) (on-table ubg5) (on-table ycv1) (clear rkn4) (on-table rkn4) (on jht2 ycv1) (holding joz3) (clear ubg5)", "(on joz3 rkn4) (clear jht2) (arm-empty) (on-table ubg5) (on-table ycv1) (on-table rkn4) (on jht2 ycv1) (clear joz3) (clear ubg5)", "(on joz3 rkn4) (clear jht2) (on-table ycv1) (holding ubg5) (on-table rkn4) (on jht2 ycv1) (clear joz3)", "(on joz3 rkn4) (clear jht2) (arm-empty) (on-table ycv1) (on ubg5 joz3) (on-table rkn4) (on jht2 ycv1) (clear ubg5)", "(on joz3 rkn4) (on-table ycv1) (on ubg5 joz3) (on-table rkn4) (holding jht2) (clear ycv1) (clear ubg5)", "(on joz3 rkn4) (clear jht2) (arm-empty) (on-table ycv1) (on ubg5 joz3) (on-table rkn4) (on jht2 ubg5) (clear ycv1)", "(holding ycv1) (on joz3 rkn4) (clear jht2) (on ubg5 joz3) (on-table rkn4) (on jht2 ubg5)" ]	file_22759
GOAL: (clear gtp2) (holding nri5) (on-table zjw4) (on mxw1 zjw4) (on tfg3 mxw1) (on gtp2 tfg3)	GOAL: (clear gtp2) (holding nri5) (on-table zjw4) (on mxw1 zjw4) (on tfg3 mxw1) (on gtp2 tfg3) STATE: (arm-empty) (on-table nri5) (on-table mxw1) (on tfg3 gtp2) (clear zjw4) (on-table zjw4) (on gtp2 nri5) (clear tfg3) (clear mxw1)	[ [ "pick-up mxw1" ], [ "stack mxw1 zjw4" ], [ "unstack tfg3 gtp2" ], [ "stack tfg3 mxw1" ], [ "unstack gtp2 nri5" ], [ "stack gtp2 tfg3" ], [ "pick-up nri5" ] ]	[ "(holding mxw1) (on-table nri5) (on tfg3 gtp2) (clear zjw4) (on-table zjw4) (on gtp2 nri5) (clear tfg3)", "(arm-empty) (on-table nri5) (on tfg3 gtp2) (on-table zjw4) (on mxw1 zjw4) (on gtp2 nri5) (clear tfg3) (clear mxw1)", "(clear gtp2) (on-table nri5) (on-table zjw4) (on mxw1 zjw4) (on gtp2 nri5) (holding tfg3) (clear mxw1)", "(clear gtp2) (arm-empty) (on-table nri5) (on-table zjw4) (on mxw1 zjw4) (on tfg3 mxw1) (on gtp2 nri5) (clear tfg3)", "(on-table nri5) (holding gtp2) (on-table zjw4) (on mxw1 zjw4) (on tfg3 mxw1) (clear tfg3) (clear nri5)", "(clear gtp2) (arm-empty) (on-table nri5) (on-table zjw4) (on mxw1 zjw4) (on tfg3 mxw1) (on gtp2 tfg3) (clear nri5)", "(clear gtp2) (holding nri5) (on-table zjw4) (on mxw1 zjw4) (on tfg3 mxw1) (on gtp2 tfg3)" ]	file_128491
GOAL: (clear vvw2) (arm-empty) (on-table uje5) (on-table hmk1) (on zan4 uje5) (on vvw2 zan4) (clear ulp3) (clear hmk1) (on-table ulp3)	GOAL: (clear vvw2) (arm-empty) (on-table uje5) (on-table hmk1) (on zan4 uje5) (on vvw2 zan4) (clear ulp3) (clear hmk1) (on-table ulp3) STATE: (clear vvw2) (arm-empty) (on-table uje5) (on-table zan4) (on hmk1 zan4) (on ulp3 hmk1) (on vvw2 ulp3) (clear uje5)	[ [ "unstack vvw2 ulp3" ], [ "stack vvw2 uje5" ], [ "unstack ulp3 hmk1" ], [ "put-down ulp3" ], [ "unstack hmk1 zan4" ], [ "put-down hmk1" ], [ "unstack vvw2 uje5" ], [ "stack vvw2 hmk1" ], [ "pick-up zan4" ], [ "stack zan4 uje5" ], [ "unstack vvw2 hmk1" ], [ "stack vvw2 zan4" ] ]	[ "(on-table uje5) (holding vvw2) (on-table zan4) (on hmk1 zan4) (on ulp3 hmk1) (clear ulp3) (clear uje5)", "(clear vvw2) (arm-empty) (on-table uje5) (on-table zan4) (on hmk1 zan4) (on ulp3 hmk1) (on vvw2 uje5) (clear ulp3)", "(clear vvw2) (on-table uje5) (on-table zan4) (on hmk1 zan4) (on vvw2 uje5) (holding ulp3) (clear hmk1)", "(arm-empty) (on-table uje5) (on vvw2 uje5) (clear vvw2) (on-table zan4) (on hmk1 zan4) (clear ulp3) (clear hmk1) (on-table ulp3)", "(holding hmk1) (clear vvw2) (on-table uje5) (clear zan4) (on-table zan4) (on vvw2 uje5) (clear ulp3) (on-table ulp3)", "(clear vvw2) (arm-empty) (on-table uje5) (on-table hmk1) (clear zan4) (on-table zan4) (on vvw2 uje5) (clear ulp3) (clear hmk1) (on-table ulp3)", "(on-table uje5) (on-table hmk1) (clear zan4) (on-table zan4) (holding vvw2) (clear ulp3) (clear hmk1) (on-table ulp3) (clear uje5)", "(clear vvw2) (arm-empty) (on-table uje5) (on-table hmk1) (clear zan4) (on-table zan4) (on vvw2 hmk1) (clear ulp3) (on-table ulp3) (clear uje5)", "(clear vvw2) (on-table uje5) (on-table hmk1) (holding zan4) (on vvw2 hmk1) (clear ulp3) (on-table ulp3) (clear uje5)", "(clear vvw2) (arm-empty) (on-table uje5) (on-table hmk1) (on zan4 uje5) (clear zan4) (on vvw2 hmk1) (clear ulp3) (on-table ulp3)", "(on-table uje5) (on-table hmk1) (on zan4 uje5) (clear zan4) (holding vvw2) (clear ulp3) (clear hmk1) (on-table ulp3)", "(clear vvw2) (arm-empty) (on-table uje5) (on-table hmk1) (on zan4 uje5) (on vvw2 zan4) (clear ulp3) (clear hmk1) (on-table ulp3)" ]	file_44542
GOAL: (clear gqg2) (arm-empty) (on-table jlp5) (on-table qsw1) (on-table esj4) (on gqg2 esj4) (clear izs3) (clear qsw1) (on-table izs3) (clear jlp5)	GOAL: (clear gqg2) (arm-empty) (on-table jlp5) (on-table qsw1) (on-table esj4) (on gqg2 esj4) (clear izs3) (clear qsw1) (on-table izs3) (clear jlp5) STATE: (arm-empty) (on-table gqg2) (on-table jlp5) (on-table qsw1) (on izs3 gqg2) (clear esj4) (on-table esj4) (clear izs3) (clear qsw1) (clear jlp5)	[ [ "unstack izs3 gqg2" ], [ "put-down izs3" ], [ "pick-up gqg2" ], [ "stack gqg2 esj4" ] ]	[ "(clear gqg2) (on-table gqg2) (on-table jlp5) (on-table qsw1) (clear esj4) (on-table esj4) (holding izs3) (clear qsw1) (clear jlp5)", "(clear gqg2) (arm-empty) (on-table gqg2) (on-table jlp5) (on-table qsw1) (clear esj4) (on-table esj4) (clear izs3) (clear qsw1) (on-table izs3) (clear jlp5)", "(on-table jlp5) (on-table qsw1) (clear esj4) (on-table esj4) (holding gqg2) (clear izs3) (clear qsw1) (on-table izs3) (clear jlp5)", "(clear gqg2) (arm-empty) (on-table jlp5) (on-table qsw1) (on-table esj4) (on gqg2 esj4) (clear izs3) (clear qsw1) (on-table izs3) (clear jlp5)" ]	file_45823
GOAL: (clear srp2) (on gxd1 grh3) (arm-empty) (on-table srp2) (on qnk4 pso5) (clear qnk4) (on pso5 gxd1) (on-table grh3)	GOAL: (clear srp2) (on gxd1 grh3) (arm-empty) (on-table srp2) (on qnk4 pso5) (clear qnk4) (on pso5 gxd1) (on-table grh3) STATE: (clear srp2) (on gxd1 grh3) (arm-empty) (on-table srp2) (clear qnk4) (on pso5 gxd1) (on-table qnk4) (on-table grh3) (clear pso5)	[ [ "pick-up qnk4" ], [ "stack qnk4 pso5" ] ]	[ "(clear srp2) (on gxd1 grh3) (on-table srp2) (holding qnk4) (on pso5 gxd1) (on-table grh3) (clear pso5)", "(clear srp2) (on gxd1 grh3) (arm-empty) (on-table srp2) (on qnk4 pso5) (clear qnk4) (on pso5 gxd1) (on-table grh3)" ]	file_14413
GOAL: (clear cpm2) (arm-empty) (on-table rak5) (on-table meb4) (on rig1 meb4) (on tqs3 rig1) (on cpm2 rak5) (clear tqs3)	GOAL: (clear cpm2) (arm-empty) (on-table rak5) (on-table meb4) (on rig1 meb4) (on tqs3 rig1) (on cpm2 rak5) (clear tqs3) STATE: (clear cpm2) (on tqs3 rak5) (arm-empty) (on-table cpm2) (on-table rak5) (on-table rig1) (clear meb4) (on meb4 tqs3) (clear rig1)	[ [ "pick-up rig1" ], [ "stack rig1 cpm2" ], [ "unstack meb4 tqs3" ], [ "put-down meb4" ], [ "unstack rig1 cpm2" ], [ "stack rig1 meb4" ], [ "unstack tqs3 rak5" ], [ "stack tqs3 rig1" ], [ "pick-up cpm2" ], [ "stack cpm2 rak5" ] ]	[ "(holding rig1) (clear cpm2) (on tqs3 rak5) (on-table cpm2) (on-table rak5) (clear meb4) (on meb4 tqs3)", "(on tqs3 rak5) (arm-empty) (on-table cpm2) (on-table rak5) (clear meb4) (on meb4 tqs3) (on rig1 cpm2) (clear rig1)", "(on tqs3 rak5) (on-table cpm2) (on-table rak5) (holding meb4) (clear tqs3) (on rig1 cpm2) (clear rig1)", "(on tqs3 rak5) (arm-empty) (on-table cpm2) (on-table rak5) (clear meb4) (on rig1 cpm2) (on-table meb4) (clear tqs3) (clear rig1)", "(holding rig1) (on tqs3 rak5) (clear cpm2) (on-table cpm2) (on-table rak5) (clear meb4) (on-table meb4) (clear tqs3)", "(on tqs3 rak5) (clear cpm2) (arm-empty) (on-table cpm2) (on-table rak5) (on-table meb4) (on rig1 meb4) (clear tqs3) (clear rig1)", "(clear cpm2) (on-table cpm2) (on-table rak5) (on-table meb4) (on rig1 meb4) (holding tqs3) (clear rig1) (clear rak5)", "(clear cpm2) (arm-empty) (on-table cpm2) (on-table rak5) (on-table meb4) (on rig1 meb4) (on tqs3 rig1) (clear tqs3) (clear rak5)", "(on-table rak5) (holding cpm2) (on-table meb4) (on rig1 meb4) (on tqs3 rig1) (clear tqs3) (clear rak5)", "(clear cpm2) (arm-empty) (on-table rak5) (on-table meb4) (on rig1 meb4) (on tqs3 rig1) (on cpm2 rak5) (clear tqs3)" ]	file_91899
GOAL: (on lah3 xou5) (arm-empty) (on-table vyx2) (clear vhy4) (on xou5 cjs1) (on vhy4 lah3) (on cjs1 vyx2)	GOAL: (on lah3 xou5) (arm-empty) (on-table vyx2) (clear vhy4) (on xou5 cjs1) (on vhy4 lah3) (on cjs1 vyx2) STATE: (holding cjs1) (clear vyx2) (on xou5 vhy4) (on-table vyx2) (on-table vhy4) (clear lah3) (on-table lah3) (clear xou5)	[ [ "stack cjs1 vyx2" ], [ "unstack xou5 vhy4" ], [ "stack xou5 cjs1" ], [ "pick-up lah3" ], [ "stack lah3 xou5" ], [ "pick-up vhy4" ], [ "stack vhy4 lah3" ] ]	[ "(arm-empty) (on xou5 vhy4) (on-table vyx2) (on-table vhy4) (clear lah3) (on cjs1 vyx2) (clear cjs1) (on-table lah3) (clear xou5)", "(on-table vyx2) (clear vhy4) (holding xou5) (on-table vhy4) (clear lah3) (on cjs1 vyx2) (clear cjs1) (on-table lah3)", "(arm-empty) (on-table vyx2) (clear vhy4) (on xou5 cjs1) (on-table vhy4) (clear lah3) (on cjs1 vyx2) (on-table lah3) (clear xou5)", "(on-table vyx2) (clear vhy4) (on xou5 cjs1) (on-table vhy4) (on cjs1 vyx2) (holding lah3) (clear xou5)", "(on lah3 xou5) (arm-empty) (on-table vyx2) (clear vhy4) (on xou5 cjs1) (on-table vhy4) (clear lah3) (on cjs1 vyx2)", "(on lah3 xou5) (on-table vyx2) (holding vhy4) (on xou5 cjs1) (clear lah3) (on cjs1 vyx2)", "(on lah3 xou5) (arm-empty) (on-table vyx2) (clear vhy4) (on xou5 cjs1) (on vhy4 lah3) (on cjs1 vyx2)" ]	file_76316
GOAL: (clear jld2) (arm-empty) (on-table jld2) (on kir4 wke5) (on wke5 zkr3) (on yhj1 kir4) (clear yhj1) (on-table zkr3)	GOAL: (clear jld2) (arm-empty) (on-table jld2) (on kir4 wke5) (on wke5 zkr3) (on yhj1 kir4) (clear yhj1) (on-table zkr3) STATE: (on kir4 wke5) (on-table yhj1) (clear kir4) (on wke5 zkr3) (holding jld2) (clear yhj1) (on-table zkr3)	[ [ "put-down jld2" ], [ "pick-up yhj1" ], [ "stack yhj1 kir4" ] ]	[ "(arm-empty) (on-table jld2) (on kir4 wke5) (clear kir4) (on wke5 zkr3) (clear jld2) (on-table yhj1) (clear yhj1) (on-table zkr3)", "(holding yhj1) (clear jld2) (on-table jld2) (on kir4 wke5) (clear kir4) (on wke5 zkr3) (on-table zkr3)", "(clear jld2) (arm-empty) (on-table jld2) (on kir4 wke5) (on wke5 zkr3) (on yhj1 kir4) (clear yhj1) (on-table zkr3)" ]	file_213352
GOAL: (arm-empty) (on-table sfa5) (on zjt2 fxe4) (clear sfa5) (clear zjt2) (on-table fio1) (on fxe4 aol3) (clear fio1) (on-table aol3)	GOAL: (arm-empty) (on-table sfa5) (on zjt2 fxe4) (clear sfa5) (clear zjt2) (on-table fio1) (on fxe4 aol3) (clear fio1) (on-table aol3) STATE: (clear zjt2) (on-table zjt2) (on-table sfa5) (on-table fxe4) (on fio1 fxe4) (holding aol3) (clear fio1) (clear sfa5)	[ [ "stack aol3 sfa5" ], [ "unstack fio1 fxe4" ], [ "put-down fio1" ], [ "pick-up fxe4" ], [ "stack fxe4 zjt2" ], [ "unstack aol3 sfa5" ], [ "put-down aol3" ], [ "pick-up sfa5" ], [ "stack sfa5 fio1" ], [ "unstack fxe4 zjt2" ], [ "stack fxe4 aol3" ], [ "pick-up zjt2" ], [ "stack zjt2 fxe4" ], [ "unstack sfa5 fio1" ], [ "put-down sfa5" ] ]	[ "(clear zjt2) (on aol3 sfa5) (arm-empty) (on-table zjt2) (on-table sfa5) (on-table fxe4) (on fio1 fxe4) (clear aol3) (clear fio1)", "(holding fio1) (clear zjt2) (on aol3 sfa5) (on-table zjt2) (on-table sfa5) (clear fxe4) (on-table fxe4) (clear aol3)", "(clear zjt2) (on aol3 sfa5) (arm-empty) (on-table zjt2) (on-table sfa5) (on-table fio1) (clear fxe4) (on-table fxe4) (clear aol3) (clear fio1)", "(clear zjt2) (on aol3 sfa5) (on-table zjt2) (on-table sfa5) (on-table fio1) (holding fxe4) (clear aol3) (clear fio1)", "(on aol3 sfa5) (arm-empty) (on-table zjt2) (on-table sfa5) (on-table fio1) (clear fxe4) (on fxe4 zjt2) (clear aol3) (clear fio1)", "(on-table zjt2) (on-table sfa5) (on-table fio1) (clear fxe4) (on fxe4 zjt2) (holding aol3) (clear fio1) (clear sfa5)", "(arm-empty) (on-table zjt2) (on-table sfa5) (on-table fio1) (clear fxe4) (on fxe4 zjt2) (clear aol3) (clear fio1) (on-table aol3) (clear sfa5)", "(on-table zjt2) (on-table fio1) (clear fxe4) (holding sfa5) (on fxe4 zjt2) (clear aol3) (clear fio1) (on-table aol3)", "(arm-empty) (on-table zjt2) (on-table fio1) (clear fxe4) (on sfa5 fio1) (on fxe4 zjt2) (clear aol3) (on-table aol3) (clear sfa5)", "(clear zjt2) (on-table zjt2) (on-table fio1) (holding fxe4) (on sfa5 fio1) (clear aol3) (on-table aol3) (clear sfa5)", "(clear zjt2) (arm-empty) (on-table zjt2) (on-table fio1) (clear fxe4) (on sfa5 fio1) (on fxe4 aol3) (on-table aol3) (clear sfa5)", "(on-table fio1) (clear fxe4) (on sfa5 fio1) (on fxe4 aol3) (holding zjt2) (on-table aol3) (clear sfa5)", "(clear zjt2) (arm-empty) (on-table fio1) (on sfa5 fio1) (on fxe4 aol3) (on zjt2 fxe4) (on-table aol3) (clear sfa5)", "(clear zjt2) (on-table fio1) (on fxe4 aol3) (holding sfa5) (on zjt2 fxe4) (clear fio1) (on-table aol3)", "(arm-empty) (on-table sfa5) (on zjt2 fxe4) (clear sfa5) (clear zjt2) (on-table fio1) (on fxe4 aol3) (clear fio1) (on-table aol3)" ]	file_195631
GOAL: (holding tmt1) (on rhc5 gtk2) (on-table rjc4) (on gtk2 rjc4) (clear ubl3) (on-table ubl3) (clear rhc5)	GOAL: (holding tmt1) (on rhc5 gtk2) (on-table rjc4) (on gtk2 rjc4) (clear ubl3) (on-table ubl3) (clear rhc5) STATE: (arm-empty) (on rjc4 rhc5) (clear rjc4) (on rhc5 tmt1) (on gtk2 ubl3) (on tmt1 gtk2) (on-table ubl3)	[ [ "unstack rjc4 rhc5" ], [ "put-down rjc4" ], [ "unstack rhc5 tmt1" ], [ "stack rhc5 rjc4" ], [ "unstack tmt1 gtk2" ], [ "put-down tmt1" ], [ "unstack rhc5 rjc4" ], [ "stack rhc5 tmt1" ], [ "unstack gtk2 ubl3" ], [ "stack gtk2 rjc4" ], [ "unstack rhc5 tmt1" ], [ "stack rhc5 gtk2" ], [ "pick-up tmt1" ] ]	[ "(holding rjc4) (on tmt1 gtk2) (clear rhc5) (on rhc5 tmt1) (on gtk2 ubl3) (on-table ubl3)", "(arm-empty) (clear rjc4) (on tmt1 gtk2) (clear rhc5) (on rhc5 tmt1) (on-table rjc4) (on gtk2 ubl3) (on-table ubl3)", "(clear rjc4) (holding rhc5) (on-table rjc4) (on gtk2 ubl3) (on tmt1 gtk2) (clear tmt1) (on-table ubl3)", "(clear tmt1) (arm-empty) (on rhc5 rjc4) (on-table rjc4) (on gtk2 ubl3) (on tmt1 gtk2) (on-table ubl3) (clear rhc5)", "(holding tmt1) (clear gtk2) (on rhc5 rjc4) (on-table rjc4) (on gtk2 ubl3) (on-table ubl3) (clear rhc5)", "(arm-empty) (on rhc5 rjc4) (clear rhc5) (clear gtk2) (on-table tmt1) (on-table rjc4) (on gtk2 ubl3) (clear tmt1) (on-table ubl3)", "(clear gtk2) (on-table tmt1) (clear rjc4) (holding rhc5) (on-table rjc4) (on gtk2 ubl3) (clear tmt1) (on-table ubl3)", "(clear gtk2) (arm-empty) (on-table tmt1) (clear rjc4) (on rhc5 tmt1) (on-table rjc4) (on gtk2 ubl3) (on-table ubl3) (clear rhc5)", "(on-table tmt1) (clear rjc4) (on rhc5 tmt1) (on-table rjc4) (holding gtk2) (clear ubl3) (on-table ubl3) (clear rhc5)", "(clear gtk2) (arm-empty) (on-table tmt1) (on rhc5 tmt1) (on-table rjc4) (on gtk2 rjc4) (clear ubl3) (on-table ubl3) (clear rhc5)", "(clear gtk2) (on-table tmt1) (holding rhc5) (on-table rjc4) (on gtk2 rjc4) (clear ubl3) (clear tmt1) (on-table ubl3)", "(arm-empty) (on-table tmt1) (on rhc5 gtk2) (on-table rjc4) (on gtk2 rjc4) (clear ubl3) (clear tmt1) (on-table ubl3) (clear rhc5)", "(holding tmt1) (on rhc5 gtk2) (on-table rjc4) (on gtk2 rjc4) (clear ubl3) (on-table ubl3) (clear rhc5)" ]	file_99197
GOAL: (clear fii2) (arm-empty) (on pmq5 vey3) (on-table caz4) (on oob1 caz4) (on fii2 pmq5) (clear oob1) (on-table vey3)	GOAL: (clear fii2) (arm-empty) (on pmq5 vey3) (on-table caz4) (on oob1 caz4) (on fii2 pmq5) (clear oob1) (on-table vey3) STATE: (on caz4 oob1) (arm-empty) (clear caz4) (on pmq5 vey3) (on fii2 pmq5) (on oob1 fii2) (on-table vey3)	[ [ "unstack caz4 oob1" ], [ "put-down caz4" ], [ "unstack oob1 fii2" ], [ "stack oob1 caz4" ] ]	[ "(holding caz4) (on pmq5 vey3) (on fii2 pmq5) (on oob1 fii2) (clear oob1) (on-table vey3)", "(arm-empty) (clear caz4) (on pmq5 vey3) (on fii2 pmq5) (on oob1 fii2) (on-table caz4) (clear oob1) (on-table vey3)", "(holding oob1) (clear fii2) (clear caz4) (on pmq5 vey3) (on-table caz4) (on fii2 pmq5) (on-table vey3)", "(clear fii2) (arm-empty) (on pmq5 vey3) (on-table caz4) (on oob1 caz4) (on fii2 pmq5) (clear oob1) (on-table vey3)" ]	file_206403
GOAL: (on xok1 naq3) (on-table gzq5) (clear bqy4) (on-table bqy4) (holding ong2) (clear xok1) (on-table naq3) (clear gzq5)	GOAL: (on xok1 naq3) (on-table gzq5) (clear bqy4) (on-table bqy4) (holding ong2) (clear xok1) (on-table naq3) (clear gzq5) STATE: (on naq3 gzq5) (arm-empty) (on-table ong2) (clear bqy4) (on gzq5 xok1) (on bqy4 naq3) (on xok1 ong2)	[ [ "unstack bqy4 naq3" ], [ "put-down bqy4" ], [ "unstack naq3 gzq5" ], [ "put-down naq3" ], [ "unstack gzq5 xok1" ], [ "stack gzq5 bqy4" ], [ "unstack xok1 ong2" ], [ "stack xok1 naq3" ], [ "unstack gzq5 bqy4" ], [ "put-down gzq5" ], [ "pick-up ong2" ] ]	[ "(on naq3 gzq5) (on-table ong2) (holding bqy4) (on xok1 ong2) (on gzq5 xok1) (clear naq3)", "(on naq3 gzq5) (arm-empty) (on-table ong2) (clear bqy4) (on xok1 ong2) (on gzq5 xok1) (on-table bqy4) (clear naq3)", "(on-table ong2) (clear bqy4) (on gzq5 xok1) (on-table bqy4) (on xok1 ong2) (holding naq3) (clear gzq5)", "(arm-empty) (on-table ong2) (clear bqy4) (on xok1 ong2) (clear gzq5) (on gzq5 xok1) (on-table bqy4) (clear naq3) (on-table naq3)", "(on-table ong2) (clear bqy4) (holding gzq5) (on-table bqy4) (clear naq3) (on xok1 ong2) (clear xok1) (on-table naq3)", "(arm-empty) (on gzq5 bqy4) (on-table ong2) (on-table bqy4) (clear naq3) (on xok1 ong2) (clear xok1) (on-table naq3) (clear gzq5)", "(holding xok1) (clear ong2) (on gzq5 bqy4) (on-table ong2) (on-table bqy4) (clear naq3) (on-table naq3) (clear gzq5)", "(clear ong2) (on xok1 naq3) (on gzq5 bqy4) (on-table ong2) (arm-empty) (on-table bqy4) (clear xok1) (on-table naq3) (clear gzq5)", "(clear ong2) (on xok1 naq3) (on-table ong2) (clear bqy4) (holding gzq5) (on-table bqy4) (clear xok1) (on-table naq3)", "(clear ong2) (on xok1 naq3) (arm-empty) (on-table ong2) (on-table gzq5) (clear bqy4) (on-table bqy4) (clear xok1) (on-table naq3) (clear gzq5)", "(on xok1 naq3) (on-table gzq5) (clear bqy4) (on-table bqy4) (holding ong2) (clear xok1) (on-table naq3) (clear gzq5)" ]	file_59637
GOAL: (on ndn1 och5) (clear mqk2) (on-table mqk2) (on-table och5) (clear zln4) (on-table zln4) (holding kuy3) (clear ndn1)	GOAL: (on ndn1 och5) (clear mqk2) (on-table mqk2) (on-table och5) (clear zln4) (on-table zln4) (holding kuy3) (clear ndn1) STATE: (on zln4 ndn1) (on ndn1 kuy3) (on-table mqk2) (on-table och5) (arm-empty) (on kuy3 mqk2) (clear zln4) (clear och5)	[ [ "unstack zln4 ndn1" ], [ "put-down zln4" ], [ "unstack ndn1 kuy3" ], [ "stack ndn1 och5" ], [ "unstack kuy3 mqk2" ] ]	[ "(on ndn1 kuy3) (on-table mqk2) (on-table och5) (holding zln4) (on kuy3 mqk2) (clear ndn1) (clear och5)", "(on ndn1 kuy3) (arm-empty) (on-table mqk2) (on-table och5) (clear zln4) (clear och5) (on kuy3 mqk2) (on-table zln4) (clear ndn1)", "(holding ndn1) (on-table mqk2) (on-table och5) (on kuy3 mqk2) (clear zln4) (on-table zln4) (clear kuy3) (clear och5)", "(on ndn1 och5) (arm-empty) (on-table mqk2) (on-table och5) (on kuy3 mqk2) (clear zln4) (on-table zln4) (clear kuy3) (clear ndn1)", "(on ndn1 och5) (clear mqk2) (on-table mqk2) (on-table och5) (clear zln4) (on-table zln4) (holding kuy3) (clear ndn1)" ]	file_15757
GOAL: (on mkf3 aya4) (on aya4 tfx1) (arm-empty) (on-table qhc5) (on iot2 qhc5) (clear mkf3) (on tfx1 iot2)	GOAL: (on mkf3 aya4) (on aya4 tfx1) (arm-empty) (on-table qhc5) (on iot2 qhc5) (clear mkf3) (on tfx1 iot2) STATE: (on-table qhc5) (on-table tfx1) (clear aya4) (on aya4 mkf3) (holding iot2) (clear tfx1) (on-table mkf3) (clear qhc5)	[ [ "stack iot2 qhc5" ], [ "pick-up tfx1" ], [ "stack tfx1 iot2" ], [ "unstack aya4 mkf3" ], [ "stack aya4 tfx1" ], [ "pick-up mkf3" ], [ "stack mkf3 aya4" ] ]	[ "(clear iot2) (arm-empty) (on-table qhc5) (on-table tfx1) (clear aya4) (on aya4 mkf3) (on iot2 qhc5) (clear tfx1) (on-table mkf3)", "(holding tfx1) (clear iot2) (on-table qhc5) (clear aya4) (on aya4 mkf3) (on iot2 qhc5) (on-table mkf3)", "(arm-empty) (on-table qhc5) (clear aya4) (on aya4 mkf3) (on iot2 qhc5) (on tfx1 iot2) (clear tfx1) (on-table mkf3)", "(on-table qhc5) (holding aya4) (on iot2 qhc5) (clear mkf3) (on tfx1 iot2) (clear tfx1) (on-table mkf3)", "(on aya4 tfx1) (arm-empty) (on-table qhc5) (clear aya4) (on iot2 qhc5) (clear mkf3) (on tfx1 iot2) (on-table mkf3)", "(on aya4 tfx1) (on-table qhc5) (clear aya4) (on iot2 qhc5) (on tfx1 iot2) (holding mkf3)", "(on mkf3 aya4) (on aya4 tfx1) (arm-empty) (on-table qhc5) (on iot2 qhc5) (clear mkf3) (on tfx1 iot2)" ]	file_104703
GOAL: (clear nxz2) (on kvj3 cts5) (arm-empty) (on-table nxz2) (on-table cts5) (on-table lfq4) (on sbb1 lfq4) (clear kvj3) (clear sbb1)	GOAL: (clear nxz2) (on kvj3 cts5) (arm-empty) (on-table nxz2) (on-table cts5) (on-table lfq4) (on sbb1 lfq4) (clear kvj3) (clear sbb1) STATE: (clear nxz2) (arm-empty) (on-table nxz2) (on cts5 sbb1) (on-table lfq4) (on sbb1 lfq4) (clear kvj3) (on-table kvj3) (clear cts5)	[ [ "unstack cts5 sbb1" ], [ "stack cts5 nxz2" ], [ "pick-up kvj3" ], [ "stack kvj3 sbb1" ], [ "unstack cts5 nxz2" ], [ "put-down cts5" ], [ "unstack kvj3 sbb1" ], [ "stack kvj3 cts5" ] ]	[ "(clear nxz2) (on-table nxz2) (holding cts5) (on-table lfq4) (on sbb1 lfq4) (clear kvj3) (clear sbb1) (on-table kvj3)", "(arm-empty) (on-table nxz2) (on cts5 nxz2) (on-table lfq4) (on sbb1 lfq4) (clear kvj3) (clear sbb1) (on-table kvj3) (clear cts5)", "(on-table nxz2) (on cts5 nxz2) (on-table lfq4) (on sbb1 lfq4) (holding kvj3) (clear sbb1) (clear cts5)", "(arm-empty) (on-table nxz2) (on cts5 nxz2) (on-table lfq4) (on sbb1 lfq4) (on kvj3 sbb1) (clear kvj3) (clear cts5)", "(clear nxz2) (on-table nxz2) (holding cts5) (on-table lfq4) (on sbb1 lfq4) (on kvj3 sbb1) (clear kvj3)", "(arm-empty) (on-table nxz2) (on-table cts5) (on kvj3 sbb1) (clear cts5) (clear nxz2) (on-table lfq4) (on sbb1 lfq4) (clear kvj3)", "(clear nxz2) (on-table nxz2) (on-table cts5) (on-table lfq4) (on sbb1 lfq4) (holding kvj3) (clear sbb1) (clear cts5)", "(clear nxz2) (on kvj3 cts5) (arm-empty) (on-table nxz2) (on-table cts5) (on-table lfq4) (on sbb1 lfq4) (clear kvj3) (clear sbb1)" ]	file_146604
GOAL: (clear pvk2) (on-table pvk2) (on-table cnx1) (holding aur4) (on cwk3 cnx1) (clear cwk3)	GOAL: (clear pvk2) (on-table pvk2) (on-table cnx1) (holding aur4) (on cwk3 cnx1) (clear cwk3) STATE: (clear pvk2) (arm-empty) (on-table pvk2) (on-table cnx1) (clear aur4) (on-table aur4) (on cwk3 cnx1) (clear cwk3)	[ [ "pick-up aur4" ] ]	[ "(clear pvk2) (on-table pvk2) (on-table cnx1) (holding aur4) (on cwk3 cnx1) (clear cwk3)" ]	file_95108
GOAL: (arm-empty) (on-table mzr1) (clear bcw4) (on zfm5 mzr1) (on bcw4 bjc2) (on bjc2 zfm5) (clear mbz3) (on-table mbz3)	GOAL: (arm-empty) (on-table mzr1) (clear bcw4) (on zfm5 mzr1) (on bcw4 bjc2) (on bjc2 zfm5) (clear mbz3) (on-table mbz3) STATE: (clear bjc2) (on mbz3 zfm5) (on-table bjc2) (holding bcw4) (on-table mzr1) (on zfm5 mzr1) (clear mbz3)	[ [ "stack bcw4 bjc2" ], [ "unstack mbz3 zfm5" ], [ "put-down mbz3" ], [ "unstack bcw4 bjc2" ], [ "stack bcw4 zfm5" ], [ "pick-up bjc2" ], [ "stack bjc2 mbz3" ], [ "unstack bcw4 zfm5" ], [ "put-down bcw4" ], [ "unstack bjc2 mbz3" ], [ "stack bjc2 zfm5" ], [ "pick-up bcw4" ], [ "stack bcw4 bjc2" ] ]	[ "(on mbz3 zfm5) (arm-empty) (on-table bjc2) (clear bcw4) (on-table mzr1) (on zfm5 mzr1) (on bcw4 bjc2) (clear mbz3)", "(on-table bjc2) (on-table mzr1) (clear bcw4) (on zfm5 mzr1) (on bcw4 bjc2) (holding mbz3) (clear zfm5)", "(arm-empty) (on-table bjc2) (clear bcw4) (clear zfm5) (on-table mzr1) (on zfm5 mzr1) (on bcw4 bjc2) (clear mbz3) (on-table mbz3)", "(clear bjc2) (on-table bjc2) (on-table mzr1) (holding bcw4) (on zfm5 mzr1) (clear mbz3) (on-table mbz3) (clear zfm5)", "(clear bjc2) (arm-empty) (on-table bjc2) (on bcw4 zfm5) (on-table mzr1) (clear bcw4) (on zfm5 mzr1) (clear mbz3) (on-table mbz3)", "(on bcw4 zfm5) (on-table mzr1) (clear bcw4) (on zfm5 mzr1) (holding bjc2) (clear mbz3) (on-table mbz3)", "(clear bjc2) (arm-empty) (on bcw4 zfm5) (on-table mzr1) (clear bcw4) (on zfm5 mzr1) (on bjc2 mbz3) (on-table mbz3)", "(clear bjc2) (on-table mzr1) (holding bcw4) (on zfm5 mzr1) (on bjc2 mbz3) (on-table mbz3) (clear zfm5)", "(arm-empty) (clear bcw4) (clear zfm5) (clear bjc2) (on-table mzr1) (on zfm5 mzr1) (on-table bcw4) (on bjc2 mbz3) (on-table mbz3)", "(on-table mzr1) (clear bcw4) (on zfm5 mzr1) (on-table bcw4) (holding bjc2) (clear mbz3) (on-table mbz3) (clear zfm5)", "(clear bjc2) (arm-empty) (on-table mzr1) (clear bcw4) (on zfm5 mzr1) (on-table bcw4) (on bjc2 zfm5) (clear mbz3) (on-table mbz3)", "(clear bjc2) (on-table mzr1) (holding bcw4) (on zfm5 mzr1) (on bjc2 zfm5) (clear mbz3) (on-table mbz3)", "(arm-empty) (on-table mzr1) (clear bcw4) (on zfm5 mzr1) (on bcw4 bjc2) (on bjc2 zfm5) (clear mbz3) (on-table mbz3)" ]	file_184516
GOAL: (on anh3 jcj4) (clear fdd2) (arm-empty) (on-table fdd2) (on-table pji1) (on bfl5 anh3) (on-table jcj4) (clear pji1) (clear bfl5)	GOAL: (on anh3 jcj4) (clear fdd2) (arm-empty) (on-table fdd2) (on-table pji1) (on bfl5 anh3) (on-table jcj4) (clear pji1) (clear bfl5) STATE: (on anh3 jcj4) (clear fdd2) (on pji1 anh3) (arm-empty) (on bfl5 pji1) (on-table jcj4) (on fdd2 bfl5)	[ [ "unstack fdd2 bfl5" ], [ "put-down fdd2" ], [ "unstack bfl5 pji1" ], [ "put-down bfl5" ], [ "pick-up fdd2" ], [ "stack fdd2 bfl5" ], [ "unstack pji1 anh3" ], [ "put-down pji1" ], [ "unstack fdd2 bfl5" ], [ "put-down fdd2" ], [ "pick-up bfl5" ], [ "stack bfl5 anh3" ] ]	[ "(on pji1 anh3) (clear bfl5) (on anh3 jcj4) (on bfl5 pji1) (on-table jcj4) (holding fdd2)", "(on bfl5 pji1) (on anh3 jcj4) (on-table jcj4) (on pji1 anh3) (clear fdd2) (on-table fdd2) (arm-empty) (clear bfl5)", "(on anh3 jcj4) (clear fdd2) (on pji1 anh3) (on-table fdd2) (holding bfl5) (on-table jcj4) (clear pji1)", "(on pji1 anh3) (arm-empty) (on-table fdd2) (on-table bfl5) (clear bfl5) (on anh3 jcj4) (clear fdd2) (on-table jcj4) (clear pji1)", "(on anh3 jcj4) (on pji1 anh3) (on-table bfl5) (on-table jcj4) (holding fdd2) (clear pji1) (clear bfl5)", "(on anh3 jcj4) (clear fdd2) (on pji1 anh3) (arm-empty) (on-table bfl5) (on-table jcj4) (on fdd2 bfl5) (clear pji1)", "(holding pji1) (on anh3 jcj4) (clear fdd2) (on-table bfl5) (on-table jcj4) (on fdd2 bfl5) (clear anh3)", "(arm-empty) (on-table bfl5) (on fdd2 bfl5) (on anh3 jcj4) (clear fdd2) (on-table pji1) (on-table jcj4) (clear anh3) (clear pji1)", "(on anh3 jcj4) (on-table bfl5) (on-table pji1) (on-table jcj4) (holding fdd2) (clear anh3) (clear pji1) (clear bfl5)", "(on anh3 jcj4) (clear fdd2) (arm-empty) (on-table fdd2) (on-table bfl5) (on-table pji1) (on-table jcj4) (clear anh3) (clear pji1) (clear bfl5)", "(on anh3 jcj4) (clear fdd2) (on-table fdd2) (on-table pji1) (holding bfl5) (on-table jcj4) (clear anh3) (clear pji1)", "(on anh3 jcj4) (clear fdd2) (arm-empty) (on-table fdd2) (on-table pji1) (on bfl5 anh3) (on-table jcj4) (clear pji1) (clear bfl5)" ]	file_99653
GOAL: (arm-empty) (on-table kxm2) (clear zvc4) (clear jcj5) (on-table jkj1) (on ysp3 kxm2) (on zvc4 ysp3) (on jcj5 jkj1)	GOAL: (arm-empty) (on-table kxm2) (clear zvc4) (clear jcj5) (on-table jkj1) (on ysp3 kxm2) (on zvc4 ysp3) (on jcj5 jkj1) STATE: (on ysp3 zvc4) (clear kxm2) (on-table jkj1) (holding jcj5) (on-table zvc4) (on kxm2 ysp3) (clear jkj1)	[ [ "stack jcj5 jkj1" ], [ "unstack kxm2 ysp3" ], [ "put-down kxm2" ], [ "unstack ysp3 zvc4" ], [ "stack ysp3 kxm2" ], [ "pick-up zvc4" ], [ "stack zvc4 ysp3" ] ]	[ "(on ysp3 zvc4) (clear kxm2) (arm-empty) (on-table jkj1) (on jcj5 jkj1) (on-table zvc4) (on kxm2 ysp3) (clear jcj5)", "(on ysp3 zvc4) (on-table jkj1) (on jcj5 jkj1) (on-table zvc4) (holding kxm2) (clear ysp3) (clear jcj5)", "(arm-empty) (on-table kxm2) (clear jcj5) (on ysp3 zvc4) (clear kxm2) (on-table jkj1) (on jcj5 jkj1) (on-table zvc4) (clear ysp3)", "(clear kxm2) (on-table kxm2) (on-table jkj1) (clear zvc4) (on jcj5 jkj1) (on-table zvc4) (holding ysp3) (clear jcj5)", "(arm-empty) (on-table kxm2) (on-table jkj1) (on ysp3 kxm2) (clear zvc4) (on jcj5 jkj1) (on-table zvc4) (clear ysp3) (clear jcj5)", "(on-table kxm2) (on-table jkj1) (holding zvc4) (on ysp3 kxm2) (on jcj5 jkj1) (clear ysp3) (clear jcj5)", "(arm-empty) (on-table kxm2) (clear zvc4) (clear jcj5) (on-table jkj1) (on ysp3 kxm2) (on zvc4 ysp3) (on jcj5 jkj1)" ]	file_125990
GOAL: (on-table xic5) (clear gmn4) (on-table gmn4) (on eee2 xic5) (on fca1 eee2) (clear fca1) (holding mik3)	GOAL: (on-table xic5) (clear gmn4) (on-table gmn4) (on eee2 xic5) (on fca1 eee2) (clear fca1) (holding mik3) STATE: (clear eee2) (on mik3 xic5) (arm-empty) (on-table eee2) (on-table xic5) (on-table fca1) (clear gmn4) (on gmn4 mik3) (clear fca1)	[ [ "pick-up eee2" ], [ "stack eee2 fca1" ], [ "unstack gmn4 mik3" ], [ "put-down gmn4" ], [ "unstack eee2 fca1" ], [ "stack eee2 gmn4" ], [ "unstack mik3 xic5" ], [ "stack mik3 fca1" ], [ "unstack eee2 gmn4" ], [ "stack eee2 xic5" ], [ "unstack mik3 fca1" ], [ "stack mik3 gmn4" ], [ "pick-up fca1" ], [ "stack fca1 eee2" ], [ "unstack mik3 gmn4" ] ]	[ "(on mik3 xic5) (on-table xic5) (on-table fca1) (clear gmn4) (on gmn4 mik3) (holding eee2) (clear fca1)", "(on mik3 xic5) (clear eee2) (arm-empty) (on-table xic5) (on-table fca1) (clear gmn4) (on gmn4 mik3) (on eee2 fca1)", "(on mik3 xic5) (clear eee2) (on-table xic5) (on-table fca1) (holding gmn4) (on eee2 fca1) (clear mik3)", "(on mik3 xic5) (arm-empty) (on-table xic5) (clear gmn4) (on eee2 fca1) (clear eee2) (on-table fca1) (on-table gmn4) (clear mik3)", "(on mik3 xic5) (on-table xic5) (on-table fca1) (clear gmn4) (on-table gmn4) (holding eee2) (clear mik3) (clear fca1)", "(on mik3 xic5) (clear eee2) (arm-empty) (on-table xic5) (on-table fca1) (on-table gmn4) (on eee2 gmn4) (clear mik3) (clear fca1)", "(clear eee2) (on-table xic5) (on-table fca1) (on-table gmn4) (on eee2 gmn4) (holding mik3) (clear fca1) (clear xic5)", "(clear eee2) (arm-empty) (on-table xic5) (on-table fca1) (on mik3 fca1) (on-table gmn4) (on eee2 gmn4) (clear mik3) (clear xic5)", "(on-table xic5) (on-table fca1) (clear gmn4) (on-table gmn4) (holding eee2) (on mik3 fca1) (clear mik3) (clear xic5)", "(clear eee2) (arm-empty) (on-table xic5) (on-table fca1) (clear gmn4) (on-table gmn4) (on mik3 fca1) (on eee2 xic5) (clear mik3)", "(clear eee2) (on-table xic5) (on-table fca1) (clear gmn4) (on-table gmn4) (on eee2 xic5) (holding mik3) (clear fca1)", "(on mik3 gmn4) (clear eee2) (arm-empty) (on-table xic5) (on-table fca1) (on-table gmn4) (on eee2 xic5) (clear mik3) (clear fca1)", "(holding fca1) (on mik3 gmn4) (clear eee2) (on-table xic5) (on-table gmn4) (on eee2 xic5) (clear mik3)", "(on mik3 gmn4) (arm-empty) (on-table xic5) (on-table gmn4) (on eee2 xic5) (clear mik3) (on fca1 eee2) (clear fca1)", "(on-table xic5) (clear gmn4) (on-table gmn4) (on eee2 xic5) (on fca1 eee2) (clear fca1) (holding mik3)" ]	file_92002
GOAL: (on-table dsa2) (on-table adw1) (on cur5 dsa2) (clear dqp4) (on-table dqp4) (holding hab3) (clear adw1) (clear cur5)	GOAL: (on-table dsa2) (on-table adw1) (on cur5 dsa2) (clear dqp4) (on-table dqp4) (holding hab3) (clear adw1) (clear cur5) STATE: (on hab3 dqp4) (clear dsa2) (on adw1 hab3) (arm-empty) (on cur5 adw1) (on-table dqp4) (on dsa2 cur5)	[ [ "unstack dsa2 cur5" ], [ "put-down dsa2" ], [ "unstack cur5 adw1" ], [ "stack cur5 dsa2" ], [ "unstack adw1 hab3" ], [ "put-down adw1" ], [ "unstack hab3 dqp4" ] ]	[ "(on adw1 hab3) (clear cur5) (on hab3 dqp4) (on cur5 adw1) (on-table dqp4) (holding dsa2)", "(on cur5 adw1) (on hab3 dqp4) (on-table dqp4) (on adw1 hab3) (clear dsa2) (on-table dsa2) (arm-empty) (clear cur5)", "(on hab3 dqp4) (clear dsa2) (on adw1 hab3) (on-table dsa2) (holding cur5) (on-table dqp4) (clear adw1)", "(on hab3 dqp4) (on adw1 hab3) (arm-empty) (on-table dsa2) (on cur5 dsa2) (on-table dqp4) (clear adw1) (clear cur5)", "(holding adw1) (on hab3 dqp4) (on-table dsa2) (on cur5 dsa2) (on-table dqp4) (clear hab3) (clear cur5)", "(arm-empty) (on-table dsa2) (on cur5 dsa2) (clear cur5) (on hab3 dqp4) (on-table adw1) (on-table dqp4) (clear hab3) (clear adw1)", "(on-table dsa2) (on-table adw1) (on cur5 dsa2) (clear dqp4) (on-table dqp4) (holding hab3) (clear adw1) (clear cur5)" ]	file_99714
GOAL: (arm-empty) (on-table rzq2) (on vfm3 rzq2) (on mni5 vfm3) (on-table jyl4) (on iay1 jyl4) (clear iay1) (clear mni5)	GOAL: (arm-empty) (on-table rzq2) (on vfm3 rzq2) (on mni5 vfm3) (on-table jyl4) (on iay1 jyl4) (clear iay1) (clear mni5) STATE: (on vfm3 jyl4) (clear rzq2) (arm-empty) (on-table rzq2) (on jyl4 mni5) (on-table iay1) (on mni5 iay1) (clear vfm3)	[ [ "unstack vfm3 jyl4" ], [ "stack vfm3 rzq2" ], [ "unstack jyl4 mni5" ], [ "put-down jyl4" ], [ "unstack mni5 iay1" ], [ "stack mni5 vfm3" ], [ "pick-up iay1" ], [ "stack iay1 jyl4" ] ]	[ "(clear rzq2) (on-table rzq2) (on jyl4 mni5) (on-table iay1) (clear jyl4) (on mni5 iay1) (holding vfm3)", "(arm-empty) (on-table rzq2) (on jyl4 mni5) (on-table iay1) (on vfm3 rzq2) (clear jyl4) (on mni5 iay1) (clear vfm3)", "(on-table rzq2) (on-table iay1) (holding jyl4) (on vfm3 rzq2) (on mni5 iay1) (clear vfm3) (clear mni5)", "(arm-empty) (on-table rzq2) (clear jyl4) (clear mni5) (on-table iay1) (on vfm3 rzq2) (on mni5 iay1) (on-table jyl4) (clear vfm3)", "(on-table rzq2) (on-table iay1) (on vfm3 rzq2) (clear jyl4) (holding mni5) (on-table jyl4) (clear vfm3) (clear iay1)", "(arm-empty) (on-table rzq2) (on-table iay1) (on vfm3 rzq2) (clear jyl4) (on mni5 vfm3) (on-table jyl4) (clear iay1) (clear mni5)", "(holding iay1) (on-table rzq2) (on vfm3 rzq2) (clear jyl4) (on mni5 vfm3) (on-table jyl4) (clear mni5)", "(arm-empty) (on-table rzq2) (on vfm3 rzq2) (on mni5 vfm3) (on-table jyl4) (on iay1 jyl4) (clear iay1) (clear mni5)" ]	file_159454
GOAL: (arm-empty) (on evb3 twi2) (on lpu5 tdo1) (on-table zho4) (on tdo1 zho4) (on twi2 lpu5) (clear evb3)	GOAL: (arm-empty) (on evb3 twi2) (on lpu5 tdo1) (on-table zho4) (on tdo1 zho4) (on twi2 lpu5) (clear evb3) STATE: (on evb3 lpu5) (on zho4 tdo1) (on tdo1 evb3) (arm-empty) (on-table lpu5) (clear twi2) (on twi2 zho4)	[ [ "unstack twi2 zho4" ], [ "put-down twi2" ], [ "unstack zho4 tdo1" ], [ "put-down zho4" ], [ "unstack tdo1 evb3" ], [ "stack tdo1 zho4" ], [ "unstack evb3 lpu5" ], [ "put-down evb3" ], [ "pick-up lpu5" ], [ "stack lpu5 tdo1" ], [ "pick-up twi2" ], [ "stack twi2 lpu5" ], [ "pick-up evb3" ], [ "stack evb3 twi2" ] ]	[ "(on evb3 lpu5) (on zho4 tdo1) (on tdo1 evb3) (on-table lpu5) (clear zho4) (holding twi2)", "(on evb3 lpu5) (on zho4 tdo1) (on tdo1 evb3) (on-table twi2) (on-table lpu5) (arm-empty) (clear zho4) (clear twi2)", "(on evb3 lpu5) (on tdo1 evb3) (on-table twi2) (on-table lpu5) (clear twi2) (holding zho4) (clear tdo1)", "(on evb3 lpu5) (on tdo1 evb3) (arm-empty) (on-table twi2) (on-table lpu5) (clear zho4) (clear twi2) (on-table zho4) (clear tdo1)", "(holding tdo1) (on evb3 lpu5) (on-table twi2) (on-table lpu5) (clear twi2) (clear zho4) (on-table zho4) (clear evb3)", "(on evb3 lpu5) (clear twi2) (arm-empty) (on-table twi2) (on-table lpu5) (on-table zho4) (on tdo1 zho4) (clear evb3) (clear tdo1)", "(clear twi2) (on-table twi2) (on-table lpu5) (on-table zho4) (on tdo1 zho4) (holding evb3) (clear tdo1) (clear lpu5)", "(clear twi2) (arm-empty) (on-table twi2) (on-table lpu5) (on-table zho4) (on tdo1 zho4) (clear evb3) (clear tdo1) (on-table evb3) (clear lpu5)", "(clear twi2) (on-table twi2) (holding lpu5) (on-table zho4) (on tdo1 zho4) (clear evb3) (clear tdo1) (on-table evb3)", "(clear twi2) (arm-empty) (on-table twi2) (on lpu5 tdo1) (on-table zho4) (on tdo1 zho4) (clear evb3) (on-table evb3) (clear lpu5)", "(holding twi2) (on lpu5 tdo1) (on-table zho4) (on tdo1 zho4) (clear evb3) (on-table evb3) (clear lpu5)", "(clear twi2) (arm-empty) (on lpu5 tdo1) (on-table zho4) (on tdo1 zho4) (on twi2 lpu5) (clear evb3) (on-table evb3)", "(clear twi2) (on lpu5 tdo1) (on-table zho4) (on tdo1 zho4) (on twi2 lpu5) (holding evb3)", "(arm-empty) (on evb3 twi2) (on lpu5 tdo1) (on-table zho4) (on tdo1 zho4) (on twi2 lpu5) (clear evb3)" ]	file_23212
GOAL: (on acm3 ujo5) (on-table ujo5) (holding fau2) (on-table ewd4) (on hzq1 ewd4) (clear acm3) (clear hzq1)	GOAL: (on acm3 ujo5) (on-table ujo5) (holding fau2) (on-table ewd4) (on hzq1 ewd4) (clear acm3) (clear hzq1) STATE: (on acm3 ujo5) (arm-empty) (on-table ujo5) (clear ewd4) (on-table ewd4) (on fau2 acm3) (on hzq1 fau2) (clear hzq1)	[ [ "unstack hzq1 fau2" ], [ "stack hzq1 ewd4" ], [ "unstack fau2 acm3" ] ]	[ "(holding hzq1) (on acm3 ujo5) (clear fau2) (on-table ujo5) (clear ewd4) (on-table ewd4) (on fau2 acm3)", "(on acm3 ujo5) (clear fau2) (arm-empty) (on-table ujo5) (on-table ewd4) (on hzq1 ewd4) (on fau2 acm3) (clear hzq1)", "(on acm3 ujo5) (on-table ujo5) (holding fau2) (on-table ewd4) (on hzq1 ewd4) (clear acm3) (clear hzq1)" ]	file_25504
GOAL: (on uqa3 ncm4) (on-table rff5) (on-table has1) (on ncm4 rff5) (holding hdi2) (clear uqa3) (clear has1)	GOAL: (on uqa3 ncm4) (on-table rff5) (on-table has1) (on ncm4 rff5) (holding hdi2) (clear uqa3) (clear has1) STATE: (clear hdi2) (on uqa3 rff5) (on-table hdi2) (on-table rff5) (holding ncm4) (on-table has1) (clear uqa3) (clear has1)	[ [ "stack ncm4 has1" ], [ "pick-up hdi2" ], [ "stack hdi2 ncm4" ], [ "unstack uqa3 rff5" ], [ "put-down uqa3" ], [ "unstack hdi2 ncm4" ], [ "stack hdi2 uqa3" ], [ "unstack ncm4 has1" ], [ "put-down ncm4" ], [ "unstack hdi2 uqa3" ], [ "stack hdi2 has1" ], [ "pick-up ncm4" ], [ "stack ncm4 rff5" ], [ "pick-up uqa3" ], [ "stack uqa3 ncm4" ], [ "unstack hdi2 has1" ] ]	[ "(clear hdi2) (on uqa3 rff5) (on ncm4 has1) (on-table hdi2) (on-table rff5) (arm-empty) (on-table has1) (clear ncm4) (clear uqa3)", "(on uqa3 rff5) (on ncm4 has1) (on-table rff5) (on-table has1) (clear ncm4) (holding hdi2) (clear uqa3)", "(on uqa3 rff5) (on ncm4 has1) (arm-empty) (on-table rff5) (on hdi2 ncm4) (clear hdi2) (on-table has1) (clear uqa3)", "(on ncm4 has1) (clear hdi2) (on-table rff5) (on-table has1) (on hdi2 ncm4) (holding uqa3) (clear rff5)", "(on ncm4 has1) (arm-empty) (on-table rff5) (on hdi2 ncm4) (clear rff5) (clear hdi2) (on-table has1) (clear uqa3) (on-table uqa3)", "(on ncm4 has1) (on-table rff5) (on-table has1) (clear ncm4) (holding hdi2) (clear uqa3) (on-table uqa3) (clear rff5)", "(clear hdi2) (on ncm4 has1) (arm-empty) (on-table rff5) (on-table has1) (clear ncm4) (on hdi2 uqa3) (on-table uqa3) (clear rff5)", "(clear hdi2) (on-table rff5) (on-table has1) (holding ncm4) (on hdi2 uqa3) (clear has1) (on-table uqa3) (clear rff5)", "(clear hdi2) (arm-empty) (on-table rff5) (on-table has1) (clear ncm4) (on-table ncm4) (on hdi2 uqa3) (clear has1) (on-table uqa3) (clear rff5)", "(on-table rff5) (on-table has1) (clear ncm4) (on-table ncm4) (holding hdi2) (clear uqa3) (clear has1) (on-table uqa3) (clear rff5)", "(clear hdi2) (arm-empty) (on-table rff5) (on-table has1) (clear ncm4) (on-table ncm4) (on hdi2 has1) (clear uqa3) (on-table uqa3) (clear rff5)", "(clear hdi2) (on-table rff5) (on-table has1) (holding ncm4) (on hdi2 has1) (clear uqa3) (on-table uqa3) (clear rff5)", "(clear hdi2) (arm-empty) (on-table rff5) (on-table has1) (on ncm4 rff5) (clear ncm4) (on hdi2 has1) (clear uqa3) (on-table uqa3)", "(clear hdi2) (on-table rff5) (on-table has1) (on ncm4 rff5) (clear ncm4) (on hdi2 has1) (holding uqa3)", "(on uqa3 ncm4) (clear hdi2) (arm-empty) (on-table rff5) (on-table has1) (on ncm4 rff5) (on hdi2 has1) (clear uqa3)", "(on uqa3 ncm4) (on-table rff5) (on-table has1) (on ncm4 rff5) (holding hdi2) (clear uqa3) (clear has1)" ]	file_116431
GOAL: (on mcc1 slf5) (on-table pjc2) (holding wpm4) (on slf5 pjc2) (clear nvj3) (clear mcc1) (on-table nvj3)	GOAL: (on mcc1 slf5) (on-table pjc2) (holding wpm4) (on slf5 pjc2) (clear nvj3) (clear mcc1) (on-table nvj3) STATE: (clear pjc2) (arm-empty) (on-table pjc2) (on slf5 nvj3) (on-table wpm4) (on mcc1 wpm4) (on nvj3 mcc1) (clear slf5)	[ [ "unstack slf5 nvj3" ], [ "stack slf5 pjc2" ], [ "unstack nvj3 mcc1" ], [ "put-down nvj3" ], [ "unstack mcc1 wpm4" ], [ "stack mcc1 slf5" ], [ "pick-up wpm4" ] ]	[ "(clear pjc2) (on-table pjc2) (holding slf5) (on-table wpm4) (on mcc1 wpm4) (on nvj3 mcc1) (clear nvj3)", "(arm-empty) (on-table pjc2) (on slf5 pjc2) (on-table wpm4) (on mcc1 wpm4) (on nvj3 mcc1) (clear nvj3) (clear slf5)", "(on-table pjc2) (on slf5 pjc2) (on-table wpm4) (on mcc1 wpm4) (holding nvj3) (clear mcc1) (clear slf5)", "(arm-empty) (on-table pjc2) (on slf5 pjc2) (clear slf5) (on-table wpm4) (on mcc1 wpm4) (clear nvj3) (clear mcc1) (on-table nvj3)", "(holding mcc1) (on-table pjc2) (on slf5 pjc2) (clear wpm4) (on-table wpm4) (clear nvj3) (on-table nvj3) (clear slf5)", "(on mcc1 slf5) (arm-empty) (on-table pjc2) (on slf5 pjc2) (clear wpm4) (on-table wpm4) (clear nvj3) (clear mcc1) (on-table nvj3)", "(on mcc1 slf5) (on-table pjc2) (holding wpm4) (on slf5 pjc2) (clear nvj3) (clear mcc1) (on-table nvj3)" ]	file_13301
GOAL: (on ahd3 hro5) (clear nfx2) (on hro5 agd4) (on-table nfx2) (on dpf1 ahd3) (arm-empty) (on-table agd4) (clear dpf1)	GOAL: (on ahd3 hro5) (clear nfx2) (on hro5 agd4) (on-table nfx2) (on dpf1 ahd3) (arm-empty) (on-table agd4) (clear dpf1) STATE: (on dpf1 hro5) (on hro5 agd4) (on-table agd4) (holding nfx2) (clear ahd3) (clear dpf1) (on-table ahd3)	[ [ "put-down nfx2" ], [ "unstack dpf1 hro5" ], [ "stack dpf1 nfx2" ], [ "pick-up ahd3" ], [ "stack ahd3 hro5" ], [ "unstack dpf1 nfx2" ], [ "stack dpf1 ahd3" ] ]	[ "(on dpf1 hro5) (arm-empty) (on hro5 agd4) (on-table nfx2) (clear nfx2) (on-table agd4) (clear ahd3) (clear dpf1) (on-table ahd3)", "(holding dpf1) (clear nfx2) (on hro5 agd4) (on-table nfx2) (on-table agd4) (clear ahd3) (on-table ahd3) (clear hro5)", "(arm-empty) (on hro5 agd4) (on-table nfx2) (on-table agd4) (clear ahd3) (on dpf1 nfx2) (clear dpf1) (on-table ahd3) (clear hro5)", "(on hro5 agd4) (on-table nfx2) (on-table agd4) (on dpf1 nfx2) (clear dpf1) (holding ahd3) (clear hro5)", "(on ahd3 hro5) (arm-empty) (on hro5 agd4) (on-table nfx2) (on-table agd4) (clear ahd3) (on dpf1 nfx2) (clear dpf1)", "(holding dpf1) (on ahd3 hro5) (on hro5 agd4) (on-table nfx2) (clear nfx2) (on-table agd4) (clear ahd3)", "(on ahd3 hro5) (clear nfx2) (on hro5 agd4) (on-table nfx2) (on dpf1 ahd3) (arm-empty) (on-table agd4) (clear dpf1)" ]	file_146936
GOAL: (on nnh1 wdh3) (arm-empty) (on-table sxs2) (on tes4 gpy5) (on wdh3 sxs2) (clear tes4) (on gpy5 nnh1)	GOAL: (on nnh1 wdh3) (arm-empty) (on-table sxs2) (on tes4 gpy5) (on wdh3 sxs2) (clear tes4) (on gpy5 nnh1) STATE: (on-table sxs2) (on-table gpy5) (holding tes4) (on-table nnh1) (on wdh3 sxs2) (clear wdh3) (clear nnh1) (clear gpy5)	[ [ "stack tes4 gpy5" ], [ "pick-up nnh1" ], [ "stack nnh1 wdh3" ], [ "unstack tes4 gpy5" ], [ "put-down tes4" ], [ "pick-up gpy5" ], [ "stack gpy5 nnh1" ], [ "pick-up tes4" ], [ "stack tes4 gpy5" ] ]	[ "(arm-empty) (on-table sxs2) (on-table gpy5) (on tes4 gpy5) (on-table nnh1) (on wdh3 sxs2) (clear tes4) (clear wdh3) (clear nnh1)", "(holding nnh1) (on-table sxs2) (on-table gpy5) (on tes4 gpy5) (on wdh3 sxs2) (clear tes4) (clear wdh3)", "(on nnh1 wdh3) (arm-empty) (on-table sxs2) (on-table gpy5) (on tes4 gpy5) (on wdh3 sxs2) (clear tes4) (clear nnh1)", "(on nnh1 wdh3) (on-table sxs2) (on-table gpy5) (holding tes4) (on wdh3 sxs2) (clear nnh1) (clear gpy5)", "(on nnh1 wdh3) (arm-empty) (on-table sxs2) (on-table gpy5) (clear tes4) (clear gpy5) (on wdh3 sxs2) (on-table tes4) (clear nnh1)", "(on nnh1 wdh3) (on-table sxs2) (on wdh3 sxs2) (clear tes4) (holding gpy5) (on-table tes4) (clear nnh1)", "(on nnh1 wdh3) (arm-empty) (on-table sxs2) (on wdh3 sxs2) (clear tes4) (on gpy5 nnh1) (on-table tes4) (clear gpy5)", "(on nnh1 wdh3) (on-table sxs2) (holding tes4) (on wdh3 sxs2) (on gpy5 nnh1) (clear gpy5)", "(on nnh1 wdh3) (arm-empty) (on-table sxs2) (on tes4 gpy5) (on wdh3 sxs2) (clear tes4) (on gpy5 nnh1)" ]	file_174748
GOAL: (arm-empty) (on uyn5 bgp3) (on iun1 xbz4) (on xbz4 rix2) (on rix2 uyn5) (clear iun1) (on-table bgp3)	GOAL: (arm-empty) (on uyn5 bgp3) (on iun1 xbz4) (on xbz4 rix2) (on rix2 uyn5) (clear iun1) (on-table bgp3) STATE: (on iun1 uyn5) (arm-empty) (clear xbz4) (on uyn5 bgp3) (on xbz4 rix2) (on rix2 iun1) (on-table bgp3)	[ [ "unstack xbz4 rix2" ], [ "put-down xbz4" ], [ "unstack rix2 iun1" ], [ "put-down rix2" ], [ "unstack iun1 uyn5" ], [ "put-down iun1" ], [ "pick-up xbz4" ], [ "stack xbz4 iun1" ], [ "pick-up rix2" ], [ "stack rix2 uyn5" ], [ "unstack xbz4 iun1" ], [ "stack xbz4 rix2" ], [ "pick-up iun1" ], [ "stack iun1 xbz4" ] ]	[ "(on iun1 uyn5) (clear rix2) (on-table bgp3) (holding xbz4) (on rix2 iun1) (on uyn5 bgp3)", "(on iun1 uyn5) (arm-empty) (clear xbz4) (on uyn5 bgp3) (on rix2 iun1) (clear rix2) (on-table xbz4) (on-table bgp3)", "(on iun1 uyn5) (clear xbz4) (on uyn5 bgp3) (on-table xbz4) (holding rix2) (clear iun1) (on-table bgp3)", "(on iun1 uyn5) (arm-empty) (on-table rix2) (clear xbz4) (on uyn5 bgp3) (clear rix2) (on-table xbz4) (clear iun1) (on-table bgp3)", "(holding iun1) (clear rix2) (on-table rix2) (clear xbz4) (on uyn5 bgp3) (on-table xbz4) (on-table bgp3) (clear uyn5)", "(clear rix2) (arm-empty) (on-table rix2) (on-table iun1) (clear xbz4) (on uyn5 bgp3) (on-table xbz4) (clear iun1) (on-table bgp3) (clear uyn5)", "(clear rix2) (on-table rix2) (on-table iun1) (holding xbz4) (on uyn5 bgp3) (clear iun1) (on-table bgp3) (clear uyn5)", "(clear rix2) (on xbz4 iun1) (arm-empty) (on-table rix2) (on-table iun1) (clear xbz4) (on uyn5 bgp3) (on-table bgp3) (clear uyn5)", "(on xbz4 iun1) (on-table iun1) (clear xbz4) (on uyn5 bgp3) (holding rix2) (on-table bgp3) (clear uyn5)", "(clear rix2) (on xbz4 iun1) (arm-empty) (on-table iun1) (clear xbz4) (on uyn5 bgp3) (on rix2 uyn5) (on-table bgp3)", "(clear rix2) (on-table iun1) (holding xbz4) (on uyn5 bgp3) (on rix2 uyn5) (clear iun1) (on-table bgp3)", "(arm-empty) (on-table iun1) (clear xbz4) (on uyn5 bgp3) (on xbz4 rix2) (on rix2 uyn5) (clear iun1) (on-table bgp3)", "(holding iun1) (clear xbz4) (on uyn5 bgp3) (on xbz4 rix2) (on rix2 uyn5) (on-table bgp3)", "(arm-empty) (on uyn5 bgp3) (on iun1 xbz4) (on xbz4 rix2) (on rix2 uyn5) (clear iun1) (on-table bgp3)" ]	file_205587