goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (holding qit1) (on-table qpo2) (on-table vyd5) (on vtb3 qpo2) (clear ntq4) (on-table ntq4) (clear vtb3) (clear vyd5)
|
GOAL: (holding qit1) (on-table qpo2) (on-table vyd5) (on vtb3 qpo2) (clear ntq4) (on-table ntq4) (clear vtb3) (clear vyd5)
STATE: (on qit1 vyd5) (on-table vyd5) (clear ntq4) (on-table ntq4) (holding qpo2) (clear vtb3) (clear qit1) (on-table vtb3)
|
[
[
"stack qpo2 ntq4"
],
[
"pick-up vtb3"
],
[
"stack vtb3 qit1"
],
[
"unstack qpo2 ntq4"
],
[
"put-down qpo2"
],
[
"unstack vtb3 qit1"
],
[
"stack vtb3 qpo2"
],
[
"unstack qit1 vyd5"
]
] |
[
"(on qit1 vyd5) (clear qpo2) (arm-empty) (on-table vyd5) (on-table ntq4) (on qpo2 ntq4) (clear vtb3) (clear qit1) (on-table vtb3)",
"(on qit1 vyd5) (clear qpo2) (on-table vyd5) (on-table ntq4) (on qpo2 ntq4) (holding vtb3) (clear qit1)",
"(on qit1 vyd5) (clear qpo2) (arm-empty) (on-table vyd5) (on qpo2 ntq4) (on-table ntq4) (on vtb3 qit1) (clear vtb3)",
"(on qit1 vyd5) (on-table vyd5) (clear ntq4) (on-table ntq4) (holding qpo2) (on vtb3 qit1) (clear vtb3)",
"(on qit1 vyd5) (arm-empty) (on-table qpo2) (on-table vyd5) (clear ntq4) (on vtb3 qit1) (clear qpo2) (on-table ntq4) (clear vtb3)",
"(on qit1 vyd5) (clear qpo2) (on-table qpo2) (on-table vyd5) (clear ntq4) (on-table ntq4) (holding vtb3) (clear qit1)",
"(on qit1 vyd5) (arm-empty) (on-table qpo2) (on-table vyd5) (on vtb3 qpo2) (clear ntq4) (on-table ntq4) (clear vtb3) (clear qit1)",
"(holding qit1) (on-table qpo2) (on-table vyd5) (on vtb3 qpo2) (clear ntq4) (on-table ntq4) (clear vtb3) (clear vyd5)"
] |
file_189559
|
GOAL: (clear tzm2) (on rbs1 hue3) (on bep4 rbs1) (arm-empty) (on-table mnr5) (on tzm2 bep4) (on-table hue3) (clear mnr5)
|
GOAL: (clear tzm2) (on rbs1 hue3) (on bep4 rbs1) (arm-empty) (on-table mnr5) (on tzm2 bep4) (on-table hue3) (clear mnr5)
STATE: (clear tzm2) (on rbs1 hue3) (on-table mnr5) (holding bep4) (on tzm2 rbs1) (on-table hue3) (clear mnr5)
|
[
[
"put-down bep4"
],
[
"unstack tzm2 rbs1"
],
[
"stack tzm2 mnr5"
],
[
"pick-up bep4"
],
[
"stack bep4 rbs1"
],
[
"unstack tzm2 mnr5"
],
[
"stack tzm2 bep4"
]
] |
[
"(on rbs1 hue3) (arm-empty) (on-table mnr5) (clear bep4) (on tzm2 rbs1) (clear mnr5) (clear tzm2) (on-table bep4) (on-table hue3)",
"(on rbs1 hue3) (on-table mnr5) (clear bep4) (on-table bep4) (holding tzm2) (clear rbs1) (on-table hue3) (clear mnr5)",
"(clear tzm2) (on rbs1 hue3) (arm-empty) (on-table mnr5) (clear bep4) (on-table bep4) (on tzm2 mnr5) (clear rbs1) (on-table hue3)",
"(clear tzm2) (on rbs1 hue3) (on-table mnr5) (holding bep4) (on tzm2 mnr5) (clear rbs1) (on-table hue3)",
"(clear tzm2) (on rbs1 hue3) (on bep4 rbs1) (arm-empty) (on-table mnr5) (clear bep4) (on tzm2 mnr5) (on-table hue3)",
"(on rbs1 hue3) (on bep4 rbs1) (on-table mnr5) (clear bep4) (holding tzm2) (on-table hue3) (clear mnr5)",
"(clear tzm2) (on rbs1 hue3) (on bep4 rbs1) (arm-empty) (on-table mnr5) (on tzm2 bep4) (on-table hue3) (clear mnr5)"
] |
file_183244
|
GOAL: (arm-empty) (on ihc5 yrf4) (on-table grh2) (on yrf4 isb3) (on isb3 uzg1) (on uzg1 grh2) (clear ihc5)
|
GOAL: (arm-empty) (on ihc5 yrf4) (on-table grh2) (on yrf4 isb3) (on isb3 uzg1) (on uzg1 grh2) (clear ihc5)
STATE: (clear grh2) (arm-empty) (on-table grh2) (on yrf4 ihc5) (on ihc5 isb3) (on uzg1 yrf4) (clear uzg1) (on-table isb3)
|
[
[
"unstack uzg1 yrf4"
],
[
"stack uzg1 grh2"
],
[
"unstack yrf4 ihc5"
],
[
"stack yrf4 uzg1"
],
[
"unstack ihc5 isb3"
],
[
"put-down ihc5"
],
[
"pick-up isb3"
],
[
"stack isb3 ihc5"
],
[
"unstack yrf4 uzg1"
],
[
"put-down yrf4"
],
[
"unstack isb3 ihc5"
],
[
"stack isb3 uzg1"
],
[
"pick-up yrf4"
],
[
"stack yrf4 isb3"
],
[
"pick-up ihc5"
],
[
"stack ihc5 yrf4"
]
] |
[
"(holding uzg1) (clear grh2) (on-table grh2) (on yrf4 ihc5) (clear yrf4) (on ihc5 isb3) (on-table isb3)",
"(arm-empty) (on-table grh2) (on yrf4 ihc5) (clear yrf4) (on ihc5 isb3) (on uzg1 grh2) (clear uzg1) (on-table isb3)",
"(on-table grh2) (holding yrf4) (on ihc5 isb3) (on uzg1 grh2) (clear uzg1) (on-table isb3) (clear ihc5)",
"(on yrf4 uzg1) (arm-empty) (on-table grh2) (clear yrf4) (on ihc5 isb3) (on uzg1 grh2) (on-table isb3) (clear ihc5)",
"(on yrf4 uzg1) (on-table grh2) (clear yrf4) (holding ihc5) (clear isb3) (on uzg1 grh2) (on-table isb3)",
"(on yrf4 uzg1) (arm-empty) (on-table grh2) (on-table ihc5) (clear yrf4) (on uzg1 grh2) (clear ihc5) (clear isb3) (on-table isb3)",
"(on yrf4 uzg1) (on-table grh2) (on-table ihc5) (clear yrf4) (on uzg1 grh2) (holding isb3) (clear ihc5)",
"(on isb3 ihc5) (on yrf4 uzg1) (arm-empty) (on-table grh2) (on-table ihc5) (clear yrf4) (clear isb3) (on uzg1 grh2)",
"(on isb3 ihc5) (on-table grh2) (on-table ihc5) (holding yrf4) (clear isb3) (on uzg1 grh2) (clear uzg1)",
"(on isb3 ihc5) (arm-empty) (on-table grh2) (on-table ihc5) (clear yrf4) (on uzg1 grh2) (on-table yrf4) (clear isb3) (clear uzg1)",
"(on-table grh2) (on-table ihc5) (clear yrf4) (on-table yrf4) (on uzg1 grh2) (clear uzg1) (holding isb3) (clear ihc5)",
"(arm-empty) (on-table grh2) (on-table ihc5) (clear yrf4) (on-table yrf4) (on isb3 uzg1) (clear isb3) (on uzg1 grh2) (clear ihc5)",
"(on-table grh2) (on-table ihc5) (holding yrf4) (on isb3 uzg1) (clear isb3) (on uzg1 grh2) (clear ihc5)",
"(arm-empty) (on-table grh2) (on-table ihc5) (clear yrf4) (on yrf4 isb3) (on isb3 uzg1) (on uzg1 grh2) (clear ihc5)",
"(on-table grh2) (clear yrf4) (on yrf4 isb3) (holding ihc5) (on isb3 uzg1) (on uzg1 grh2)",
"(arm-empty) (on ihc5 yrf4) (on-table grh2) (on yrf4 isb3) (on isb3 uzg1) (on uzg1 grh2) (clear ihc5)"
] |
file_193276
|
GOAL: (on ffi4 hya3) (on wia1 bso5) (clear szk2) (arm-empty) (on-table bso5) (on hya3 wia1) (on szk2 ffi4)
|
GOAL: (on ffi4 hya3) (on wia1 bso5) (clear szk2) (arm-empty) (on-table bso5) (on hya3 wia1) (on szk2 ffi4)
STATE: (on wia1 bso5) (on bso5 ffi4) (on-table szk2) (on ffi4 szk2) (holding hya3) (clear wia1)
|
[
[
"put-down hya3"
],
[
"unstack wia1 bso5"
],
[
"stack wia1 hya3"
],
[
"unstack bso5 ffi4"
],
[
"put-down bso5"
],
[
"unstack wia1 hya3"
],
[
"stack wia1 bso5"
],
[
"pick-up hya3"
],
[
"stack hya3 wia1"
],
[
"unstack ffi4 szk2"
],
[
"stack ffi4 hya3"
],
[
"pick-up szk2"
],
[
"stack szk2 ffi4"
]
] |
[
"(on wia1 bso5) (arm-empty) (on bso5 ffi4) (on-table szk2) (on ffi4 szk2) (clear hya3) (clear wia1) (on-table hya3)",
"(holding wia1) (on bso5 ffi4) (on-table szk2) (on ffi4 szk2) (clear hya3) (on-table hya3) (clear bso5)",
"(on wia1 hya3) (on bso5 ffi4) (on-table szk2) (arm-empty) (on ffi4 szk2) (clear wia1) (on-table hya3) (clear bso5)",
"(on wia1 hya3) (on-table szk2) (clear ffi4) (holding bso5) (on ffi4 szk2) (clear wia1) (on-table hya3)",
"(on wia1 hya3) (arm-empty) (on-table szk2) (on-table bso5) (clear ffi4) (clear bso5) (on ffi4 szk2) (clear wia1) (on-table hya3)",
"(holding wia1) (on-table szk2) (on-table bso5) (clear ffi4) (on ffi4 szk2) (clear hya3) (on-table hya3) (clear bso5)",
"(on wia1 bso5) (arm-empty) (on-table szk2) (on-table bso5) (clear ffi4) (on ffi4 szk2) (clear hya3) (clear wia1) (on-table hya3)",
"(on wia1 bso5) (on-table szk2) (on-table bso5) (clear ffi4) (on ffi4 szk2) (holding hya3) (clear wia1)",
"(on wia1 bso5) (arm-empty) (on-table szk2) (on-table bso5) (on ffi4 szk2) (clear ffi4) (on hya3 wia1) (clear hya3)",
"(on wia1 bso5) (clear szk2) (on-table szk2) (on-table bso5) (holding ffi4) (on hya3 wia1) (clear hya3)",
"(on wia1 bso5) (clear szk2) (arm-empty) (on-table szk2) (on-table bso5) (clear ffi4) (on ffi4 hya3) (on hya3 wia1)",
"(on wia1 bso5) (on-table bso5) (clear ffi4) (on ffi4 hya3) (holding szk2) (on hya3 wia1)",
"(on ffi4 hya3) (on wia1 bso5) (clear szk2) (arm-empty) (on-table bso5) (on hya3 wia1) (on szk2 ffi4)"
] |
file_202344
|
GOAL: (on ctw3 epp4) (on epp4 vcg1) (arm-empty) (on-table riw5) (on irw2 riw5) (clear ctw3) (on vcg1 irw2)
|
GOAL: (on ctw3 epp4) (on epp4 vcg1) (arm-empty) (on-table riw5) (on irw2 riw5) (clear ctw3) (on vcg1 irw2)
STATE: (clear irw2) (on-table riw5) (holding epp4) (on-table vcg1) (on irw2 riw5) (clear ctw3) (clear vcg1) (on-table ctw3)
|
[
[
"stack epp4 ctw3"
],
[
"pick-up vcg1"
],
[
"stack vcg1 irw2"
],
[
"unstack epp4 ctw3"
],
[
"stack epp4 vcg1"
],
[
"pick-up ctw3"
],
[
"stack ctw3 epp4"
]
] |
[
"(clear irw2) (arm-empty) (on-table riw5) (on-table vcg1) (clear epp4) (on epp4 ctw3) (on irw2 riw5) (clear vcg1) (on-table ctw3)",
"(holding vcg1) (clear irw2) (on-table riw5) (clear epp4) (on epp4 ctw3) (on irw2 riw5) (on-table ctw3)",
"(arm-empty) (on-table riw5) (clear epp4) (on epp4 ctw3) (on irw2 riw5) (on vcg1 irw2) (clear vcg1) (on-table ctw3)",
"(on-table riw5) (holding epp4) (on irw2 riw5) (clear ctw3) (on vcg1 irw2) (clear vcg1) (on-table ctw3)",
"(on epp4 vcg1) (arm-empty) (on-table riw5) (clear epp4) (on irw2 riw5) (clear ctw3) (on vcg1 irw2) (on-table ctw3)",
"(on epp4 vcg1) (on-table riw5) (clear epp4) (on irw2 riw5) (on vcg1 irw2) (holding ctw3)",
"(on ctw3 epp4) (on epp4 vcg1) (arm-empty) (on-table riw5) (on irw2 riw5) (clear ctw3) (on vcg1 irw2)"
] |
file_86433
|
GOAL: (holding egm5) (on-table hyn4) (on yaa2 hyn4) (clear liy3) (on rzf1 yaa2) (clear rzf1) (on-table liy3)
|
GOAL: (holding egm5) (on-table hyn4) (on yaa2 hyn4) (clear liy3) (on rzf1 yaa2) (clear rzf1) (on-table liy3)
STATE: (on-table yaa2) (on hyn4 yaa2) (holding egm5) (on rzf1 hyn4) (on liy3 rzf1) (clear liy3)
|
[
[
"put-down egm5"
],
[
"unstack liy3 rzf1"
],
[
"put-down liy3"
],
[
"pick-up egm5"
],
[
"stack egm5 liy3"
],
[
"unstack rzf1 hyn4"
],
[
"stack rzf1 egm5"
],
[
"unstack hyn4 yaa2"
],
[
"put-down hyn4"
],
[
"pick-up yaa2"
],
[
"stack yaa2 hyn4"
],
[
"unstack rzf1 egm5"
],
[
"stack rzf1 yaa2"
],
[
"unstack egm5 liy3"
]
] |
[
"(arm-empty) (on-table yaa2) (on-table egm5) (on liy3 rzf1) (clear egm5) (on rzf1 hyn4) (on hyn4 yaa2) (clear liy3)",
"(on-table yaa2) (on-table egm5) (on hyn4 yaa2) (on rzf1 hyn4) (holding liy3) (clear rzf1) (clear egm5)",
"(arm-empty) (on-table yaa2) (on-table egm5) (clear egm5) (on rzf1 hyn4) (on hyn4 yaa2) (clear liy3) (clear rzf1) (on-table liy3)",
"(on-table yaa2) (holding egm5) (on rzf1 hyn4) (on hyn4 yaa2) (clear liy3) (clear rzf1) (on-table liy3)",
"(arm-empty) (on-table yaa2) (on egm5 liy3) (on rzf1 hyn4) (on hyn4 yaa2) (clear rzf1) (on-table liy3) (clear egm5)",
"(holding rzf1) (on-table yaa2) (clear hyn4) (on egm5 liy3) (on hyn4 yaa2) (on-table liy3) (clear egm5)",
"(on rzf1 egm5) (arm-empty) (on-table yaa2) (clear hyn4) (on egm5 liy3) (on hyn4 yaa2) (clear rzf1) (on-table liy3)",
"(on rzf1 egm5) (clear yaa2) (on-table yaa2) (holding hyn4) (on egm5 liy3) (clear rzf1) (on-table liy3)",
"(on rzf1 egm5) (arm-empty) (on-table yaa2) (clear hyn4) (on egm5 liy3) (clear yaa2) (on-table hyn4) (clear rzf1) (on-table liy3)",
"(on rzf1 egm5) (clear hyn4) (on egm5 liy3) (on-table hyn4) (holding yaa2) (clear rzf1) (on-table liy3)",
"(on rzf1 egm5) (clear yaa2) (arm-empty) (on egm5 liy3) (on-table hyn4) (on yaa2 hyn4) (clear rzf1) (on-table liy3)",
"(holding rzf1) (clear yaa2) (on egm5 liy3) (on-table hyn4) (on yaa2 hyn4) (on-table liy3) (clear egm5)",
"(arm-empty) (on egm5 liy3) (on-table hyn4) (on yaa2 hyn4) (on rzf1 yaa2) (clear rzf1) (on-table liy3) (clear egm5)",
"(holding egm5) (on-table hyn4) (on yaa2 hyn4) (clear liy3) (on rzf1 yaa2) (clear rzf1) (on-table liy3)"
] |
file_55778
|
GOAL: (on-table lvl2) (on-table zdh5) (on bad4 zdh5) (clear bad4) (on xje1 lvl2) (clear xje1) (holding gnj3)
|
GOAL: (on-table lvl2) (on-table zdh5) (on bad4 zdh5) (clear bad4) (on xje1 lvl2) (clear xje1) (holding gnj3)
STATE: (on bad4 xje1) (on zdh5 bad4) (on-table xje1) (holding lvl2) (clear gnj3) (on-table gnj3) (clear zdh5)
|
[
[
"stack lvl2 gnj3"
],
[
"unstack zdh5 bad4"
],
[
"put-down zdh5"
],
[
"unstack bad4 xje1"
],
[
"stack bad4 zdh5"
],
[
"pick-up xje1"
],
[
"stack xje1 bad4"
],
[
"unstack lvl2 gnj3"
],
[
"put-down lvl2"
],
[
"unstack xje1 bad4"
],
[
"stack xje1 lvl2"
],
[
"pick-up gnj3"
]
] |
[
"(clear lvl2) (on bad4 xje1) (on zdh5 bad4) (arm-empty) (on-table xje1) (on lvl2 gnj3) (on-table gnj3) (clear zdh5)",
"(clear lvl2) (on bad4 xje1) (on-table xje1) (clear bad4) (holding zdh5) (on lvl2 gnj3) (on-table gnj3)",
"(on bad4 xje1) (arm-empty) (on-table zdh5) (clear bad4) (clear zdh5) (clear lvl2) (on-table xje1) (on lvl2 gnj3) (on-table gnj3)",
"(clear lvl2) (on-table zdh5) (on-table xje1) (holding bad4) (on lvl2 gnj3) (clear xje1) (on-table gnj3) (clear zdh5)",
"(clear lvl2) (arm-empty) (on-table zdh5) (on-table xje1) (on bad4 zdh5) (clear bad4) (on lvl2 gnj3) (clear xje1) (on-table gnj3)",
"(holding xje1) (clear lvl2) (on-table zdh5) (on bad4 zdh5) (clear bad4) (on lvl2 gnj3) (on-table gnj3)",
"(clear lvl2) (arm-empty) (on-table zdh5) (on bad4 zdh5) (on xje1 bad4) (on lvl2 gnj3) (clear xje1) (on-table gnj3)",
"(on-table zdh5) (on bad4 zdh5) (holding lvl2) (on xje1 bad4) (clear gnj3) (clear xje1) (on-table gnj3)",
"(arm-empty) (on-table lvl2) (on-table zdh5) (on bad4 zdh5) (clear lvl2) (on xje1 bad4) (clear gnj3) (clear xje1) (on-table gnj3)",
"(holding xje1) (clear lvl2) (on-table lvl2) (on-table zdh5) (on bad4 zdh5) (clear bad4) (clear gnj3) (on-table gnj3)",
"(arm-empty) (on-table lvl2) (on-table zdh5) (on bad4 zdh5) (clear bad4) (clear gnj3) (on xje1 lvl2) (clear xje1) (on-table gnj3)",
"(on-table lvl2) (on-table zdh5) (on bad4 zdh5) (clear bad4) (on xje1 lvl2) (clear xje1) (holding gnj3)"
] |
file_50182
|
GOAL: (on-table eyd2) (on-table dir1) (clear deq4) (holding jes5) (on deq4 eyd2) (clear sfl3) (clear dir1) (on-table sfl3)
|
GOAL: (on-table eyd2) (on-table dir1) (clear deq4) (holding jes5) (on deq4 eyd2) (clear sfl3) (clear dir1) (on-table sfl3)
STATE: (clear eyd2) (arm-empty) (on-table eyd2) (on deq4 jes5) (on-table dir1) (clear deq4) (on jes5 sfl3) (on sfl3 dir1)
|
[
[
"unstack deq4 jes5"
],
[
"stack deq4 eyd2"
],
[
"unstack jes5 sfl3"
],
[
"stack jes5 deq4"
],
[
"unstack sfl3 dir1"
],
[
"put-down sfl3"
],
[
"unstack jes5 deq4"
]
] |
[
"(clear eyd2) (on-table eyd2) (on-table dir1) (holding deq4) (on jes5 sfl3) (on sfl3 dir1) (clear jes5)",
"(arm-empty) (on-table eyd2) (on-table dir1) (clear deq4) (on jes5 sfl3) (on sfl3 dir1) (on deq4 eyd2) (clear jes5)",
"(on-table eyd2) (on-table dir1) (clear deq4) (on sfl3 dir1) (holding jes5) (on deq4 eyd2) (clear sfl3)",
"(arm-empty) (on jes5 deq4) (on-table eyd2) (on-table dir1) (on sfl3 dir1) (on deq4 eyd2) (clear sfl3) (clear jes5)",
"(on jes5 deq4) (on-table eyd2) (on-table dir1) (on deq4 eyd2) (holding sfl3) (clear dir1) (clear jes5)",
"(arm-empty) (on jes5 deq4) (on-table eyd2) (clear jes5) (on-table dir1) (on deq4 eyd2) (clear sfl3) (clear dir1) (on-table sfl3)",
"(on-table eyd2) (on-table dir1) (clear deq4) (holding jes5) (on deq4 eyd2) (clear sfl3) (clear dir1) (on-table sfl3)"
] |
file_124273
|
GOAL: (on dou3 kap4) (clear jvl2) (arm-empty) (on-table jvl2) (on-table upp1) (on-table kap4) (clear dou3) (clear upp1)
|
GOAL: (on dou3 kap4) (clear jvl2) (arm-empty) (on-table jvl2) (on-table upp1) (on-table kap4) (clear dou3) (clear upp1)
STATE: (on upp1 dou3) (on-table jvl2) (holding kap4) (on dou3 jvl2) (clear upp1)
|
[
[
"put-down kap4"
],
[
"unstack upp1 dou3"
],
[
"put-down upp1"
],
[
"unstack dou3 jvl2"
],
[
"stack dou3 kap4"
]
] |
[
"(on-table kap4) (on upp1 dou3) (arm-empty) (on-table jvl2) (on dou3 jvl2) (clear kap4) (clear upp1)",
"(on-table jvl2) (clear kap4) (holding upp1) (on dou3 jvl2) (on-table kap4) (clear dou3)",
"(arm-empty) (on-table jvl2) (clear kap4) (on-table upp1) (on dou3 jvl2) (on-table kap4) (clear dou3) (clear upp1)",
"(clear jvl2) (on-table jvl2) (on-table upp1) (clear kap4) (on-table kap4) (holding dou3) (clear upp1)",
"(on dou3 kap4) (clear jvl2) (arm-empty) (on-table jvl2) (on-table upp1) (on-table kap4) (clear dou3) (clear upp1)"
] |
file_28740
|
GOAL: (on qnn5 cac4) (on-table usf2) (on-table guh1) (on cac4 usf2) (holding ska3) (clear guh1) (clear qnn5)
|
GOAL: (on qnn5 cac4) (on-table usf2) (on-table guh1) (on cac4 usf2) (holding ska3) (clear guh1) (clear qnn5)
STATE: (on cac4 qnn5) (on-table guh1) (clear cac4) (on qnn5 ska3) (holding usf2) (clear guh1) (on-table ska3)
|
[
[
"put-down usf2"
],
[
"unstack cac4 qnn5"
],
[
"stack cac4 usf2"
],
[
"unstack qnn5 ska3"
],
[
"stack qnn5 cac4"
],
[
"pick-up ska3"
]
] |
[
"(arm-empty) (on-table usf2) (on cac4 qnn5) (clear cac4) (on qnn5 ska3) (clear usf2) (on-table guh1) (clear guh1) (on-table ska3)",
"(clear usf2) (on-table usf2) (on-table guh1) (holding cac4) (on qnn5 ska3) (clear guh1) (on-table ska3) (clear qnn5)",
"(arm-empty) (on-table usf2) (on-table guh1) (clear cac4) (on qnn5 ska3) (on cac4 usf2) (clear guh1) (on-table ska3) (clear qnn5)",
"(on-table usf2) (on-table guh1) (clear cac4) (holding qnn5) (on cac4 usf2) (clear ska3) (clear guh1) (on-table ska3)",
"(arm-empty) (on qnn5 cac4) (on-table usf2) (on-table guh1) (on cac4 usf2) (clear ska3) (clear guh1) (on-table ska3) (clear qnn5)",
"(on qnn5 cac4) (on-table usf2) (on-table guh1) (on cac4 usf2) (holding ska3) (clear guh1) (clear qnn5)"
] |
file_213374
|
GOAL: (holding qed1) (clear ogi2) (on xsy5 mgo3) (on-table cwt4) (on ogi2 cwt4) (on-table mgo3) (clear xsy5)
|
GOAL: (holding qed1) (clear ogi2) (on xsy5 mgo3) (on-table cwt4) (on ogi2 cwt4) (on-table mgo3) (clear xsy5)
STATE: (clear ogi2) (on-table qed1) (holding xsy5) (on-table cwt4) (on ogi2 cwt4) (clear mgo3) (clear qed1) (on-table mgo3)
|
[
[
"stack xsy5 mgo3"
],
[
"pick-up qed1"
]
] |
[
"(clear ogi2) (arm-empty) (on-table qed1) (on xsy5 mgo3) (on-table cwt4) (on ogi2 cwt4) (clear qed1) (on-table mgo3) (clear xsy5)",
"(holding qed1) (clear ogi2) (on xsy5 mgo3) (on-table cwt4) (on ogi2 cwt4) (on-table mgo3) (clear xsy5)"
] |
file_80419
|
GOAL: (arm-empty) (on-table een2) (on-table hlc1) (on kjp3 een2) (clear sbp4) (on elu5 hlc1) (on-table sbp4) (clear kjp3) (clear elu5)
|
GOAL: (arm-empty) (on-table een2) (on-table hlc1) (on kjp3 een2) (clear sbp4) (on elu5 hlc1) (on-table sbp4) (clear kjp3) (clear elu5)
STATE: (arm-empty) (on-table een2) (on-table hlc1) (on elu5 een2) (clear sbp4) (on-table sbp4) (clear kjp3) (clear hlc1) (on-table kjp3) (clear elu5)
|
[
[
"pick-up sbp4"
],
[
"stack sbp4 kjp3"
],
[
"unstack elu5 een2"
],
[
"stack elu5 hlc1"
],
[
"unstack sbp4 kjp3"
],
[
"put-down sbp4"
],
[
"pick-up kjp3"
],
[
"stack kjp3 een2"
]
] |
[
"(on-table een2) (on-table hlc1) (holding sbp4) (on elu5 een2) (clear kjp3) (clear hlc1) (on-table kjp3) (clear elu5)",
"(arm-empty) (on-table een2) (on-table hlc1) (on elu5 een2) (clear sbp4) (on sbp4 kjp3) (clear hlc1) (on-table kjp3) (clear elu5)",
"(clear een2) (on-table een2) (on-table hlc1) (clear sbp4) (on sbp4 kjp3) (holding elu5) (clear hlc1) (on-table kjp3)",
"(clear een2) (arm-empty) (on-table een2) (on-table hlc1) (clear sbp4) (on sbp4 kjp3) (on elu5 hlc1) (on-table kjp3) (clear elu5)",
"(clear een2) (on-table een2) (on-table hlc1) (holding sbp4) (on elu5 hlc1) (clear kjp3) (on-table kjp3) (clear elu5)",
"(clear een2) (arm-empty) (on-table een2) (on-table hlc1) (clear sbp4) (on elu5 hlc1) (on-table sbp4) (clear kjp3) (on-table kjp3) (clear elu5)",
"(clear een2) (on-table een2) (on-table hlc1) (clear sbp4) (on elu5 hlc1) (on-table sbp4) (holding kjp3) (clear elu5)",
"(arm-empty) (on-table een2) (on-table hlc1) (on kjp3 een2) (clear sbp4) (on elu5 hlc1) (on-table sbp4) (clear kjp3) (clear elu5)"
] |
file_70511
|
GOAL: (on are3 ued4) (clear irn2) (arm-empty) (on-table zjb1) (on-table ued4) (on irn2 zjb1) (clear are3)
|
GOAL: (on are3 ued4) (clear irn2) (arm-empty) (on-table zjb1) (on-table ued4) (on irn2 zjb1) (clear are3)
STATE: (clear irn2) (holding ued4) (on-table zjb1) (on irn2 are3) (clear zjb1) (on-table are3)
|
[
[
"stack ued4 zjb1"
],
[
"unstack irn2 are3"
],
[
"put-down irn2"
],
[
"unstack ued4 zjb1"
],
[
"stack ued4 are3"
],
[
"pick-up irn2"
],
[
"stack irn2 zjb1"
],
[
"unstack ued4 are3"
],
[
"put-down ued4"
],
[
"pick-up are3"
],
[
"stack are3 ued4"
]
] |
[
"(clear irn2) (on ued4 zjb1) (arm-empty) (on-table zjb1) (clear ued4) (on irn2 are3) (on-table are3)",
"(on ued4 zjb1) (clear ued4) (on-table zjb1) (holding irn2) (clear are3) (on-table are3)",
"(on ued4 zjb1) (arm-empty) (on-table irn2) (clear ued4) (clear irn2) (on-table zjb1) (clear are3) (on-table are3)",
"(clear irn2) (on-table irn2) (on-table zjb1) (holding ued4) (clear are3) (clear zjb1) (on-table are3)",
"(arm-empty) (on-table irn2) (clear ued4) (clear irn2) (on-table zjb1) (on ued4 are3) (clear zjb1) (on-table are3)",
"(on-table zjb1) (clear ued4) (on ued4 are3) (holding irn2) (clear zjb1) (on-table are3)",
"(clear irn2) (arm-empty) (on-table zjb1) (clear ued4) (on ued4 are3) (on irn2 zjb1) (on-table are3)",
"(holding ued4) (clear irn2) (on-table zjb1) (on irn2 zjb1) (clear are3) (on-table are3)",
"(arm-empty) (clear ued4) (on irn2 zjb1) (clear irn2) (on-table zjb1) (on-table ued4) (clear are3) (on-table are3)",
"(clear irn2) (on-table zjb1) (clear ued4) (on-table ued4) (on irn2 zjb1) (holding are3)",
"(on are3 ued4) (clear irn2) (arm-empty) (on-table zjb1) (on-table ued4) (on irn2 zjb1) (clear are3)"
] |
file_108078
|
GOAL: (clear mru2) (arm-empty) (on-table eyv1) (on kij5 eyv1) (on lrv4 zno3) (on mru2 lrv4) (on-table zno3) (clear kij5)
|
GOAL: (clear mru2) (arm-empty) (on-table eyv1) (on kij5 eyv1) (on lrv4 zno3) (on mru2 lrv4) (on-table zno3) (clear kij5)
STATE: (clear mru2) (arm-empty) (on lrv4 kij5) (on-table eyv1) (on kij5 eyv1) (on mru2 lrv4) (clear zno3) (on-table zno3)
|
[
[
"unstack mru2 lrv4"
],
[
"put-down mru2"
],
[
"unstack lrv4 kij5"
],
[
"stack lrv4 zno3"
],
[
"pick-up mru2"
],
[
"stack mru2 lrv4"
]
] |
[
"(on lrv4 kij5) (on-table eyv1) (clear lrv4) (on kij5 eyv1) (holding mru2) (clear zno3) (on-table zno3)",
"(arm-empty) (on-table mru2) (on lrv4 kij5) (clear lrv4) (clear mru2) (on-table eyv1) (on kij5 eyv1) (clear zno3) (on-table zno3)",
"(clear mru2) (on-table mru2) (on-table eyv1) (holding lrv4) (on kij5 eyv1) (clear zno3) (on-table zno3) (clear kij5)",
"(clear mru2) (arm-empty) (on-table mru2) (on-table eyv1) (clear lrv4) (on kij5 eyv1) (on lrv4 zno3) (on-table zno3) (clear kij5)",
"(on-table eyv1) (clear lrv4) (on kij5 eyv1) (on lrv4 zno3) (holding mru2) (on-table zno3) (clear kij5)",
"(clear mru2) (arm-empty) (on-table eyv1) (on kij5 eyv1) (on lrv4 zno3) (on mru2 lrv4) (on-table zno3) (clear kij5)"
] |
file_98709
|
GOAL: (on qjo3 gnx5) (clear ncm2) (arm-empty) (on-table teo1) (on jmx4 qjo3) (on gnx5 teo1) (on ncm2 jmx4)
|
GOAL: (on qjo3 gnx5) (clear ncm2) (arm-empty) (on-table teo1) (on jmx4 qjo3) (on gnx5 teo1) (on ncm2 jmx4)
STATE: (on teo1 qjo3) (arm-empty) (on qjo3 ncm2) (on gnx5 teo1) (on-table jmx4) (on ncm2 jmx4) (clear gnx5)
|
[
[
"unstack gnx5 teo1"
],
[
"put-down gnx5"
],
[
"unstack teo1 qjo3"
],
[
"put-down teo1"
],
[
"pick-up gnx5"
],
[
"stack gnx5 teo1"
],
[
"unstack qjo3 ncm2"
],
[
"stack qjo3 gnx5"
],
[
"unstack ncm2 jmx4"
],
[
"put-down ncm2"
],
[
"pick-up jmx4"
],
[
"stack jmx4 qjo3"
],
[
"pick-up ncm2"
],
[
"stack ncm2 jmx4"
]
] |
[
"(on teo1 qjo3) (holding gnx5) (on ncm2 jmx4) (on qjo3 ncm2) (on-table jmx4) (clear teo1)",
"(on teo1 qjo3) (arm-empty) (on-table gnx5) (on ncm2 jmx4) (clear gnx5) (on qjo3 ncm2) (on-table jmx4) (clear teo1)",
"(holding teo1) (on-table gnx5) (on qjo3 ncm2) (on-table jmx4) (on ncm2 jmx4) (clear qjo3) (clear gnx5)",
"(arm-empty) (on-table gnx5) (on ncm2 jmx4) (clear gnx5) (on-table teo1) (on qjo3 ncm2) (on-table jmx4) (clear qjo3) (clear teo1)",
"(on-table teo1) (on qjo3 ncm2) (holding gnx5) (on-table jmx4) (on ncm2 jmx4) (clear qjo3) (clear teo1)",
"(arm-empty) (on ncm2 jmx4) (clear gnx5) (on-table teo1) (on qjo3 ncm2) (on gnx5 teo1) (on-table jmx4) (clear qjo3)",
"(clear ncm2) (on-table teo1) (on gnx5 teo1) (on-table jmx4) (on ncm2 jmx4) (holding qjo3) (clear gnx5)",
"(clear ncm2) (on qjo3 gnx5) (arm-empty) (on-table teo1) (on gnx5 teo1) (on-table jmx4) (on ncm2 jmx4) (clear qjo3)",
"(on qjo3 gnx5) (on-table teo1) (clear jmx4) (on gnx5 teo1) (on-table jmx4) (holding ncm2) (clear qjo3)",
"(on qjo3 gnx5) (arm-empty) (on-table ncm2) (clear jmx4) (clear ncm2) (on-table teo1) (on gnx5 teo1) (on-table jmx4) (clear qjo3)",
"(on qjo3 gnx5) (clear ncm2) (on-table ncm2) (on-table teo1) (holding jmx4) (on gnx5 teo1) (clear qjo3)",
"(on qjo3 gnx5) (arm-empty) (on-table ncm2) (clear jmx4) (clear ncm2) (on-table teo1) (on jmx4 qjo3) (on gnx5 teo1)",
"(on qjo3 gnx5) (on-table teo1) (clear jmx4) (on jmx4 qjo3) (on gnx5 teo1) (holding ncm2)",
"(on qjo3 gnx5) (clear ncm2) (arm-empty) (on-table teo1) (on jmx4 qjo3) (on gnx5 teo1) (on ncm2 jmx4)"
] |
file_66977
|
GOAL: (arm-empty) (on-table xqs5) (clear hit4) (on hem2 xqs5) (on-table dqx1) (on jxz3 hem2) (on-table hit4) (clear jxz3) (clear dqx1)
|
GOAL: (arm-empty) (on-table xqs5) (clear hit4) (on hem2 xqs5) (on-table dqx1) (on jxz3 hem2) (on-table hit4) (clear jxz3) (clear dqx1)
STATE: (on-table xqs5) (on dqx1 hit4) (on hit4 jxz3) (holding hem2) (clear dqx1) (on-table jxz3) (clear xqs5)
|
[
[
"stack hem2 xqs5"
],
[
"unstack dqx1 hit4"
],
[
"stack dqx1 hem2"
],
[
"unstack hit4 jxz3"
],
[
"put-down hit4"
],
[
"unstack dqx1 hem2"
],
[
"stack dqx1 hit4"
],
[
"pick-up jxz3"
],
[
"stack jxz3 hem2"
],
[
"unstack dqx1 hit4"
],
[
"put-down dqx1"
]
] |
[
"(arm-empty) (on-table xqs5) (on hem2 xqs5) (clear hem2) (on hit4 jxz3) (on dqx1 hit4) (clear dqx1) (on-table jxz3)",
"(holding dqx1) (clear hem2) (on-table xqs5) (clear hit4) (on hit4 jxz3) (on hem2 xqs5) (on-table jxz3)",
"(arm-empty) (on-table xqs5) (clear hit4) (on hit4 jxz3) (on hem2 xqs5) (on dqx1 hem2) (clear dqx1) (on-table jxz3)",
"(on-table xqs5) (holding hit4) (on hem2 xqs5) (clear jxz3) (on dqx1 hem2) (clear dqx1) (on-table jxz3)",
"(arm-empty) (on-table xqs5) (clear hit4) (on hem2 xqs5) (on dqx1 hem2) (on-table hit4) (clear jxz3) (clear dqx1) (on-table jxz3)",
"(holding dqx1) (clear hem2) (on-table xqs5) (clear hit4) (on-table hit4) (on hem2 xqs5) (clear jxz3) (on-table jxz3)",
"(clear hem2) (arm-empty) (on-table xqs5) (on-table hit4) (on dqx1 hit4) (on hem2 xqs5) (clear jxz3) (clear dqx1) (on-table jxz3)",
"(clear hem2) (on-table xqs5) (on-table hit4) (on dqx1 hit4) (on hem2 xqs5) (holding jxz3) (clear dqx1)",
"(arm-empty) (on-table xqs5) (on jxz3 hem2) (on-table hit4) (on dqx1 hit4) (on hem2 xqs5) (clear jxz3) (clear dqx1)",
"(holding dqx1) (on-table xqs5) (on jxz3 hem2) (clear hit4) (on-table hit4) (on hem2 xqs5) (clear jxz3)",
"(arm-empty) (on-table xqs5) (clear hit4) (on hem2 xqs5) (on-table dqx1) (on jxz3 hem2) (on-table hit4) (clear jxz3) (clear dqx1)"
] |
file_6689
|
GOAL: (on sgw1 maz5) (clear twr2) (on-table twr2) (on-table maz5) (holding mdh4) (clear qql3) (clear sgw1) (on-table qql3)
|
GOAL: (on sgw1 maz5) (clear twr2) (on-table twr2) (on-table maz5) (holding mdh4) (clear qql3) (clear sgw1) (on-table qql3)
STATE: (on sgw1 maz5) (clear twr2) (arm-empty) (on-table twr2) (on-table maz5) (clear mdh4) (on mdh4 qql3) (on qql3 sgw1)
|
[
[
"unstack mdh4 qql3"
],
[
"put-down mdh4"
],
[
"unstack qql3 sgw1"
],
[
"put-down qql3"
],
[
"pick-up mdh4"
]
] |
[
"(on sgw1 maz5) (clear twr2) (on-table twr2) (on-table maz5) (holding mdh4) (on qql3 sgw1) (clear qql3)",
"(on sgw1 maz5) (arm-empty) (on-table twr2) (on-table maz5) (clear mdh4) (on qql3 sgw1) (clear twr2) (on-table mdh4) (clear qql3)",
"(on sgw1 maz5) (clear twr2) (on-table twr2) (on-table maz5) (clear mdh4) (on-table mdh4) (holding qql3) (clear sgw1)",
"(on sgw1 maz5) (clear twr2) (arm-empty) (on-table twr2) (on-table maz5) (clear mdh4) (on-table mdh4) (clear qql3) (clear sgw1) (on-table qql3)",
"(on sgw1 maz5) (clear twr2) (on-table twr2) (on-table maz5) (holding mdh4) (clear qql3) (clear sgw1) (on-table qql3)"
] |
file_225517
|
GOAL: (arm-empty) (on-table iqm5) (on huu3 frk2) (on-table zgz4) (on icj1 zgz4) (on frk2 icj1) (clear huu3) (clear iqm5)
|
GOAL: (arm-empty) (on-table iqm5) (on huu3 frk2) (on-table zgz4) (on icj1 zgz4) (on frk2 icj1) (clear huu3) (clear iqm5)
STATE: (on-table iqm5) (on-table zgz4) (holding frk2) (on huu3 icj1) (clear huu3) (on icj1 zgz4) (clear iqm5)
|
[
[
"put-down frk2"
],
[
"unstack huu3 icj1"
],
[
"stack huu3 iqm5"
],
[
"pick-up frk2"
],
[
"stack frk2 icj1"
],
[
"unstack huu3 iqm5"
],
[
"stack huu3 frk2"
]
] |
[
"(arm-empty) (on-table frk2) (on-table iqm5) (on huu3 icj1) (clear iqm5) (clear frk2) (on-table zgz4) (on icj1 zgz4) (clear huu3)",
"(clear frk2) (on-table frk2) (on-table iqm5) (on-table zgz4) (on icj1 zgz4) (holding huu3) (clear icj1) (clear iqm5)",
"(clear frk2) (on huu3 iqm5) (arm-empty) (on-table frk2) (on-table iqm5) (on-table zgz4) (on icj1 zgz4) (clear huu3) (clear icj1)",
"(on huu3 iqm5) (on-table iqm5) (holding frk2) (on-table zgz4) (on icj1 zgz4) (clear huu3) (clear icj1)",
"(on huu3 iqm5) (clear frk2) (arm-empty) (on-table iqm5) (on-table zgz4) (on icj1 zgz4) (on frk2 icj1) (clear huu3)",
"(clear frk2) (on-table iqm5) (on-table zgz4) (on icj1 zgz4) (on frk2 icj1) (holding huu3) (clear iqm5)",
"(arm-empty) (on-table iqm5) (on huu3 frk2) (on-table zgz4) (on icj1 zgz4) (on frk2 icj1) (clear huu3) (clear iqm5)"
] |
file_49335
|
GOAL: (holding yhf2) (on rie5 fji1) (on-table kll4) (on fji1 kll4) (clear deb3) (on-table deb3) (clear rie5)
|
GOAL: (holding yhf2) (on rie5 fji1) (on-table kll4) (on fji1 kll4) (clear deb3) (on-table deb3) (clear rie5)
STATE: (clear fji1) (on-table yhf2) (on-table rie5) (clear kll4) (on-table kll4) (holding deb3) (on fji1 yhf2) (clear rie5)
|
[
[
"put-down deb3"
],
[
"unstack fji1 yhf2"
],
[
"stack fji1 kll4"
],
[
"pick-up rie5"
],
[
"stack rie5 fji1"
],
[
"pick-up yhf2"
]
] |
[
"(clear fji1) (arm-empty) (on-table yhf2) (on-table rie5) (clear kll4) (on-table kll4) (clear deb3) (on fji1 yhf2) (on-table deb3) (clear rie5)",
"(holding fji1) (clear yhf2) (on-table yhf2) (on-table rie5) (clear kll4) (on-table kll4) (clear deb3) (on-table deb3) (clear rie5)",
"(clear yhf2) (arm-empty) (on-table yhf2) (on-table rie5) (on-table kll4) (on fji1 kll4) (clear deb3) (clear fji1) (on-table deb3) (clear rie5)",
"(clear yhf2) (on-table yhf2) (holding rie5) (on-table kll4) (on fji1 kll4) (clear deb3) (clear fji1) (on-table deb3)",
"(clear yhf2) (arm-empty) (on-table yhf2) (on rie5 fji1) (on-table kll4) (on fji1 kll4) (clear deb3) (on-table deb3) (clear rie5)",
"(holding yhf2) (on rie5 fji1) (on-table kll4) (on fji1 kll4) (clear deb3) (on-table deb3) (clear rie5)"
] |
file_17457
|
GOAL: (clear mgi2) (on-table gov5) (on-table ahp1) (holding wub4) (on mgi2 tth3) (clear ahp1) (on-table tth3) (clear gov5)
|
GOAL: (clear mgi2) (on-table gov5) (on-table ahp1) (holding wub4) (on mgi2 tth3) (clear ahp1) (on-table tth3) (clear gov5)
STATE: (clear mgi2) (on wub4 ahp1) (on ahp1 tth3) (on gov5 wub4) (arm-empty) (on mgi2 gov5) (on-table tth3)
|
[
[
"unstack mgi2 gov5"
],
[
"put-down mgi2"
],
[
"unstack gov5 wub4"
],
[
"stack gov5 mgi2"
],
[
"unstack wub4 ahp1"
],
[
"put-down wub4"
],
[
"unstack ahp1 tth3"
],
[
"put-down ahp1"
],
[
"unstack gov5 mgi2"
],
[
"stack gov5 ahp1"
],
[
"pick-up mgi2"
],
[
"stack mgi2 tth3"
],
[
"pick-up wub4"
],
[
"stack wub4 mgi2"
],
[
"unstack gov5 ahp1"
],
[
"put-down gov5"
],
[
"unstack wub4 mgi2"
]
] |
[
"(on wub4 ahp1) (on ahp1 tth3) (on gov5 wub4) (clear gov5) (holding mgi2) (on-table tth3)",
"(clear mgi2) (on wub4 ahp1) (on ahp1 tth3) (on gov5 wub4) (on-table mgi2) (arm-empty) (on-table tth3) (clear gov5)",
"(clear mgi2) (on wub4 ahp1) (on ahp1 tth3) (on-table mgi2) (clear wub4) (holding gov5) (on-table tth3)",
"(on wub4 ahp1) (on ahp1 tth3) (on-table mgi2) (arm-empty) (on gov5 mgi2) (clear wub4) (on-table tth3) (clear gov5)",
"(on ahp1 tth3) (on-table mgi2) (holding wub4) (on gov5 mgi2) (clear ahp1) (on-table tth3) (clear gov5)",
"(on ahp1 tth3) (arm-empty) (on-table mgi2) (on gov5 mgi2) (clear wub4) (clear gov5) (on-table wub4) (clear ahp1) (on-table tth3)",
"(holding ahp1) (on-table mgi2) (on gov5 mgi2) (clear wub4) (on-table wub4) (clear tth3) (on-table tth3) (clear gov5)",
"(arm-empty) (on-table mgi2) (on-table ahp1) (on gov5 mgi2) (clear wub4) (on-table wub4) (clear tth3) (clear ahp1) (on-table tth3) (clear gov5)",
"(clear mgi2) (on-table mgi2) (on-table ahp1) (clear wub4) (holding gov5) (on-table wub4) (clear tth3) (clear ahp1) (on-table tth3)",
"(clear mgi2) (arm-empty) (on-table mgi2) (on-table ahp1) (clear wub4) (on gov5 ahp1) (on-table wub4) (clear tth3) (on-table tth3) (clear gov5)",
"(on-table ahp1) (clear wub4) (on gov5 ahp1) (on-table wub4) (holding mgi2) (clear tth3) (on-table tth3) (clear gov5)",
"(clear mgi2) (arm-empty) (on-table ahp1) (clear wub4) (on gov5 ahp1) (on-table wub4) (on mgi2 tth3) (on-table tth3) (clear gov5)",
"(clear mgi2) (on-table ahp1) (holding wub4) (on gov5 ahp1) (on mgi2 tth3) (on-table tth3) (clear gov5)",
"(arm-empty) (on-table ahp1) (clear wub4) (on gov5 ahp1) (on wub4 mgi2) (on mgi2 tth3) (on-table tth3) (clear gov5)",
"(on-table ahp1) (clear wub4) (holding gov5) (on wub4 mgi2) (on mgi2 tth3) (clear ahp1) (on-table tth3)",
"(arm-empty) (on-table gov5) (clear wub4) (clear gov5) (on-table ahp1) (on wub4 mgi2) (on mgi2 tth3) (clear ahp1) (on-table tth3)",
"(clear mgi2) (on-table gov5) (on-table ahp1) (holding wub4) (on mgi2 tth3) (clear ahp1) (on-table tth3) (clear gov5)"
] |
file_183956
|
GOAL: (on jjj1 cvs3) (clear rud4) (on vox5 jjj1) (on-table rud4) (holding jpd2) (on-table cvs3) (clear vox5)
|
GOAL: (on jjj1 cvs3) (clear rud4) (on vox5 jjj1) (on-table rud4) (holding jpd2) (on-table cvs3) (clear vox5)
STATE: (clear jpd2) (on cvs3 vox5) (arm-empty) (on-table jpd2) (on-table vox5) (on-table jjj1) (clear rud4) (on-table rud4) (clear cvs3) (clear jjj1)
|
[
[
"pick-up jpd2"
],
[
"stack jpd2 rud4"
],
[
"unstack cvs3 vox5"
],
[
"put-down cvs3"
],
[
"pick-up vox5"
],
[
"stack vox5 jpd2"
],
[
"pick-up jjj1"
],
[
"stack jjj1 cvs3"
],
[
"unstack vox5 jpd2"
],
[
"stack vox5 jjj1"
],
[
"unstack jpd2 rud4"
]
] |
[
"(on cvs3 vox5) (on-table vox5) (on-table jjj1) (clear rud4) (on-table rud4) (holding jpd2) (clear cvs3) (clear jjj1)",
"(on cvs3 vox5) (clear jpd2) (arm-empty) (on-table vox5) (on-table jjj1) (on-table rud4) (on jpd2 rud4) (clear cvs3) (clear jjj1)",
"(clear jpd2) (on-table vox5) (on-table jjj1) (on-table rud4) (on jpd2 rud4) (holding cvs3) (clear jjj1) (clear vox5)",
"(clear jpd2) (arm-empty) (on-table vox5) (on-table jjj1) (on-table rud4) (on jpd2 rud4) (clear cvs3) (clear jjj1) (on-table cvs3) (clear vox5)",
"(clear jpd2) (on-table jjj1) (holding vox5) (on-table rud4) (on jpd2 rud4) (clear cvs3) (clear jjj1) (on-table cvs3)",
"(arm-empty) (on-table jjj1) (on vox5 jpd2) (on-table rud4) (on jpd2 rud4) (clear cvs3) (clear jjj1) (on-table cvs3) (clear vox5)",
"(holding jjj1) (on vox5 jpd2) (on-table rud4) (on jpd2 rud4) (clear cvs3) (on-table cvs3) (clear vox5)",
"(on jjj1 cvs3) (arm-empty) (on vox5 jpd2) (on-table rud4) (on jpd2 rud4) (clear jjj1) (on-table cvs3) (clear vox5)",
"(clear jpd2) (on jjj1 cvs3) (holding vox5) (on-table rud4) (on jpd2 rud4) (clear jjj1) (on-table cvs3)",
"(clear jpd2) (on jjj1 cvs3) (arm-empty) (on vox5 jjj1) (on-table rud4) (on jpd2 rud4) (on-table cvs3) (clear vox5)",
"(on jjj1 cvs3) (clear rud4) (on vox5 jjj1) (on-table rud4) (holding jpd2) (on-table cvs3) (clear vox5)"
] |
file_8683
|
GOAL: (clear zlh2) (on hdl3 dqw5) (on dqw5 ouc4) (on-table zlh2) (arm-empty) (on-table hrx1) (on-table ouc4) (clear hdl3) (clear hrx1)
|
GOAL: (clear zlh2) (on hdl3 dqw5) (on dqw5 ouc4) (on-table zlh2) (arm-empty) (on-table hrx1) (on-table ouc4) (clear hdl3) (clear hrx1)
STATE: (clear zlh2) (on-table zlh2) (on-table hrx1) (clear ouc4) (holding dqw5) (on-table ouc4) (clear hdl3) (clear hrx1) (on-table hdl3)
|
[
[
"stack dqw5 ouc4"
],
[
"pick-up hdl3"
],
[
"stack hdl3 dqw5"
]
] |
[
"(clear zlh2) (arm-empty) (on dqw5 ouc4) (on-table zlh2) (on-table hrx1) (on-table ouc4) (clear hdl3) (clear hrx1) (on-table hdl3) (clear dqw5)",
"(clear zlh2) (on dqw5 ouc4) (on-table zlh2) (on-table hrx1) (on-table ouc4) (holding hdl3) (clear hrx1) (clear dqw5)",
"(clear zlh2) (on hdl3 dqw5) (on dqw5 ouc4) (on-table zlh2) (arm-empty) (on-table hrx1) (on-table ouc4) (clear hdl3) (clear hrx1)"
] |
file_21792
|
GOAL: (arm-empty) (on vep4 rou5) (on-table bqo1) (on fgw3 nox2) (on rou5 bqo1) (on nox2 vep4) (clear fgw3)
|
GOAL: (arm-empty) (on vep4 rou5) (on-table bqo1) (on fgw3 nox2) (on rou5 bqo1) (on nox2 vep4) (clear fgw3)
STATE: (on fgw3 vep4) (clear nox2) (arm-empty) (on vep4 rou5) (on-table bqo1) (on rou5 bqo1) (on nox2 fgw3)
|
[
[
"unstack nox2 fgw3"
],
[
"put-down nox2"
],
[
"unstack fgw3 vep4"
],
[
"put-down fgw3"
],
[
"pick-up nox2"
],
[
"stack nox2 vep4"
],
[
"pick-up fgw3"
],
[
"stack fgw3 nox2"
]
] |
[
"(on vep4 rou5) (on fgw3 vep4) (on-table bqo1) (on rou5 bqo1) (holding nox2) (clear fgw3)",
"(arm-empty) (on-table nox2) (on vep4 rou5) (on fgw3 vep4) (clear nox2) (on-table bqo1) (on rou5 bqo1) (clear fgw3)",
"(clear nox2) (on-table nox2) (on vep4 rou5) (on-table bqo1) (clear vep4) (on rou5 bqo1) (holding fgw3)",
"(arm-empty) (on-table nox2) (on vep4 rou5) (clear vep4) (clear nox2) (on-table bqo1) (on rou5 bqo1) (clear fgw3) (on-table fgw3)",
"(on vep4 rou5) (on-table bqo1) (clear vep4) (on rou5 bqo1) (holding nox2) (clear fgw3) (on-table fgw3)",
"(arm-empty) (on vep4 rou5) (on nox2 vep4) (clear nox2) (on-table bqo1) (on rou5 bqo1) (clear fgw3) (on-table fgw3)",
"(clear nox2) (on vep4 rou5) (on-table bqo1) (on rou5 bqo1) (on nox2 vep4) (holding fgw3)",
"(arm-empty) (on vep4 rou5) (on-table bqo1) (on fgw3 nox2) (on rou5 bqo1) (on nox2 vep4) (clear fgw3)"
] |
file_48620
|
GOAL: (holding aup1) (clear fjd2) (on-table fjd2) (on-table nwj5) (clear sjf4) (on-table sjf4) (clear xup3) (on-table xup3) (clear nwj5)
|
GOAL: (holding aup1) (clear fjd2) (on-table fjd2) (on-table nwj5) (clear sjf4) (on-table sjf4) (clear xup3) (on-table xup3) (clear nwj5)
STATE: (holding aup1) (clear fjd2) (on-table nwj5) (clear sjf4) (on-table sjf4) (on fjd2 xup3) (on-table xup3) (clear nwj5)
|
[
[
"put-down aup1"
],
[
"unstack fjd2 xup3"
],
[
"put-down fjd2"
],
[
"pick-up aup1"
]
] |
[
"(clear fjd2) (arm-empty) (on-table nwj5) (on-table aup1) (clear sjf4) (on-table sjf4) (on fjd2 xup3) (clear aup1) (on-table xup3) (clear nwj5)",
"(on-table nwj5) (on-table aup1) (clear sjf4) (on-table sjf4) (holding fjd2) (clear xup3) (clear aup1) (on-table xup3) (clear nwj5)",
"(clear fjd2) (arm-empty) (on-table fjd2) (on-table nwj5) (on-table aup1) (clear sjf4) (on-table sjf4) (clear xup3) (clear aup1) (on-table xup3) (clear nwj5)",
"(holding aup1) (clear fjd2) (on-table fjd2) (on-table nwj5) (clear sjf4) (on-table sjf4) (clear xup3) (on-table xup3) (clear nwj5)"
] |
file_182829
|
GOAL: (clear aqx2) (arm-empty) (on-table aqx2) (on-table dtv4) (on ops1 dtv4) (clear ltg3) (clear ops1) (on-table ltg3)
|
GOAL: (clear aqx2) (arm-empty) (on-table aqx2) (on-table dtv4) (on ops1 dtv4) (clear ltg3) (clear ops1) (on-table ltg3)
STATE: (on ops1 ltg3) (arm-empty) (on-table aqx2) (on ltg3 aqx2) (clear dtv4) (on-table dtv4) (clear ops1)
|
[
[
"unstack ops1 ltg3"
],
[
"put-down ops1"
],
[
"unstack ltg3 aqx2"
],
[
"put-down ltg3"
],
[
"pick-up ops1"
],
[
"stack ops1 dtv4"
]
] |
[
"(on-table aqx2) (clear dtv4) (holding ops1) (on ltg3 aqx2) (on-table dtv4) (clear ltg3)",
"(arm-empty) (on-table aqx2) (clear dtv4) (on-table ops1) (on ltg3 aqx2) (on-table dtv4) (clear ltg3) (clear ops1)",
"(clear aqx2) (on-table aqx2) (on-table ops1) (clear dtv4) (on-table dtv4) (holding ltg3) (clear ops1)",
"(arm-empty) (on-table aqx2) (clear dtv4) (clear aqx2) (on-table ops1) (on-table dtv4) (clear ltg3) (clear ops1) (on-table ltg3)",
"(holding ops1) (clear aqx2) (on-table aqx2) (clear dtv4) (on-table dtv4) (clear ltg3) (on-table ltg3)",
"(clear aqx2) (arm-empty) (on-table aqx2) (on-table dtv4) (on ops1 dtv4) (clear ltg3) (clear ops1) (on-table ltg3)"
] |
file_225096
|
GOAL: (on yzn1 nug5) (on-table nug5) (clear lmi4) (on lmi4 fox3) (holding fix2) (clear yzn1) (on-table fox3)
|
GOAL: (on yzn1 nug5) (on-table nug5) (clear lmi4) (on lmi4 fox3) (holding fix2) (clear yzn1) (on-table fox3)
STATE: (on yzn1 nug5) (on-table nug5) (clear lmi4) (on lmi4 fox3) (holding fix2) (on fox3 yzn1)
|
[
[
"put-down fix2"
],
[
"unstack lmi4 fox3"
],
[
"put-down lmi4"
],
[
"unstack fox3 yzn1"
],
[
"put-down fox3"
],
[
"pick-up fix2"
],
[
"stack fix2 yzn1"
],
[
"pick-up lmi4"
],
[
"stack lmi4 fox3"
],
[
"unstack fix2 yzn1"
]
] |
[
"(on yzn1 nug5) (arm-empty) (on-table fix2) (on-table nug5) (clear lmi4) (on fox3 yzn1) (clear fix2) (on lmi4 fox3)",
"(on yzn1 nug5) (clear fix2) (on-table fix2) (on-table nug5) (holding lmi4) (on fox3 yzn1) (clear fox3)",
"(on yzn1 nug5) (arm-empty) (on-table fix2) (on-table nug5) (clear lmi4) (on fox3 yzn1) (clear fix2) (on-table lmi4) (clear fox3)",
"(on yzn1 nug5) (clear fix2) (on-table fix2) (on-table nug5) (clear lmi4) (on-table lmi4) (holding fox3) (clear yzn1)",
"(on yzn1 nug5) (clear fix2) (arm-empty) (on-table fix2) (on-table nug5) (clear lmi4) (on-table lmi4) (clear fox3) (clear yzn1) (on-table fox3)",
"(on yzn1 nug5) (on-table nug5) (clear lmi4) (on-table lmi4) (holding fix2) (clear fox3) (clear yzn1) (on-table fox3)",
"(on yzn1 nug5) (clear fix2) (arm-empty) (on-table nug5) (clear lmi4) (on-table lmi4) (on fix2 yzn1) (clear fox3) (on-table fox3)",
"(on yzn1 nug5) (clear fix2) (on-table nug5) (holding lmi4) (on fix2 yzn1) (clear fox3) (on-table fox3)",
"(on yzn1 nug5) (clear fix2) (arm-empty) (on-table nug5) (clear lmi4) (on lmi4 fox3) (on fix2 yzn1) (on-table fox3)",
"(on yzn1 nug5) (on-table nug5) (clear lmi4) (on lmi4 fox3) (holding fix2) (clear yzn1) (on-table fox3)"
] |
file_110501
|
GOAL: (on tnx4 ymp3) (clear eex2) (arm-empty) (on eex2 ppn1) (on ppn1 tnx4) (on-table ymp3)
|
GOAL: (on tnx4 ymp3) (clear eex2) (arm-empty) (on eex2 ppn1) (on ppn1 tnx4) (on-table ymp3)
STATE: (clear eex2) (arm-empty) (on-table ppn1) (on tnx4 ymp3) (on eex2 tnx4) (clear ppn1) (on-table ymp3)
|
[
[
"unstack eex2 tnx4"
],
[
"put-down eex2"
],
[
"pick-up ppn1"
],
[
"stack ppn1 tnx4"
],
[
"pick-up eex2"
],
[
"stack eex2 ppn1"
]
] |
[
"(clear tnx4) (on-table ppn1) (on tnx4 ymp3) (holding eex2) (clear ppn1) (on-table ymp3)",
"(arm-empty) (on-table eex2) (clear tnx4) (clear eex2) (on-table ppn1) (on tnx4 ymp3) (clear ppn1) (on-table ymp3)",
"(holding ppn1) (clear eex2) (on-table eex2) (clear tnx4) (on tnx4 ymp3) (on-table ymp3)",
"(clear eex2) (arm-empty) (on-table eex2) (on tnx4 ymp3) (on ppn1 tnx4) (clear ppn1) (on-table ymp3)",
"(on tnx4 ymp3) (holding eex2) (on ppn1 tnx4) (clear ppn1) (on-table ymp3)",
"(on tnx4 ymp3) (clear eex2) (arm-empty) (on eex2 ppn1) (on ppn1 tnx4) (on-table ymp3)"
] |
file_216332
|
GOAL: (on mdi4 dww1) (arm-empty) (on-table xor5) (on uqq2 mdi4) (clear xor5) (clear uqq2) (on-table dww1) (clear dtf3) (on-table dtf3)
|
GOAL: (on mdi4 dww1) (arm-empty) (on-table xor5) (on uqq2 mdi4) (clear xor5) (clear uqq2) (on-table dww1) (clear dtf3) (on-table dtf3)
STATE: (clear uqq2) (arm-empty) (on dtf3 xor5) (on-table xor5) (on-table dww1) (clear mdi4) (on-table mdi4) (on uqq2 dtf3) (clear dww1)
|
[
[
"pick-up mdi4"
],
[
"stack mdi4 dww1"
],
[
"unstack uqq2 dtf3"
],
[
"stack uqq2 mdi4"
],
[
"unstack dtf3 xor5"
],
[
"put-down dtf3"
]
] |
[
"(clear uqq2) (on dtf3 xor5) (on-table xor5) (on-table dww1) (holding mdi4) (on uqq2 dtf3) (clear dww1)",
"(clear uqq2) (on dtf3 xor5) (on mdi4 dww1) (arm-empty) (on-table xor5) (on-table dww1) (clear mdi4) (on uqq2 dtf3)",
"(on dtf3 xor5) (on mdi4 dww1) (on-table xor5) (on-table dww1) (clear mdi4) (holding uqq2) (clear dtf3)",
"(on dtf3 xor5) (on mdi4 dww1) (arm-empty) (on-table xor5) (on uqq2 mdi4) (clear uqq2) (on-table dww1) (clear dtf3)",
"(on mdi4 dww1) (clear uqq2) (on-table xor5) (on-table dww1) (on uqq2 mdi4) (holding dtf3) (clear xor5)",
"(on mdi4 dww1) (arm-empty) (on-table xor5) (on uqq2 mdi4) (clear xor5) (clear uqq2) (on-table dww1) (clear dtf3) (on-table dtf3)"
] |
file_227329
|
GOAL: (on oir3 ems5) (arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (clear gnu2) (on-table tqr1) (on dfr4 oir3) (clear tqr1)
|
GOAL: (on oir3 ems5) (arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (clear gnu2) (on-table tqr1) (on dfr4 oir3) (clear tqr1)
STATE: (clear gnu2) (on tqr1 oir3) (arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (on-table dfr4) (clear tqr1) (on-table oir3) (clear ems5)
|
[
[
"pick-up dfr4"
],
[
"stack dfr4 gnu2"
],
[
"unstack tqr1 oir3"
],
[
"put-down tqr1"
],
[
"unstack dfr4 gnu2"
],
[
"stack dfr4 oir3"
],
[
"pick-up tqr1"
],
[
"stack tqr1 gnu2"
],
[
"unstack dfr4 oir3"
],
[
"put-down dfr4"
],
[
"pick-up oir3"
],
[
"stack oir3 ems5"
],
[
"pick-up dfr4"
],
[
"stack dfr4 oir3"
],
[
"unstack tqr1 gnu2"
],
[
"put-down tqr1"
]
] |
[
"(clear gnu2) (on tqr1 oir3) (on-table gnu2) (on-table ems5) (holding dfr4) (clear tqr1) (on-table oir3) (clear ems5)",
"(on tqr1 oir3) (arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (on dfr4 gnu2) (clear tqr1) (on-table oir3) (clear ems5)",
"(holding tqr1) (on-table gnu2) (on-table ems5) (clear dfr4) (on dfr4 gnu2) (clear oir3) (on-table oir3) (clear ems5)",
"(arm-empty) (on-table gnu2) (on-table ems5) (on-table tqr1) (clear dfr4) (on dfr4 gnu2) (clear oir3) (clear tqr1) (on-table oir3) (clear ems5)",
"(clear gnu2) (on-table gnu2) (on-table ems5) (on-table tqr1) (holding dfr4) (clear oir3) (clear tqr1) (on-table oir3) (clear ems5)",
"(clear gnu2) (arm-empty) (on-table gnu2) (on-table ems5) (on-table tqr1) (clear dfr4) (on dfr4 oir3) (clear tqr1) (on-table oir3) (clear ems5)",
"(holding tqr1) (clear gnu2) (on-table gnu2) (on-table ems5) (clear dfr4) (on dfr4 oir3) (on-table oir3) (clear ems5)",
"(arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (on dfr4 oir3) (on tqr1 gnu2) (clear tqr1) (on-table oir3) (clear ems5)",
"(on-table gnu2) (on-table ems5) (holding dfr4) (clear oir3) (on tqr1 gnu2) (clear tqr1) (on-table oir3) (clear ems5)",
"(arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (on-table dfr4) (clear oir3) (on tqr1 gnu2) (clear tqr1) (on-table oir3) (clear ems5)",
"(on-table gnu2) (on-table ems5) (clear dfr4) (on-table dfr4) (on tqr1 gnu2) (clear tqr1) (holding oir3) (clear ems5)",
"(on oir3 ems5) (arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (on-table dfr4) (clear oir3) (on tqr1 gnu2) (clear tqr1)",
"(on oir3 ems5) (on-table gnu2) (on-table ems5) (holding dfr4) (clear oir3) (on tqr1 gnu2) (clear tqr1)",
"(on oir3 ems5) (arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (on dfr4 oir3) (on tqr1 gnu2) (clear tqr1)",
"(holding tqr1) (on oir3 ems5) (clear gnu2) (on-table gnu2) (on-table ems5) (clear dfr4) (on dfr4 oir3)",
"(on oir3 ems5) (arm-empty) (on-table gnu2) (on-table ems5) (clear dfr4) (clear gnu2) (on-table tqr1) (on dfr4 oir3) (clear tqr1)"
] |
file_209810
|
GOAL: (on xvb1 brl3) (on-table hkc2) (holding jro4) (on brl3 hkc2) (clear xvb1)
|
GOAL: (on xvb1 brl3) (on-table hkc2) (holding jro4) (on brl3 hkc2) (clear xvb1)
STATE: (clear hkc2) (on xvb1 brl3) (arm-empty) (on-table hkc2) (clear jro4) (on-table jro4) (clear xvb1) (on-table brl3)
|
[
[
"unstack xvb1 brl3"
],
[
"stack xvb1 jro4"
],
[
"pick-up brl3"
],
[
"stack brl3 hkc2"
],
[
"unstack xvb1 jro4"
],
[
"stack xvb1 brl3"
],
[
"pick-up jro4"
]
] |
[
"(holding xvb1) (clear hkc2) (on-table hkc2) (clear jro4) (on-table jro4) (clear brl3) (on-table brl3)",
"(clear hkc2) (arm-empty) (on-table hkc2) (on-table jro4) (on xvb1 jro4) (clear brl3) (clear xvb1) (on-table brl3)",
"(clear hkc2) (on-table hkc2) (on-table jro4) (on xvb1 jro4) (holding brl3) (clear xvb1)",
"(arm-empty) (on-table hkc2) (on brl3 hkc2) (on-table jro4) (on xvb1 jro4) (clear brl3) (clear xvb1)",
"(on-table hkc2) (clear jro4) (holding xvb1) (on brl3 hkc2) (on-table jro4) (clear brl3)",
"(on xvb1 brl3) (arm-empty) (on-table hkc2) (on brl3 hkc2) (clear jro4) (on-table jro4) (clear xvb1)",
"(on xvb1 brl3) (on-table hkc2) (holding jro4) (on brl3 hkc2) (clear xvb1)"
] |
file_200675
|
GOAL: (clear ifg2) (arm-empty) (on tye5 tfg4) (on-table ifg2) (on-table ldz1) (on-table tfg4) (on ehh3 ldz1) (clear ehh3) (clear tye5)
|
GOAL: (clear ifg2) (arm-empty) (on tye5 tfg4) (on-table ifg2) (on-table ldz1) (on-table tfg4) (on ehh3 ldz1) (clear ehh3) (clear tye5)
STATE: (on ehh3 tfg4) (clear ifg2) (on-table ifg2) (on-table ldz1) (holding tye5) (on-table tfg4) (clear ehh3) (clear ldz1)
|
[
[
"stack tye5 ifg2"
],
[
"unstack ehh3 tfg4"
],
[
"stack ehh3 ldz1"
],
[
"unstack tye5 ifg2"
],
[
"stack tye5 tfg4"
]
] |
[
"(on ehh3 tfg4) (arm-empty) (on-table ifg2) (on-table ldz1) (on tye5 ifg2) (on-table tfg4) (clear ehh3) (clear ldz1) (clear tye5)",
"(on-table ifg2) (on-table ldz1) (on tye5 ifg2) (clear tfg4) (on-table tfg4) (holding ehh3) (clear ldz1) (clear tye5)",
"(arm-empty) (on-table ifg2) (on-table ldz1) (on tye5 ifg2) (clear tfg4) (on-table tfg4) (on ehh3 ldz1) (clear ehh3) (clear tye5)",
"(clear ifg2) (on-table ifg2) (on-table ldz1) (clear tfg4) (holding tye5) (on-table tfg4) (on ehh3 ldz1) (clear ehh3)",
"(clear ifg2) (arm-empty) (on tye5 tfg4) (on-table ifg2) (on-table ldz1) (on-table tfg4) (on ehh3 ldz1) (clear ehh3) (clear tye5)"
] |
file_8263
|
GOAL: (on-table okg2) (clear lex4) (on-table lex4) (on bpd1 okg2) (clear bpd1) (holding jsd3)
|
GOAL: (on-table okg2) (clear lex4) (on-table lex4) (on bpd1 okg2) (clear bpd1) (holding jsd3)
STATE: (holding okg2) (on-table lex4) (on bpd1 lex4) (clear jsd3) (clear bpd1) (on-table jsd3)
|
[
[
"put-down okg2"
],
[
"unstack bpd1 lex4"
],
[
"stack bpd1 okg2"
],
[
"pick-up jsd3"
]
] |
[
"(arm-empty) (on-table okg2) (clear okg2) (on-table lex4) (on bpd1 lex4) (clear jsd3) (clear bpd1) (on-table jsd3)",
"(holding bpd1) (clear okg2) (on-table okg2) (clear lex4) (on-table lex4) (clear jsd3) (on-table jsd3)",
"(arm-empty) (on-table okg2) (clear lex4) (on-table lex4) (clear jsd3) (on bpd1 okg2) (clear bpd1) (on-table jsd3)",
"(on-table okg2) (clear lex4) (on-table lex4) (on bpd1 okg2) (clear bpd1) (holding jsd3)"
] |
file_80983
|
GOAL: (clear avx2) (arm-empty) (on wga5 dtm1) (on-table xzg4) (on dtm1 xzg4) (on avx2 zww3) (on-table zww3) (clear wga5)
|
GOAL: (clear avx2) (arm-empty) (on wga5 dtm1) (on-table xzg4) (on dtm1 xzg4) (on avx2 zww3) (on-table zww3) (clear wga5)
STATE: (clear avx2) (arm-empty) (on-table avx2) (on wga5 dtm1) (on-table xzg4) (on dtm1 xzg4) (clear zww3) (on-table zww3) (clear wga5)
|
[
[
"pick-up avx2"
],
[
"stack avx2 zww3"
]
] |
[
"(holding avx2) (on wga5 dtm1) (on-table xzg4) (on dtm1 xzg4) (clear zww3) (on-table zww3) (clear wga5)",
"(clear avx2) (arm-empty) (on wga5 dtm1) (on-table xzg4) (on dtm1 xzg4) (on avx2 zww3) (on-table zww3) (clear wga5)"
] |
file_146405
|
GOAL: (on zpp3 nco4) (on nco4 ziw1) (arm-empty) (on-table ziw1) (on hcr5 gng2) (on gng2 zpp3) (clear hcr5)
|
GOAL: (on zpp3 nco4) (on nco4 ziw1) (arm-empty) (on-table ziw1) (on hcr5 gng2) (on gng2 zpp3) (clear hcr5)
STATE: (arm-empty) (on-table hcr5) (on zpp3 gng2) (on nco4 zpp3) (on ziw1 nco4) (on gng2 hcr5) (clear ziw1)
|
[
[
"unstack ziw1 nco4"
],
[
"put-down ziw1"
],
[
"unstack nco4 zpp3"
],
[
"stack nco4 ziw1"
],
[
"unstack zpp3 gng2"
],
[
"stack zpp3 nco4"
],
[
"unstack gng2 hcr5"
],
[
"stack gng2 zpp3"
],
[
"pick-up hcr5"
],
[
"stack hcr5 gng2"
]
] |
[
"(on-table hcr5) (clear nco4) (on gng2 hcr5) (holding ziw1) (on zpp3 gng2) (on nco4 zpp3)",
"(arm-empty) (on-table hcr5) (clear nco4) (on gng2 hcr5) (on-table ziw1) (on zpp3 gng2) (on nco4 zpp3) (clear ziw1)",
"(on-table hcr5) (on-table ziw1) (holding nco4) (on zpp3 gng2) (on gng2 hcr5) (clear zpp3) (clear ziw1)",
"(on nco4 ziw1) (arm-empty) (on-table hcr5) (on-table ziw1) (on zpp3 gng2) (clear nco4) (on gng2 hcr5) (clear zpp3)",
"(clear gng2) (on nco4 ziw1) (on-table hcr5) (on-table ziw1) (clear nco4) (on gng2 hcr5) (holding zpp3)",
"(on zpp3 nco4) (clear gng2) (on nco4 ziw1) (arm-empty) (on-table hcr5) (on-table ziw1) (on gng2 hcr5) (clear zpp3)",
"(on zpp3 nco4) (on nco4 ziw1) (on-table hcr5) (on-table ziw1) (holding gng2) (clear zpp3) (clear hcr5)",
"(on zpp3 nco4) (clear gng2) (on nco4 ziw1) (arm-empty) (on-table hcr5) (on-table ziw1) (on gng2 zpp3) (clear hcr5)",
"(on zpp3 nco4) (clear gng2) (on nco4 ziw1) (on-table ziw1) (holding hcr5) (on gng2 zpp3)",
"(on zpp3 nco4) (on nco4 ziw1) (arm-empty) (on-table ziw1) (on hcr5 gng2) (on gng2 zpp3) (clear hcr5)"
] |
file_216757
|
GOAL: (clear thw2) (on-table thw2) (on oph4 qsl3) (holding xdu5) (on krb1 oph4) (clear krb1) (on-table qsl3)
|
GOAL: (clear thw2) (on-table thw2) (on oph4 qsl3) (holding xdu5) (on krb1 oph4) (clear krb1) (on-table qsl3)
STATE: (clear thw2) (on qsl3 xdu5) (on oph4 krb1) (on xdu5 oph4) (arm-empty) (on-table krb1) (on thw2 qsl3)
|
[
[
"unstack thw2 qsl3"
],
[
"put-down thw2"
],
[
"unstack qsl3 xdu5"
],
[
"put-down qsl3"
],
[
"unstack xdu5 oph4"
],
[
"stack xdu5 thw2"
],
[
"unstack oph4 krb1"
],
[
"stack oph4 qsl3"
],
[
"pick-up krb1"
],
[
"stack krb1 oph4"
],
[
"unstack xdu5 thw2"
]
] |
[
"(on qsl3 xdu5) (on oph4 krb1) (on xdu5 oph4) (on-table krb1) (holding thw2) (clear qsl3)",
"(on qsl3 xdu5) (on oph4 krb1) (on xdu5 oph4) (on-table thw2) (clear thw2) (on-table krb1) (arm-empty) (clear qsl3)",
"(on oph4 krb1) (on xdu5 oph4) (on-table thw2) (clear thw2) (on-table krb1) (holding qsl3) (clear xdu5)",
"(on oph4 krb1) (on xdu5 oph4) (on-table thw2) (arm-empty) (clear xdu5) (clear thw2) (on-table krb1) (clear qsl3) (on-table qsl3)",
"(clear thw2) (on oph4 krb1) (on-table thw2) (on-table krb1) (clear oph4) (holding xdu5) (clear qsl3) (on-table qsl3)",
"(on oph4 krb1) (arm-empty) (on-table thw2) (on-table krb1) (on xdu5 thw2) (clear oph4) (clear qsl3) (on-table qsl3) (clear xdu5)",
"(on-table thw2) (on-table krb1) (holding oph4) (on xdu5 thw2) (clear qsl3) (clear krb1) (on-table qsl3) (clear xdu5)",
"(arm-empty) (on-table thw2) (on-table krb1) (on xdu5 thw2) (clear oph4) (on oph4 qsl3) (clear krb1) (on-table qsl3) (clear xdu5)",
"(holding krb1) (on-table thw2) (on xdu5 thw2) (clear oph4) (on oph4 qsl3) (on-table qsl3) (clear xdu5)",
"(arm-empty) (on-table thw2) (on xdu5 thw2) (on oph4 qsl3) (on krb1 oph4) (clear krb1) (on-table qsl3) (clear xdu5)",
"(clear thw2) (on-table thw2) (on oph4 qsl3) (holding xdu5) (on krb1 oph4) (clear krb1) (on-table qsl3)"
] |
file_63714
|
GOAL: (arm-empty) (on-table ped2) (clear vtz5) (on vtz5 say1) (on say1 rqv4) (on rqv4 ped2) (clear gqf3) (on-table gqf3)
|
GOAL: (arm-empty) (on-table ped2) (clear vtz5) (on vtz5 say1) (on say1 rqv4) (on rqv4 ped2) (clear gqf3) (on-table gqf3)
STATE: (on gqf3 vtz5) (arm-empty) (on-table ped2) (on vtz5 say1) (on say1 rqv4) (on rqv4 ped2) (clear gqf3)
|
[
[
"unstack gqf3 vtz5"
],
[
"put-down gqf3"
]
] |
[
"(on-table ped2) (clear vtz5) (on vtz5 say1) (on say1 rqv4) (on rqv4 ped2) (holding gqf3)",
"(arm-empty) (on-table ped2) (clear vtz5) (on vtz5 say1) (on say1 rqv4) (on rqv4 ped2) (clear gqf3) (on-table gqf3)"
] |
file_205209
|
GOAL: (clear djk2) (on aim1 pqk3) (on vfx5 asn4) (on-table djk2) (arm-empty) (on-table asn4) (clear aim1) (on-table pqk3) (clear vfx5)
|
GOAL: (clear djk2) (on aim1 pqk3) (on vfx5 asn4) (on-table djk2) (arm-empty) (on-table asn4) (clear aim1) (on-table pqk3) (clear vfx5)
STATE: (holding aim1) (clear djk2) (on pqk3 vfx5) (on-table djk2) (on-table vfx5) (clear asn4) (on-table asn4) (clear pqk3)
|
[
[
"put-down aim1"
],
[
"unstack pqk3 vfx5"
],
[
"put-down pqk3"
],
[
"pick-up vfx5"
],
[
"stack vfx5 asn4"
],
[
"pick-up aim1"
],
[
"stack aim1 pqk3"
]
] |
[
"(clear djk2) (on pqk3 vfx5) (arm-empty) (on-table djk2) (on-table vfx5) (on-table aim1) (clear asn4) (on-table asn4) (clear pqk3) (clear aim1)",
"(clear djk2) (on-table djk2) (on-table vfx5) (on-table aim1) (clear asn4) (on-table asn4) (holding pqk3) (clear aim1) (clear vfx5)",
"(clear djk2) (arm-empty) (on-table djk2) (on-table vfx5) (on-table aim1) (clear asn4) (on-table asn4) (clear pqk3) (clear aim1) (on-table pqk3) (clear vfx5)",
"(clear djk2) (on-table djk2) (on-table aim1) (clear asn4) (holding vfx5) (on-table asn4) (clear pqk3) (clear aim1) (on-table pqk3)",
"(clear djk2) (arm-empty) (on vfx5 asn4) (on-table djk2) (on-table aim1) (on-table asn4) (clear pqk3) (clear aim1) (on-table pqk3) (clear vfx5)",
"(holding aim1) (clear djk2) (on vfx5 asn4) (on-table djk2) (on-table asn4) (clear pqk3) (on-table pqk3) (clear vfx5)",
"(clear djk2) (on aim1 pqk3) (on vfx5 asn4) (on-table djk2) (arm-empty) (on-table asn4) (clear aim1) (on-table pqk3) (clear vfx5)"
] |
file_45519
|
GOAL: (clear nag2) (arm-empty) (on-table nag2) (on-table sqc5) (on-table koq1) (clear cry4) (on-table cry4) (on keu3 koq1) (clear keu3) (clear sqc5)
|
GOAL: (clear nag2) (arm-empty) (on-table nag2) (on-table sqc5) (on-table koq1) (clear cry4) (on-table cry4) (on keu3 koq1) (clear keu3) (clear sqc5)
STATE: (on keu3 cry4) (arm-empty) (on-table sqc5) (on cry4 sqc5) (on nag2 keu3) (on koq1 nag2) (clear koq1)
|
[
[
"unstack koq1 nag2"
],
[
"put-down koq1"
],
[
"unstack nag2 keu3"
],
[
"stack nag2 koq1"
],
[
"unstack keu3 cry4"
],
[
"put-down keu3"
],
[
"unstack cry4 sqc5"
],
[
"put-down cry4"
],
[
"unstack nag2 koq1"
],
[
"put-down nag2"
],
[
"pick-up keu3"
],
[
"stack keu3 koq1"
]
] |
[
"(on-table sqc5) (on cry4 sqc5) (holding koq1) (on keu3 cry4) (clear nag2) (on nag2 keu3)",
"(arm-empty) (on-table sqc5) (on cry4 sqc5) (on keu3 cry4) (clear nag2) (on-table koq1) (on nag2 keu3) (clear koq1)",
"(on keu3 cry4) (on-table sqc5) (on cry4 sqc5) (on-table koq1) (holding nag2) (clear keu3) (clear koq1)",
"(arm-empty) (on-table sqc5) (on cry4 sqc5) (on nag2 koq1) (on keu3 cry4) (clear nag2) (on-table koq1) (clear keu3)",
"(clear nag2) (on-table sqc5) (on cry4 sqc5) (on-table koq1) (clear cry4) (on nag2 koq1) (holding keu3)",
"(arm-empty) (on-table sqc5) (on cry4 sqc5) (clear cry4) (on nag2 koq1) (clear nag2) (on-table koq1) (clear keu3) (on-table keu3)",
"(clear nag2) (on-table sqc5) (holding cry4) (on-table koq1) (on nag2 koq1) (clear keu3) (on-table keu3) (clear sqc5)",
"(clear nag2) (arm-empty) (on-table sqc5) (on-table koq1) (clear cry4) (on-table cry4) (on nag2 koq1) (clear keu3) (on-table keu3) (clear sqc5)",
"(on-table sqc5) (on-table koq1) (clear cry4) (on-table cry4) (holding nag2) (clear keu3) (clear koq1) (on-table keu3) (clear sqc5)",
"(clear nag2) (arm-empty) (on-table nag2) (on-table sqc5) (on-table koq1) (clear cry4) (on-table cry4) (clear keu3) (clear koq1) (on-table keu3) (clear sqc5)",
"(clear nag2) (on-table nag2) (on-table sqc5) (on-table koq1) (clear cry4) (on-table cry4) (holding keu3) (clear koq1) (clear sqc5)",
"(clear nag2) (arm-empty) (on-table nag2) (on-table sqc5) (on-table koq1) (clear cry4) (on-table cry4) (on keu3 koq1) (clear keu3) (clear sqc5)"
] |
file_222945
|
GOAL: (on yov3 jno4) (clear xmb2) (on yqk1 yov3) (arm-empty) (on-table jtq5) (on jno4 jtq5) (on xmb2 yqk1)
|
GOAL: (on yov3 jno4) (clear xmb2) (on yqk1 yov3) (arm-empty) (on-table jtq5) (on jno4 jtq5) (on xmb2 yqk1)
STATE: (clear xmb2) (on-table xmb2) (on-table jtq5) (holding jno4) (on-table yqk1) (on yov3 yqk1) (clear yov3) (clear jtq5)
|
[
[
"stack jno4 jtq5"
],
[
"unstack yov3 yqk1"
],
[
"stack yov3 jno4"
],
[
"pick-up yqk1"
],
[
"stack yqk1 yov3"
],
[
"pick-up xmb2"
],
[
"stack xmb2 yqk1"
]
] |
[
"(clear xmb2) (arm-empty) (on-table xmb2) (on-table jtq5) (on jno4 jtq5) (on-table yqk1) (clear jno4) (on yov3 yqk1) (clear yov3)",
"(clear xmb2) (on-table xmb2) (on-table jtq5) (on jno4 jtq5) (on-table yqk1) (clear jno4) (holding yov3) (clear yqk1)",
"(on yov3 jno4) (clear xmb2) (arm-empty) (on-table xmb2) (on-table jtq5) (on jno4 jtq5) (on-table yqk1) (clear yov3) (clear yqk1)",
"(holding yqk1) (on yov3 jno4) (clear xmb2) (on-table xmb2) (on-table jtq5) (on jno4 jtq5) (clear yov3)",
"(on yov3 jno4) (clear xmb2) (on yqk1 yov3) (arm-empty) (on-table xmb2) (on-table jtq5) (on jno4 jtq5) (clear yqk1)",
"(on yov3 jno4) (on yqk1 yov3) (on-table jtq5) (on jno4 jtq5) (holding xmb2) (clear yqk1)",
"(on yov3 jno4) (clear xmb2) (on yqk1 yov3) (arm-empty) (on-table jtq5) (on jno4 jtq5) (on xmb2 yqk1)"
] |
file_216109
|
GOAL: (holding ygm1) (clear ffa2) (on-table ffa2) (clear cuh4) (on zcc5 uqo3) (on-table cuh4) (on-table uqo3) (clear zcc5)
|
GOAL: (holding ygm1) (clear ffa2) (on-table ffa2) (clear cuh4) (on zcc5 uqo3) (on-table cuh4) (on-table uqo3) (clear zcc5)
STATE: (clear ffa2) (arm-empty) (on-table ffa2) (on cuh4 zcc5) (on-table ygm1) (clear cuh4) (on zcc5 uqo3) (clear ygm1) (on-table uqo3)
|
[
[
"unstack cuh4 zcc5"
],
[
"put-down cuh4"
],
[
"pick-up ygm1"
]
] |
[
"(clear ffa2) (on-table ffa2) (on-table ygm1) (holding cuh4) (on zcc5 uqo3) (clear ygm1) (on-table uqo3) (clear zcc5)",
"(clear ffa2) (arm-empty) (on-table ffa2) (on-table ygm1) (clear cuh4) (on zcc5 uqo3) (on-table cuh4) (clear ygm1) (on-table uqo3) (clear zcc5)",
"(holding ygm1) (clear ffa2) (on-table ffa2) (clear cuh4) (on zcc5 uqo3) (on-table cuh4) (on-table uqo3) (clear zcc5)"
] |
file_14814
|
GOAL: (on xho3 wcc4) (on pqq1 xho3) (on ftf5 pqq1) (on-table wcc4) (holding zpc2) (clear ftf5)
|
GOAL: (on xho3 wcc4) (on pqq1 xho3) (on ftf5 pqq1) (on-table wcc4) (holding zpc2) (clear ftf5)
STATE: (on xho3 wcc4) (clear zpc2) (on pqq1 xho3) (holding ftf5) (on-table wcc4) (on zpc2 pqq1)
|
[
[
"put-down ftf5"
],
[
"unstack zpc2 pqq1"
],
[
"put-down zpc2"
],
[
"pick-up ftf5"
],
[
"stack ftf5 pqq1"
],
[
"pick-up zpc2"
]
] |
[
"(on xho3 wcc4) (clear zpc2) (on pqq1 xho3) (arm-empty) (on-table wcc4) (on-table ftf5) (on zpc2 pqq1) (clear ftf5)",
"(on xho3 wcc4) (on pqq1 xho3) (on-table ftf5) (on-table wcc4) (holding zpc2) (clear pqq1) (clear ftf5)",
"(on pqq1 xho3) (arm-empty) (on-table zpc2) (on-table ftf5) (clear ftf5) (on xho3 wcc4) (clear zpc2) (on-table wcc4) (clear pqq1)",
"(on xho3 wcc4) (clear zpc2) (on pqq1 xho3) (on-table zpc2) (holding ftf5) (on-table wcc4) (clear pqq1)",
"(on xho3 wcc4) (clear zpc2) (on pqq1 xho3) (arm-empty) (on-table zpc2) (on ftf5 pqq1) (on-table wcc4) (clear ftf5)",
"(on xho3 wcc4) (on pqq1 xho3) (on ftf5 pqq1) (on-table wcc4) (holding zpc2) (clear ftf5)"
] |
file_135172
|
GOAL: (on ijt5 hsw4) (on-table gjk1) (on hsw4 mql2) (on mql2 gjk1) (holding pyb3) (clear ijt5)
|
GOAL: (on ijt5 hsw4) (on-table gjk1) (on hsw4 mql2) (on mql2 gjk1) (holding pyb3) (clear ijt5)
STATE: (clear mql2) (on pyb3 ijt5) (arm-empty) (on-table mql2) (on-table ijt5) (on-table gjk1) (clear hsw4) (on-table hsw4) (clear pyb3) (clear gjk1)
|
[
[
"pick-up mql2"
],
[
"stack mql2 gjk1"
],
[
"pick-up hsw4"
],
[
"stack hsw4 mql2"
],
[
"unstack pyb3 ijt5"
],
[
"put-down pyb3"
],
[
"pick-up ijt5"
],
[
"stack ijt5 hsw4"
],
[
"pick-up pyb3"
]
] |
[
"(on pyb3 ijt5) (on-table ijt5) (on-table gjk1) (clear hsw4) (on-table hsw4) (holding mql2) (clear pyb3) (clear gjk1)",
"(on pyb3 ijt5) (clear mql2) (arm-empty) (on-table ijt5) (on-table gjk1) (clear hsw4) (on-table hsw4) (on mql2 gjk1) (clear pyb3)",
"(on pyb3 ijt5) (clear mql2) (on-table ijt5) (on-table gjk1) (holding hsw4) (on mql2 gjk1) (clear pyb3)",
"(on pyb3 ijt5) (arm-empty) (on-table ijt5) (on-table gjk1) (clear hsw4) (on hsw4 mql2) (on mql2 gjk1) (clear pyb3)",
"(on-table ijt5) (on-table gjk1) (clear hsw4) (on hsw4 mql2) (on mql2 gjk1) (holding pyb3) (clear ijt5)",
"(arm-empty) (on-table ijt5) (clear hsw4) (on mql2 gjk1) (clear ijt5) (on-table gjk1) (on hsw4 mql2) (clear pyb3) (on-table pyb3)",
"(on-table gjk1) (clear hsw4) (holding ijt5) (on hsw4 mql2) (on mql2 gjk1) (clear pyb3) (on-table pyb3)",
"(arm-empty) (on ijt5 hsw4) (on-table gjk1) (on hsw4 mql2) (on mql2 gjk1) (clear pyb3) (on-table pyb3) (clear ijt5)",
"(on ijt5 hsw4) (on-table gjk1) (on hsw4 mql2) (on mql2 gjk1) (holding pyb3) (clear ijt5)"
] |
file_8579
|
GOAL: (on axt1 eoz3) (on vii5 qpb4) (on-table ugb2) (arm-empty) (on qpb4 ugb2) (clear axt1) (on-table eoz3) (clear vii5)
|
GOAL: (on axt1 eoz3) (on vii5 qpb4) (on-table ugb2) (arm-empty) (on qpb4 ugb2) (clear axt1) (on-table eoz3) (clear vii5)
STATE: (clear ugb2) (on axt1 eoz3) (arm-empty) (on qpb4 vii5) (on vii5 axt1) (on ugb2 qpb4) (on-table eoz3)
|
[
[
"unstack ugb2 qpb4"
],
[
"put-down ugb2"
],
[
"unstack qpb4 vii5"
],
[
"stack qpb4 ugb2"
],
[
"unstack vii5 axt1"
],
[
"stack vii5 qpb4"
]
] |
[
"(on axt1 eoz3) (on qpb4 vii5) (clear qpb4) (on vii5 axt1) (holding ugb2) (on-table eoz3)",
"(on axt1 eoz3) (arm-empty) (on-table ugb2) (on qpb4 vii5) (clear qpb4) (clear ugb2) (on vii5 axt1) (on-table eoz3)",
"(clear ugb2) (on axt1 eoz3) (on-table ugb2) (holding qpb4) (on vii5 axt1) (on-table eoz3) (clear vii5)",
"(on axt1 eoz3) (arm-empty) (on-table ugb2) (clear qpb4) (clear vii5) (on vii5 axt1) (on qpb4 ugb2) (on-table eoz3)",
"(on axt1 eoz3) (on-table ugb2) (clear qpb4) (holding vii5) (on qpb4 ugb2) (clear axt1) (on-table eoz3)",
"(on axt1 eoz3) (on vii5 qpb4) (on-table ugb2) (arm-empty) (on qpb4 ugb2) (clear axt1) (on-table eoz3) (clear vii5)"
] |
file_145853
|
GOAL: (clear pvb2) (on omy4 ime1) (arm-empty) (on-table qir5) (on-table ime1) (clear omy4) (on pvb2 wmn3) (on-table wmn3) (clear qir5)
|
GOAL: (clear pvb2) (on omy4 ime1) (arm-empty) (on-table qir5) (on-table ime1) (clear omy4) (on pvb2 wmn3) (on-table wmn3) (clear qir5)
STATE: (on-table ime1) (clear omy4) (on qir5 ime1) (on omy4 pvb2) (on pvb2 qir5) (holding wmn3)
|
[
[
"put-down wmn3"
],
[
"unstack omy4 pvb2"
],
[
"stack omy4 wmn3"
],
[
"unstack pvb2 qir5"
],
[
"put-down pvb2"
],
[
"unstack qir5 ime1"
],
[
"put-down qir5"
],
[
"unstack omy4 wmn3"
],
[
"stack omy4 ime1"
],
[
"pick-up pvb2"
],
[
"stack pvb2 wmn3"
]
] |
[
"(on omy4 pvb2) (on qir5 ime1) (arm-empty) (on-table ime1) (on pvb2 qir5) (clear wmn3) (clear omy4) (on-table wmn3)",
"(clear pvb2) (on-table ime1) (holding omy4) (on qir5 ime1) (on pvb2 qir5) (clear wmn3) (on-table wmn3)",
"(arm-empty) (clear omy4) (on pvb2 qir5) (clear pvb2) (on-table ime1) (on omy4 wmn3) (on qir5 ime1) (on-table wmn3)",
"(on-table ime1) (clear omy4) (on omy4 wmn3) (on qir5 ime1) (holding pvb2) (on-table wmn3) (clear qir5)",
"(arm-empty) (on-table pvb2) (clear omy4) (clear qir5) (clear pvb2) (on-table ime1) (on omy4 wmn3) (on qir5 ime1) (on-table wmn3)",
"(clear pvb2) (on-table pvb2) (on-table ime1) (clear omy4) (on omy4 wmn3) (holding qir5) (clear ime1) (on-table wmn3)",
"(clear pvb2) (arm-empty) (on-table pvb2) (on-table qir5) (on-table ime1) (clear omy4) (on omy4 wmn3) (clear ime1) (on-table wmn3) (clear qir5)",
"(clear pvb2) (on-table pvb2) (on-table qir5) (on-table ime1) (holding omy4) (clear wmn3) (clear ime1) (on-table wmn3) (clear qir5)",
"(clear pvb2) (on omy4 ime1) (arm-empty) (on-table pvb2) (on-table qir5) (on-table ime1) (clear omy4) (clear wmn3) (on-table wmn3) (clear qir5)",
"(on omy4 ime1) (on-table qir5) (on-table ime1) (clear omy4) (holding pvb2) (clear wmn3) (on-table wmn3) (clear qir5)",
"(clear pvb2) (on omy4 ime1) (arm-empty) (on-table qir5) (on-table ime1) (clear omy4) (on pvb2 wmn3) (on-table wmn3) (clear qir5)"
] |
file_170621
|
GOAL: (on-table lrv2) (on-table igj1) (holding fqy4) (on fnm5 lrv2) (clear ezr3) (clear igj1) (on-table ezr3) (clear fnm5)
|
GOAL: (on-table lrv2) (on-table igj1) (holding fqy4) (on fnm5 lrv2) (clear ezr3) (clear igj1) (on-table ezr3) (clear fnm5)
STATE: (holding igj1) (on ezr3 fqy4) (on-table lrv2) (on fqy4 fnm5) (on fnm5 lrv2) (clear ezr3)
|
[
[
"put-down igj1"
],
[
"unstack ezr3 fqy4"
],
[
"put-down ezr3"
],
[
"unstack fqy4 fnm5"
]
] |
[
"(arm-empty) (on-table lrv2) (on fqy4 fnm5) (on fnm5 lrv2) (on ezr3 fqy4) (on-table igj1) (clear ezr3) (clear igj1)",
"(on-table lrv2) (on fqy4 fnm5) (on-table igj1) (on fnm5 lrv2) (clear fqy4) (holding ezr3) (clear igj1)",
"(arm-empty) (on-table lrv2) (on fqy4 fnm5) (on fnm5 lrv2) (clear fqy4) (on-table igj1) (clear ezr3) (clear igj1) (on-table ezr3)",
"(on-table lrv2) (on-table igj1) (holding fqy4) (on fnm5 lrv2) (clear ezr3) (clear igj1) (on-table ezr3) (clear fnm5)"
] |
file_101465
|
GOAL: (on znh4 jnc1) (arm-empty) (on-table jnc1) (on rkf3 gzz2) (on mva5 rkf3) (on gzz2 znh4) (clear mva5)
|
GOAL: (on znh4 jnc1) (arm-empty) (on-table jnc1) (on rkf3 gzz2) (on mva5 rkf3) (on gzz2 znh4) (clear mva5)
STATE: (holding jnc1) (on rkf3 znh4) (on-table mva5) (on znh4 gzz2) (on gzz2 mva5) (clear rkf3)
|
[
[
"put-down jnc1"
],
[
"unstack rkf3 znh4"
],
[
"put-down rkf3"
],
[
"unstack znh4 gzz2"
],
[
"stack znh4 jnc1"
],
[
"unstack gzz2 mva5"
],
[
"stack gzz2 znh4"
],
[
"pick-up rkf3"
],
[
"stack rkf3 gzz2"
],
[
"pick-up mva5"
],
[
"stack mva5 rkf3"
]
] |
[
"(arm-empty) (on-table mva5) (on gzz2 mva5) (on rkf3 znh4) (on-table jnc1) (on znh4 gzz2) (clear rkf3) (clear jnc1)",
"(on-table mva5) (on-table jnc1) (clear znh4) (on znh4 gzz2) (on gzz2 mva5) (holding rkf3) (clear jnc1)",
"(arm-empty) (on-table mva5) (clear znh4) (on gzz2 mva5) (on-table jnc1) (on znh4 gzz2) (clear rkf3) (clear jnc1) (on-table rkf3)",
"(clear gzz2) (on-table mva5) (on-table jnc1) (holding znh4) (on gzz2 mva5) (clear rkf3) (clear jnc1) (on-table rkf3)",
"(clear gzz2) (on znh4 jnc1) (arm-empty) (on-table mva5) (on-table jnc1) (clear znh4) (on gzz2 mva5) (clear rkf3) (on-table rkf3)",
"(on znh4 jnc1) (on-table mva5) (on-table jnc1) (clear znh4) (holding gzz2) (clear rkf3) (on-table rkf3) (clear mva5)",
"(clear gzz2) (on znh4 jnc1) (arm-empty) (on-table mva5) (on-table jnc1) (on gzz2 znh4) (clear rkf3) (on-table rkf3) (clear mva5)",
"(clear gzz2) (on znh4 jnc1) (on-table mva5) (on-table jnc1) (on gzz2 znh4) (holding rkf3) (clear mva5)",
"(on znh4 jnc1) (arm-empty) (on-table mva5) (on-table jnc1) (on rkf3 gzz2) (on gzz2 znh4) (clear rkf3) (clear mva5)",
"(on znh4 jnc1) (on-table jnc1) (on rkf3 gzz2) (holding mva5) (on gzz2 znh4) (clear rkf3)",
"(on znh4 jnc1) (arm-empty) (on-table jnc1) (on rkf3 gzz2) (on mva5 rkf3) (on gzz2 znh4) (clear mva5)"
] |
file_210658
|
GOAL: (clear fwa2) (arm-empty) (on-table rbo5) (on jox4 rbo5) (on nqg1 jox4) (on jqq3 nqg1) (on fwa2 jqq3)
|
GOAL: (clear fwa2) (arm-empty) (on-table rbo5) (on jox4 rbo5) (on nqg1 jox4) (on jqq3 nqg1) (on fwa2 jqq3)
STATE: (clear fwa2) (on nqg1 jqq3) (on-table rbo5) (holding jox4) (on fwa2 nqg1) (on-table jqq3) (clear rbo5)
|
[
[
"stack jox4 rbo5"
],
[
"unstack fwa2 nqg1"
],
[
"put-down fwa2"
],
[
"unstack nqg1 jqq3"
],
[
"stack nqg1 jox4"
],
[
"pick-up jqq3"
],
[
"stack jqq3 nqg1"
],
[
"pick-up fwa2"
],
[
"stack fwa2 jqq3"
]
] |
[
"(clear fwa2) (on nqg1 jqq3) (arm-empty) (on jox4 rbo5) (on-table rbo5) (clear jox4) (on fwa2 nqg1) (on-table jqq3)",
"(on nqg1 jqq3) (on jox4 rbo5) (on-table rbo5) (clear jox4) (holding fwa2) (clear nqg1) (on-table jqq3)",
"(on nqg1 jqq3) (arm-empty) (on-table fwa2) (on-table rbo5) (on jox4 rbo5) (clear jox4) (clear fwa2) (clear nqg1) (on-table jqq3)",
"(holding nqg1) (clear fwa2) (on-table fwa2) (on-table rbo5) (on jox4 rbo5) (clear jox4) (clear jqq3) (on-table jqq3)",
"(clear fwa2) (arm-empty) (on-table fwa2) (on-table rbo5) (on jox4 rbo5) (on nqg1 jox4) (clear jqq3) (clear nqg1) (on-table jqq3)",
"(clear fwa2) (on-table fwa2) (on-table rbo5) (on jox4 rbo5) (on nqg1 jox4) (holding jqq3) (clear nqg1)",
"(clear fwa2) (arm-empty) (on-table fwa2) (on-table rbo5) (on jox4 rbo5) (on nqg1 jox4) (on jqq3 nqg1) (clear jqq3)",
"(on-table rbo5) (on jox4 rbo5) (holding fwa2) (on nqg1 jox4) (on jqq3 nqg1) (clear jqq3)",
"(clear fwa2) (arm-empty) (on-table rbo5) (on jox4 rbo5) (on nqg1 jox4) (on jqq3 nqg1) (on fwa2 jqq3)"
] |
file_183224
|
GOAL: (on-table xhn5) (holding att2) (on-table wwh4) (on fgz1 wwh4) (clear hkq3) (clear fgz1) (on-table hkq3) (clear xhn5)
|
GOAL: (on-table xhn5) (holding att2) (on-table wwh4) (on fgz1 wwh4) (clear hkq3) (clear fgz1) (on-table hkq3) (clear xhn5)
STATE: (clear att2) (on hkq3 xhn5) (arm-empty) (on xhn5 wwh4) (on-table att2) (on-table fgz1) (on-table wwh4) (clear hkq3) (clear fgz1)
|
[
[
"unstack hkq3 xhn5"
],
[
"stack hkq3 att2"
],
[
"unstack xhn5 wwh4"
],
[
"stack xhn5 hkq3"
],
[
"pick-up fgz1"
],
[
"stack fgz1 wwh4"
],
[
"unstack xhn5 hkq3"
],
[
"put-down xhn5"
],
[
"unstack hkq3 att2"
],
[
"put-down hkq3"
],
[
"pick-up att2"
]
] |
[
"(clear att2) (on xhn5 wwh4) (on-table att2) (on-table fgz1) (on-table wwh4) (holding hkq3) (clear fgz1) (clear xhn5)",
"(arm-empty) (on xhn5 wwh4) (on-table att2) (on-table fgz1) (on hkq3 att2) (on-table wwh4) (clear hkq3) (clear fgz1) (clear xhn5)",
"(on-table att2) (on-table fgz1) (on hkq3 att2) (clear wwh4) (holding xhn5) (on-table wwh4) (clear hkq3) (clear fgz1)",
"(arm-empty) (on-table att2) (on-table fgz1) (on hkq3 att2) (clear wwh4) (on xhn5 hkq3) (on-table wwh4) (clear fgz1) (clear xhn5)",
"(holding fgz1) (on-table att2) (on hkq3 att2) (clear wwh4) (on xhn5 hkq3) (on-table wwh4) (clear xhn5)",
"(arm-empty) (on-table att2) (on hkq3 att2) (on xhn5 hkq3) (on-table wwh4) (on fgz1 wwh4) (clear fgz1) (clear xhn5)",
"(on-table att2) (on hkq3 att2) (holding xhn5) (on-table wwh4) (on fgz1 wwh4) (clear hkq3) (clear fgz1)",
"(arm-empty) (on-table att2) (on-table xhn5) (clear xhn5) (on hkq3 att2) (on-table wwh4) (on fgz1 wwh4) (clear hkq3) (clear fgz1)",
"(clear att2) (on-table att2) (on-table xhn5) (on-table wwh4) (on fgz1 wwh4) (holding hkq3) (clear fgz1) (clear xhn5)",
"(clear att2) (arm-empty) (on-table att2) (on-table xhn5) (on-table wwh4) (on fgz1 wwh4) (clear hkq3) (clear fgz1) (on-table hkq3) (clear xhn5)",
"(on-table xhn5) (holding att2) (on-table wwh4) (on fgz1 wwh4) (clear hkq3) (clear fgz1) (on-table hkq3) (clear xhn5)"
] |
file_121966
|
GOAL: (on vwg1 ngl5) (arm-empty) (on-table iqg2) (on-table ngl5) (clear ttt4) (on ttt4 iqg2) (clear nvk3) (clear vwg1) (on-table nvk3)
|
GOAL: (on vwg1 ngl5) (arm-empty) (on-table iqg2) (on-table ngl5) (clear ttt4) (on ttt4 iqg2) (clear nvk3) (clear vwg1) (on-table nvk3)
STATE: (on vwg1 ngl5) (clear iqg2) (arm-empty) (on-table ngl5) (clear ttt4) (on-table ttt4) (on iqg2 vwg1) (clear nvk3) (on-table nvk3)
|
[
[
"unstack iqg2 vwg1"
],
[
"put-down iqg2"
],
[
"pick-up ttt4"
],
[
"stack ttt4 iqg2"
]
] |
[
"(on vwg1 ngl5) (on-table ngl5) (clear ttt4) (on-table ttt4) (holding iqg2) (clear nvk3) (clear vwg1) (on-table nvk3)",
"(on vwg1 ngl5) (clear iqg2) (arm-empty) (on-table iqg2) (on-table ngl5) (clear ttt4) (on-table ttt4) (clear nvk3) (clear vwg1) (on-table nvk3)",
"(on vwg1 ngl5) (clear iqg2) (on-table iqg2) (on-table ngl5) (holding ttt4) (clear nvk3) (clear vwg1) (on-table nvk3)",
"(on vwg1 ngl5) (arm-empty) (on-table iqg2) (on-table ngl5) (clear ttt4) (on ttt4 iqg2) (clear nvk3) (clear vwg1) (on-table nvk3)"
] |
file_188978
|
GOAL: (on sfp3 fua1) (on fua1 eab5) (arm-empty) (clear wpa4) (on-table eab5) (on wpa4 wpq2) (on wpq2 sfp3)
|
GOAL: (on sfp3 fua1) (on fua1 eab5) (arm-empty) (clear wpa4) (on-table eab5) (on wpa4 wpq2) (on wpq2 sfp3)
STATE: (on fua1 eab5) (clear wpq2) (arm-empty) (on-table wpq2) (on-table eab5) (clear wpa4) (on-table wpa4) (clear sfp3) (clear fua1) (on-table sfp3)
|
[
[
"pick-up wpa4"
],
[
"stack wpa4 wpq2"
],
[
"pick-up sfp3"
],
[
"stack sfp3 fua1"
],
[
"unstack wpa4 wpq2"
],
[
"put-down wpa4"
],
[
"pick-up wpq2"
],
[
"stack wpq2 sfp3"
],
[
"pick-up wpa4"
],
[
"stack wpa4 wpq2"
]
] |
[
"(on fua1 eab5) (clear wpq2) (on-table wpq2) (on-table eab5) (holding wpa4) (clear sfp3) (clear fua1) (on-table sfp3)",
"(on fua1 eab5) (arm-empty) (on-table wpq2) (on-table eab5) (clear wpa4) (on wpa4 wpq2) (clear sfp3) (clear fua1) (on-table sfp3)",
"(on fua1 eab5) (on-table wpq2) (on-table eab5) (clear wpa4) (on wpa4 wpq2) (holding sfp3) (clear fua1)",
"(on fua1 eab5) (arm-empty) (on-table wpq2) (on-table eab5) (on wpa4 wpq2) (clear wpa4) (on sfp3 fua1) (clear sfp3)",
"(on fua1 eab5) (clear wpq2) (on-table wpq2) (on-table eab5) (holding wpa4) (on sfp3 fua1) (clear sfp3)",
"(on fua1 eab5) (arm-empty) (on-table wpq2) (on-table eab5) (clear wpa4) (on sfp3 fua1) (clear wpq2) (on-table wpa4) (clear sfp3)",
"(on fua1 eab5) (on-table eab5) (clear wpa4) (on-table wpa4) (holding wpq2) (on sfp3 fua1) (clear sfp3)",
"(on fua1 eab5) (clear wpq2) (arm-empty) (on-table eab5) (clear wpa4) (on-table wpa4) (on sfp3 fua1) (on wpq2 sfp3)",
"(on fua1 eab5) (clear wpq2) (on-table eab5) (holding wpa4) (on sfp3 fua1) (on wpq2 sfp3)",
"(on sfp3 fua1) (on fua1 eab5) (arm-empty) (clear wpa4) (on-table eab5) (on wpa4 wpq2) (on wpq2 sfp3)"
] |
file_180989
|
GOAL: (clear set2) (on qqo4 mue1) (on nuh5 qqo4) (on-table set2) (on jrd3 nuh5) (on-table mue1) (arm-empty) (clear jrd3)
|
GOAL: (clear set2) (on qqo4 mue1) (on nuh5 qqo4) (on-table set2) (on jrd3 nuh5) (on-table mue1) (arm-empty) (clear jrd3)
STATE: (holding mue1) (on-table set2) (on-table nuh5) (on jrd3 set2) (clear qqo4) (on-table qqo4) (clear jrd3) (clear nuh5)
|
[
[
"put-down mue1"
],
[
"pick-up qqo4"
],
[
"stack qqo4 mue1"
],
[
"pick-up nuh5"
],
[
"stack nuh5 qqo4"
],
[
"unstack jrd3 set2"
],
[
"stack jrd3 nuh5"
]
] |
[
"(arm-empty) (on-table set2) (on-table nuh5) (on-table mue1) (on jrd3 set2) (clear qqo4) (on-table qqo4) (clear jrd3) (clear mue1) (clear nuh5)",
"(on-table set2) (on-table nuh5) (on-table mue1) (holding qqo4) (on jrd3 set2) (clear jrd3) (clear mue1) (clear nuh5)",
"(on qqo4 mue1) (arm-empty) (on-table set2) (on-table nuh5) (on-table mue1) (on jrd3 set2) (clear qqo4) (clear jrd3) (clear nuh5)",
"(on qqo4 mue1) (on-table set2) (on-table mue1) (on jrd3 set2) (clear qqo4) (holding nuh5) (clear jrd3)",
"(on qqo4 mue1) (on nuh5 qqo4) (on-table set2) (arm-empty) (on-table mue1) (on jrd3 set2) (clear jrd3) (clear nuh5)",
"(clear set2) (on qqo4 mue1) (on nuh5 qqo4) (on-table set2) (on-table mue1) (holding jrd3) (clear nuh5)",
"(clear set2) (on qqo4 mue1) (on nuh5 qqo4) (on-table set2) (on jrd3 nuh5) (on-table mue1) (arm-empty) (clear jrd3)"
] |
file_191657
|
GOAL: (on bqj3 nrm4) (on-table ibn2) (on-table kla1) (holding wrw5) (on nrm4 ibn2) (clear bqj3) (clear kla1)
|
GOAL: (on bqj3 nrm4) (on-table ibn2) (on-table kla1) (holding wrw5) (on nrm4 ibn2) (clear bqj3) (clear kla1)
STATE: (on bqj3 wrw5) (on-table kla1) (clear nrm4) (on wrw5 kla1) (on nrm4 bqj3) (holding ibn2)
|
[
[
"put-down ibn2"
],
[
"unstack nrm4 bqj3"
],
[
"stack nrm4 ibn2"
],
[
"unstack bqj3 wrw5"
],
[
"stack bqj3 nrm4"
],
[
"unstack wrw5 kla1"
]
] |
[
"(on bqj3 wrw5) (arm-empty) (on-table ibn2) (clear nrm4) (clear ibn2) (on-table kla1) (on wrw5 kla1) (on nrm4 bqj3)",
"(on bqj3 wrw5) (clear ibn2) (on-table ibn2) (on-table kla1) (holding nrm4) (on wrw5 kla1) (clear bqj3)",
"(on bqj3 wrw5) (arm-empty) (on-table ibn2) (on-table kla1) (clear nrm4) (on wrw5 kla1) (on nrm4 ibn2) (clear bqj3)",
"(on-table ibn2) (on-table kla1) (clear nrm4) (on wrw5 kla1) (on nrm4 ibn2) (holding bqj3) (clear wrw5)",
"(on bqj3 nrm4) (arm-empty) (on-table ibn2) (on-table kla1) (on wrw5 kla1) (on nrm4 ibn2) (clear bqj3) (clear wrw5)",
"(on bqj3 nrm4) (on-table ibn2) (on-table kla1) (holding wrw5) (on nrm4 ibn2) (clear bqj3) (clear kla1)"
] |
file_94017
|
GOAL: (on svn3 xug5) (clear gpq2) (arm-empty) (on-table irc1) (clear feb4) (on xug5 irc1) (on-table feb4) (on gpq2 svn3)
|
GOAL: (on svn3 xug5) (clear gpq2) (arm-empty) (on-table irc1) (clear feb4) (on xug5 irc1) (on-table feb4) (on gpq2 svn3)
STATE: (on svn3 feb4) (on irc1 xug5) (arm-empty) (on-table gpq2) (on xug5 svn3) (on feb4 gpq2) (clear irc1)
|
[
[
"unstack irc1 xug5"
],
[
"put-down irc1"
],
[
"unstack xug5 svn3"
],
[
"stack xug5 irc1"
],
[
"unstack svn3 feb4"
],
[
"stack svn3 xug5"
],
[
"unstack feb4 gpq2"
],
[
"put-down feb4"
],
[
"pick-up gpq2"
],
[
"stack gpq2 svn3"
]
] |
[
"(on-table gpq2) (on xug5 svn3) (clear xug5) (holding irc1) (on svn3 feb4) (on feb4 gpq2)",
"(arm-empty) (on-table gpq2) (on xug5 svn3) (clear xug5) (on svn3 feb4) (on-table irc1) (on feb4 gpq2) (clear irc1)",
"(on svn3 feb4) (on-table gpq2) (on-table irc1) (holding xug5) (on feb4 gpq2) (clear svn3) (clear irc1)",
"(on svn3 feb4) (arm-empty) (on-table gpq2) (on-table irc1) (on xug5 irc1) (on feb4 gpq2) (clear svn3) (clear xug5)",
"(on-table gpq2) (on-table irc1) (clear feb4) (on xug5 irc1) (on feb4 gpq2) (holding svn3) (clear xug5)",
"(on svn3 xug5) (arm-empty) (on-table gpq2) (on-table irc1) (clear feb4) (on xug5 irc1) (on feb4 gpq2) (clear svn3)",
"(on svn3 xug5) (clear gpq2) (on-table gpq2) (on-table irc1) (holding feb4) (on xug5 irc1) (clear svn3)",
"(on svn3 xug5) (arm-empty) (on-table gpq2) (clear feb4) (clear gpq2) (on-table irc1) (on xug5 irc1) (on-table feb4) (clear svn3)",
"(on svn3 xug5) (on-table irc1) (clear feb4) (on xug5 irc1) (on-table feb4) (holding gpq2) (clear svn3)",
"(on svn3 xug5) (clear gpq2) (arm-empty) (on-table irc1) (clear feb4) (on xug5 irc1) (on-table feb4) (on gpq2 svn3)"
] |
file_123147
|
GOAL: (holding aib1) (on rca5 ctl2) (on-table hev4) (on ctl2 hev4) (clear rxd3) (on-table rxd3) (clear rca5)
|
GOAL: (holding aib1) (on rca5 ctl2) (on-table hev4) (on ctl2 hev4) (clear rxd3) (on-table rxd3) (clear rca5)
STATE: (holding aib1) (clear ctl2) (on-table rca5) (on-table hev4) (on ctl2 hev4) (clear rxd3) (on-table rxd3) (clear rca5)
|
[
[
"stack aib1 rxd3"
],
[
"pick-up rca5"
],
[
"stack rca5 ctl2"
],
[
"unstack aib1 rxd3"
]
] |
[
"(clear ctl2) (on aib1 rxd3) (arm-empty) (on-table rca5) (on-table hev4) (on ctl2 hev4) (clear aib1) (on-table rxd3) (clear rca5)",
"(clear ctl2) (on aib1 rxd3) (holding rca5) (on-table hev4) (on ctl2 hev4) (clear aib1) (on-table rxd3)",
"(on aib1 rxd3) (arm-empty) (on rca5 ctl2) (on-table hev4) (on ctl2 hev4) (clear aib1) (on-table rxd3) (clear rca5)",
"(holding aib1) (on rca5 ctl2) (on-table hev4) (on ctl2 hev4) (clear rxd3) (on-table rxd3) (clear rca5)"
] |
file_165338
|
GOAL: (holding eqb1) (clear hlv2) (on-table hlv2) (on zxm4 zms5) (clear zxm4) (on zms5 hmw3) (on-table hmw3)
|
GOAL: (holding eqb1) (clear hlv2) (on-table hlv2) (on zxm4 zms5) (clear zxm4) (on zms5 hmw3) (on-table hmw3)
STATE: (arm-empty) (on-table hlv2) (on-table zms5) (clear zxm4) (on zxm4 hmw3) (on hmw3 eqb1) (on eqb1 hlv2) (clear zms5)
|
[
[
"unstack zxm4 hmw3"
],
[
"stack zxm4 zms5"
],
[
"unstack hmw3 eqb1"
],
[
"put-down hmw3"
],
[
"unstack zxm4 zms5"
],
[
"stack zxm4 eqb1"
],
[
"pick-up zms5"
],
[
"stack zms5 hmw3"
],
[
"unstack zxm4 eqb1"
],
[
"stack zxm4 zms5"
],
[
"unstack eqb1 hlv2"
]
] |
[
"(on-table hlv2) (on-table zms5) (holding zxm4) (on hmw3 eqb1) (clear hmw3) (on eqb1 hlv2) (clear zms5)",
"(arm-empty) (on-table hlv2) (on-table zms5) (on zxm4 zms5) (clear zxm4) (on hmw3 eqb1) (clear hmw3) (on eqb1 hlv2)",
"(on-table hlv2) (on-table zms5) (on zxm4 zms5) (clear zxm4) (on eqb1 hlv2) (clear eqb1) (holding hmw3)",
"(arm-empty) (on-table hlv2) (on-table zms5) (on zxm4 zms5) (clear zxm4) (on eqb1 hlv2) (clear hmw3) (clear eqb1) (on-table hmw3)",
"(on-table hlv2) (on-table zms5) (holding zxm4) (clear hmw3) (on eqb1 hlv2) (clear eqb1) (on-table hmw3) (clear zms5)",
"(on zxm4 eqb1) (arm-empty) (on-table hlv2) (on-table zms5) (clear zxm4) (clear hmw3) (on eqb1 hlv2) (on-table hmw3) (clear zms5)",
"(on zxm4 eqb1) (on-table hlv2) (clear zxm4) (holding zms5) (clear hmw3) (on eqb1 hlv2) (on-table hmw3)",
"(on zxm4 eqb1) (arm-empty) (on-table hlv2) (clear zxm4) (on zms5 hmw3) (on eqb1 hlv2) (on-table hmw3) (clear zms5)",
"(on-table hlv2) (holding zxm4) (on zms5 hmw3) (on eqb1 hlv2) (clear eqb1) (on-table hmw3) (clear zms5)",
"(arm-empty) (on-table hlv2) (on zxm4 zms5) (clear zxm4) (on zms5 hmw3) (on eqb1 hlv2) (clear eqb1) (on-table hmw3)",
"(holding eqb1) (clear hlv2) (on-table hlv2) (on zxm4 zms5) (clear zxm4) (on zms5 hmw3) (on-table hmw3)"
] |
file_169358
|
GOAL: (on nwf1 mkc5) (clear flu2) (on jpk4 nwf1) (arm-empty) (on mkc5 loq3) (on flu2 jpk4) (on-table loq3)
|
GOAL: (on nwf1 mkc5) (clear flu2) (on jpk4 nwf1) (arm-empty) (on mkc5 loq3) (on flu2 jpk4) (on-table loq3)
STATE: (holding nwf1) (clear flu2) (on jpk4 mkc5) (on mkc5 loq3) (on flu2 jpk4) (on-table loq3)
|
[
[
"put-down nwf1"
],
[
"unstack flu2 jpk4"
],
[
"put-down flu2"
],
[
"unstack jpk4 mkc5"
],
[
"put-down jpk4"
],
[
"pick-up nwf1"
],
[
"stack nwf1 mkc5"
],
[
"pick-up jpk4"
],
[
"stack jpk4 nwf1"
],
[
"pick-up flu2"
],
[
"stack flu2 jpk4"
]
] |
[
"(arm-empty) (on jpk4 mkc5) (on mkc5 loq3) (on flu2 jpk4) (clear flu2) (on-table nwf1) (clear nwf1) (on-table loq3)",
"(on jpk4 mkc5) (on-table nwf1) (clear jpk4) (on mkc5 loq3) (holding flu2) (clear nwf1) (on-table loq3)",
"(arm-empty) (on-table flu2) (on jpk4 mkc5) (clear jpk4) (on mkc5 loq3) (clear flu2) (on-table nwf1) (clear nwf1) (on-table loq3)",
"(clear flu2) (on-table flu2) (on-table nwf1) (holding jpk4) (on mkc5 loq3) (clear nwf1) (on-table loq3) (clear mkc5)",
"(clear flu2) (arm-empty) (on-table flu2) (on-table nwf1) (clear jpk4) (on mkc5 loq3) (on-table jpk4) (clear nwf1) (on-table loq3) (clear mkc5)",
"(holding nwf1) (clear flu2) (on-table flu2) (clear jpk4) (on mkc5 loq3) (on-table jpk4) (on-table loq3) (clear mkc5)",
"(on nwf1 mkc5) (clear flu2) (arm-empty) (on-table flu2) (clear jpk4) (on mkc5 loq3) (on-table jpk4) (clear nwf1) (on-table loq3)",
"(on nwf1 mkc5) (clear flu2) (on-table flu2) (holding jpk4) (on mkc5 loq3) (clear nwf1) (on-table loq3)",
"(on nwf1 mkc5) (clear flu2) (on jpk4 nwf1) (arm-empty) (on-table flu2) (clear jpk4) (on mkc5 loq3) (on-table loq3)",
"(on nwf1 mkc5) (on jpk4 nwf1) (clear jpk4) (on mkc5 loq3) (holding flu2) (on-table loq3)",
"(on nwf1 mkc5) (clear flu2) (on jpk4 nwf1) (arm-empty) (on mkc5 loq3) (on flu2 jpk4) (on-table loq3)"
] |
file_226008
|
GOAL: (on-table vos5) (holding fst2) (on-table zli4) (on wns1 zli4) (clear kxv3) (clear wns1) (on-table kxv3) (clear vos5)
|
GOAL: (on-table vos5) (holding fst2) (on-table zli4) (on wns1 zli4) (clear kxv3) (clear wns1) (on-table kxv3) (clear vos5)
STATE: (clear fst2) (arm-empty) (on-table wns1) (clear zli4) (on vos5 wns1) (on-table zli4) (on fst2 vos5) (clear kxv3) (on-table kxv3)
|
[
[
"unstack fst2 vos5"
],
[
"put-down fst2"
],
[
"unstack vos5 wns1"
],
[
"stack vos5 kxv3"
],
[
"pick-up wns1"
],
[
"stack wns1 zli4"
],
[
"unstack vos5 kxv3"
],
[
"put-down vos5"
],
[
"pick-up fst2"
]
] |
[
"(on-table wns1) (clear zli4) (on vos5 wns1) (on-table zli4) (holding fst2) (clear kxv3) (on-table kxv3) (clear vos5)",
"(clear fst2) (arm-empty) (on-table fst2) (on-table wns1) (clear zli4) (on vos5 wns1) (on-table zli4) (clear kxv3) (on-table kxv3) (clear vos5)",
"(clear fst2) (on-table fst2) (on-table wns1) (clear zli4) (holding vos5) (on-table zli4) (clear kxv3) (clear wns1) (on-table kxv3)",
"(clear fst2) (arm-empty) (on-table fst2) (on-table wns1) (clear zli4) (on vos5 kxv3) (on-table zli4) (clear wns1) (on-table kxv3) (clear vos5)",
"(holding wns1) (clear fst2) (on-table fst2) (clear zli4) (on vos5 kxv3) (on-table zli4) (on-table kxv3) (clear vos5)",
"(clear fst2) (arm-empty) (on-table fst2) (on vos5 kxv3) (on-table zli4) (on wns1 zli4) (clear wns1) (on-table kxv3) (clear vos5)",
"(clear fst2) (on-table fst2) (holding vos5) (on-table zli4) (on wns1 zli4) (clear kxv3) (clear wns1) (on-table kxv3)",
"(clear fst2) (arm-empty) (on-table fst2) (on-table vos5) (on-table zli4) (on wns1 zli4) (clear kxv3) (clear wns1) (on-table kxv3) (clear vos5)",
"(on-table vos5) (holding fst2) (on-table zli4) (on wns1 zli4) (clear kxv3) (clear wns1) (on-table kxv3) (clear vos5)"
] |
file_170309
|
GOAL: (clear khm2) (arm-empty) (on-table qwq5) (clear qwq5) (on-table pxw4) (on khm2 atc1) (clear gun3) (on atc1 pxw4) (on-table gun3)
|
GOAL: (clear khm2) (arm-empty) (on-table qwq5) (clear qwq5) (on-table pxw4) (on khm2 atc1) (clear gun3) (on atc1 pxw4) (on-table gun3)
STATE: (holding atc1) (clear khm2) (on-table qwq5) (clear pxw4) (on-table pxw4) (on khm2 gun3) (on-table gun3) (clear qwq5)
|
[
[
"stack atc1 pxw4"
],
[
"unstack khm2 gun3"
],
[
"stack khm2 atc1"
]
] |
[
"(clear khm2) (arm-empty) (on-table qwq5) (on-table pxw4) (on atc1 pxw4) (on khm2 gun3) (clear atc1) (on-table gun3) (clear qwq5)",
"(on-table qwq5) (holding khm2) (on-table pxw4) (on atc1 pxw4) (clear gun3) (clear atc1) (on-table gun3) (clear qwq5)",
"(clear khm2) (arm-empty) (on-table qwq5) (clear qwq5) (on-table pxw4) (on khm2 atc1) (clear gun3) (on atc1 pxw4) (on-table gun3)"
] |
file_182802
|
GOAL: (arm-empty) (clear akj4) (on rho2 skl5) (clear rho2) (on-table pol1) (on skl5 pol1) (on-table akj4) (clear wqa3) (on-table wqa3)
|
GOAL: (arm-empty) (clear akj4) (on rho2 skl5) (clear rho2) (on-table pol1) (on skl5 pol1) (on-table akj4) (clear wqa3) (on-table wqa3)
STATE: (holding akj4) (on-table pol1) (on wqa3 rho2) (on skl5 pol1) (on rho2 skl5) (clear wqa3)
|
[
[
"put-down akj4"
],
[
"unstack wqa3 rho2"
],
[
"put-down wqa3"
]
] |
[
"(arm-empty) (clear akj4) (on rho2 skl5) (on-table pol1) (on wqa3 rho2) (on skl5 pol1) (on-table akj4) (clear wqa3)",
"(clear rho2) (on-table pol1) (clear akj4) (on skl5 pol1) (on-table akj4) (on rho2 skl5) (holding wqa3)",
"(arm-empty) (clear akj4) (on rho2 skl5) (clear rho2) (on-table pol1) (on skl5 pol1) (on-table akj4) (clear wqa3) (on-table wqa3)"
] |
file_26725
|
GOAL: (clear mvr2) (arm-empty) (on iyb5 gto4) (on-table bel1) (on-table gto4) (on qzu3 bel1) (on mvr2 iyb5) (clear qzu3)
|
GOAL: (clear mvr2) (arm-empty) (on iyb5 gto4) (on-table bel1) (on-table gto4) (on qzu3 bel1) (on mvr2 iyb5) (clear qzu3)
STATE: (arm-empty) (on iyb5 gto4) (on-table bel1) (on qzu3 mvr2) (on-table gto4) (on mvr2 iyb5) (clear qzu3) (clear bel1)
|
[
[
"unstack qzu3 mvr2"
],
[
"stack qzu3 bel1"
]
] |
[
"(clear mvr2) (on iyb5 gto4) (on-table bel1) (on-table gto4) (on mvr2 iyb5) (holding qzu3) (clear bel1)",
"(clear mvr2) (arm-empty) (on iyb5 gto4) (on-table bel1) (on-table gto4) (on qzu3 bel1) (on mvr2 iyb5) (clear qzu3)"
] |
file_35725
|
GOAL: (holding thy1) (on-table nsg2) (on bsx4 bzk5) (on hvh3 nsg2) (clear bsx4) (on bzk5 hvh3)
|
GOAL: (holding thy1) (on-table nsg2) (on bsx4 bzk5) (on hvh3 nsg2) (clear bsx4) (on bzk5 hvh3)
STATE: (on thy1 bzk5) (on-table nsg2) (holding bsx4) (on bzk5 nsg2) (clear hvh3) (clear thy1) (on-table hvh3)
|
[
[
"stack bsx4 hvh3"
],
[
"unstack thy1 bzk5"
],
[
"put-down thy1"
],
[
"unstack bsx4 hvh3"
],
[
"stack bsx4 thy1"
],
[
"pick-up hvh3"
],
[
"stack hvh3 bsx4"
],
[
"unstack bzk5 nsg2"
],
[
"put-down bzk5"
],
[
"unstack hvh3 bsx4"
],
[
"stack hvh3 nsg2"
],
[
"pick-up bzk5"
],
[
"stack bzk5 hvh3"
],
[
"unstack bsx4 thy1"
],
[
"stack bsx4 bzk5"
],
[
"pick-up thy1"
]
] |
[
"(on thy1 bzk5) (arm-empty) (on-table nsg2) (on bzk5 nsg2) (clear bsx4) (on bsx4 hvh3) (clear thy1) (on-table hvh3)",
"(holding thy1) (on-table nsg2) (on bzk5 nsg2) (clear bsx4) (on bsx4 hvh3) (on-table hvh3) (clear bzk5)",
"(arm-empty) (on-table nsg2) (on bzk5 nsg2) (clear bsx4) (clear bzk5) (on-table thy1) (on bsx4 hvh3) (clear thy1) (on-table hvh3)",
"(on-table nsg2) (on-table thy1) (holding bsx4) (on bzk5 nsg2) (clear hvh3) (clear thy1) (on-table hvh3) (clear bzk5)",
"(on bsx4 thy1) (arm-empty) (on-table nsg2) (on-table thy1) (on bzk5 nsg2) (clear bsx4) (clear hvh3) (on-table hvh3) (clear bzk5)",
"(on bsx4 thy1) (on-table nsg2) (on-table thy1) (on bzk5 nsg2) (clear bsx4) (holding hvh3) (clear bzk5)",
"(on hvh3 bsx4) (on bsx4 thy1) (arm-empty) (on-table nsg2) (on-table thy1) (on bzk5 nsg2) (clear hvh3) (clear bzk5)",
"(on hvh3 bsx4) (clear nsg2) (on bsx4 thy1) (on-table nsg2) (on-table thy1) (holding bzk5) (clear hvh3)",
"(on bsx4 thy1) (arm-empty) (on-table nsg2) (on-table bzk5) (clear bzk5) (on hvh3 bsx4) (clear nsg2) (on-table thy1) (clear hvh3)",
"(clear nsg2) (on bsx4 thy1) (on-table nsg2) (on-table bzk5) (on-table thy1) (clear bsx4) (holding hvh3) (clear bzk5)",
"(on bsx4 thy1) (arm-empty) (on-table nsg2) (on-table bzk5) (on-table thy1) (on hvh3 nsg2) (clear bsx4) (clear hvh3) (clear bzk5)",
"(on bsx4 thy1) (on-table nsg2) (on-table thy1) (on hvh3 nsg2) (clear bsx4) (holding bzk5) (clear hvh3)",
"(on bsx4 thy1) (arm-empty) (on-table nsg2) (on-table thy1) (on hvh3 nsg2) (clear bsx4) (on bzk5 hvh3) (clear bzk5)",
"(on-table nsg2) (on-table thy1) (holding bsx4) (on hvh3 nsg2) (on bzk5 hvh3) (clear thy1) (clear bzk5)",
"(arm-empty) (on-table nsg2) (on bsx4 bzk5) (on-table thy1) (on hvh3 nsg2) (clear bsx4) (on bzk5 hvh3) (clear thy1)",
"(holding thy1) (on-table nsg2) (on bsx4 bzk5) (on hvh3 nsg2) (clear bsx4) (on bzk5 hvh3)"
] |
file_50714
|
GOAL: (clear lro2) (holding suk5) (on-table qom4) (on mkr1 qom4) (on lro2 srq3) (clear mkr1) (on-table srq3)
|
GOAL: (clear lro2) (holding suk5) (on-table qom4) (on mkr1 qom4) (on lro2 srq3) (clear mkr1) (on-table srq3)
STATE: (on suk5 lro2) (on-table qom4) (on mkr1 qom4) (on lro2 mkr1) (holding srq3) (clear suk5)
|
[
[
"put-down srq3"
],
[
"unstack suk5 lro2"
],
[
"put-down suk5"
],
[
"unstack lro2 mkr1"
],
[
"stack lro2 srq3"
],
[
"pick-up suk5"
]
] |
[
"(arm-empty) (on suk5 lro2) (on lro2 mkr1) (clear suk5) (on-table qom4) (on mkr1 qom4) (clear srq3) (on-table srq3)",
"(clear lro2) (holding suk5) (on-table qom4) (on mkr1 qom4) (on lro2 mkr1) (clear srq3) (on-table srq3)",
"(arm-empty) (on-table suk5) (on lro2 mkr1) (clear suk5) (clear lro2) (on-table qom4) (on mkr1 qom4) (clear srq3) (on-table srq3)",
"(on-table suk5) (holding lro2) (on-table qom4) (on mkr1 qom4) (clear srq3) (clear mkr1) (on-table srq3) (clear suk5)",
"(clear lro2) (arm-empty) (on-table suk5) (clear suk5) (on-table qom4) (on lro2 srq3) (on mkr1 qom4) (on-table srq3) (clear mkr1)",
"(clear lro2) (holding suk5) (on-table qom4) (on mkr1 qom4) (on lro2 srq3) (clear mkr1) (on-table srq3)"
] |
file_75889
|
GOAL: (arm-empty) (clear zkt4) (clear beq2) (on-table bka1) (on-table zkt4) (on beq2 nzf3) (clear bka1) (on-table nzf3)
|
GOAL: (arm-empty) (clear zkt4) (clear beq2) (on-table bka1) (on-table zkt4) (on beq2 nzf3) (clear bka1) (on-table nzf3)
STATE: (on nzf3 zkt4) (clear beq2) (on zkt4 bka1) (arm-empty) (on-table bka1) (on beq2 nzf3)
|
[
[
"unstack beq2 nzf3"
],
[
"put-down beq2"
],
[
"unstack nzf3 zkt4"
],
[
"put-down nzf3"
],
[
"pick-up beq2"
],
[
"stack beq2 nzf3"
],
[
"unstack zkt4 bka1"
],
[
"put-down zkt4"
]
] |
[
"(on nzf3 zkt4) (on zkt4 bka1) (holding beq2) (on-table bka1) (clear nzf3)",
"(on nzf3 zkt4) (clear beq2) (on zkt4 bka1) (arm-empty) (on-table beq2) (on-table bka1) (clear nzf3)",
"(on zkt4 bka1) (on-table beq2) (clear zkt4) (clear beq2) (on-table bka1) (holding nzf3)",
"(clear beq2) (on zkt4 bka1) (arm-empty) (on-table beq2) (on-table bka1) (clear nzf3) (clear zkt4) (on-table nzf3)",
"(on zkt4 bka1) (on-table bka1) (clear zkt4) (holding beq2) (clear nzf3) (on-table nzf3)",
"(clear beq2) (on zkt4 bka1) (arm-empty) (on-table bka1) (clear zkt4) (on beq2 nzf3) (on-table nzf3)",
"(holding zkt4) (clear beq2) (on-table bka1) (on beq2 nzf3) (clear bka1) (on-table nzf3)",
"(arm-empty) (clear zkt4) (clear beq2) (on-table bka1) (on-table zkt4) (on beq2 nzf3) (clear bka1) (on-table nzf3)"
] |
file_76850
|
GOAL: (holding obb1) (on-table mxb2) (on-table zek5) (on nas3 mxb2) (clear blp4) (on-table blp4) (clear nas3) (clear zek5)
|
GOAL: (holding obb1) (on-table mxb2) (on-table zek5) (on nas3 mxb2) (clear blp4) (on-table blp4) (clear nas3) (clear zek5)
STATE: (on nas3 zek5) (on blp4 obb1) (on zek5 blp4) (on-table mxb2) (arm-empty) (clear nas3) (on obb1 mxb2)
|
[
[
"unstack nas3 zek5"
],
[
"put-down nas3"
],
[
"unstack zek5 blp4"
],
[
"put-down zek5"
],
[
"pick-up nas3"
],
[
"stack nas3 zek5"
],
[
"unstack blp4 obb1"
],
[
"put-down blp4"
],
[
"unstack obb1 mxb2"
],
[
"put-down obb1"
],
[
"unstack nas3 zek5"
],
[
"stack nas3 mxb2"
],
[
"pick-up obb1"
]
] |
[
"(on blp4 obb1) (on zek5 blp4) (on-table mxb2) (on obb1 mxb2) (clear zek5) (holding nas3)",
"(on blp4 obb1) (on zek5 blp4) (on-table mxb2) (arm-empty) (clear nas3) (on obb1 mxb2) (on-table nas3) (clear zek5)",
"(on blp4 obb1) (on-table mxb2) (clear blp4) (holding zek5) (clear nas3) (on obb1 mxb2) (on-table nas3)",
"(on blp4 obb1) (arm-empty) (on-table mxb2) (on-table zek5) (clear blp4) (on obb1 mxb2) (clear zek5) (clear nas3) (on-table nas3)",
"(on blp4 obb1) (on-table mxb2) (on-table zek5) (clear blp4) (on obb1 mxb2) (holding nas3) (clear zek5)",
"(on nas3 zek5) (on blp4 obb1) (arm-empty) (on-table mxb2) (on-table zek5) (clear blp4) (clear nas3) (on obb1 mxb2)",
"(on nas3 zek5) (on-table mxb2) (on-table zek5) (holding blp4) (clear nas3) (on obb1 mxb2) (clear obb1)",
"(on nas3 zek5) (arm-empty) (on-table mxb2) (on-table zek5) (clear blp4) (on obb1 mxb2) (on-table blp4) (clear nas3) (clear obb1)",
"(holding obb1) (on nas3 zek5) (clear mxb2) (on-table mxb2) (on-table zek5) (clear blp4) (on-table blp4) (clear nas3)",
"(on nas3 zek5) (clear mxb2) (arm-empty) (on-table mxb2) (on-table zek5) (on-table obb1) (clear blp4) (on-table blp4) (clear nas3) (clear obb1)",
"(clear mxb2) (on-table mxb2) (on-table zek5) (on-table obb1) (clear blp4) (on-table blp4) (holding nas3) (clear obb1) (clear zek5)",
"(arm-empty) (on-table mxb2) (on-table zek5) (on-table obb1) (on nas3 mxb2) (clear blp4) (on-table blp4) (clear nas3) (clear obb1) (clear zek5)",
"(holding obb1) (on-table mxb2) (on-table zek5) (on nas3 mxb2) (clear blp4) (on-table blp4) (clear nas3) (clear zek5)"
] |
file_86280
|
GOAL: (on lrm3 ovf4) (clear yao2) (on ovf4 iab1) (on-table iab1) (holding wxl5) (on yao2 lrm3)
|
GOAL: (on lrm3 ovf4) (clear yao2) (on ovf4 iab1) (on-table iab1) (holding wxl5) (on yao2 lrm3)
STATE: (holding iab1) (on-table wxl5) (on lrm3 yao2) (clear ovf4) (on-table ovf4) (on yao2 wxl5) (clear lrm3)
|
[
[
"put-down iab1"
],
[
"pick-up ovf4"
],
[
"stack ovf4 iab1"
],
[
"unstack lrm3 yao2"
],
[
"stack lrm3 ovf4"
],
[
"unstack yao2 wxl5"
],
[
"stack yao2 lrm3"
],
[
"pick-up wxl5"
]
] |
[
"(arm-empty) (on-table wxl5) (clear ovf4) (on yao2 wxl5) (on-table iab1) (on lrm3 yao2) (on-table ovf4) (clear lrm3) (clear iab1)",
"(on-table wxl5) (on-table iab1) (holding ovf4) (on lrm3 yao2) (on yao2 wxl5) (clear lrm3) (clear iab1)",
"(on ovf4 iab1) (arm-empty) (on-table wxl5) (on-table iab1) (on lrm3 yao2) (clear ovf4) (on yao2 wxl5) (clear lrm3)",
"(clear yao2) (on ovf4 iab1) (on-table wxl5) (on-table iab1) (clear ovf4) (on yao2 wxl5) (holding lrm3)",
"(on lrm3 ovf4) (clear yao2) (on ovf4 iab1) (arm-empty) (on-table wxl5) (on-table iab1) (on yao2 wxl5) (clear lrm3)",
"(on lrm3 ovf4) (on ovf4 iab1) (on-table wxl5) (on-table iab1) (holding yao2) (clear lrm3) (clear wxl5)",
"(on lrm3 ovf4) (clear yao2) (on ovf4 iab1) (arm-empty) (on-table wxl5) (on-table iab1) (on yao2 lrm3) (clear wxl5)",
"(on lrm3 ovf4) (clear yao2) (on ovf4 iab1) (on-table iab1) (holding wxl5) (on yao2 lrm3)"
] |
file_139883
|
GOAL: (on-table zbk2) (on-table xql1) (clear gir4) (on gir4 zbk2) (holding qaa3) (clear xql1)
|
GOAL: (on-table zbk2) (on-table xql1) (clear gir4) (on gir4 zbk2) (holding qaa3) (clear xql1)
STATE: (on qaa3 gir4) (arm-empty) (on-table xql1) (on gir4 zbk2) (on zbk2 xql1) (clear qaa3)
|
[
[
"unstack qaa3 gir4"
],
[
"put-down qaa3"
],
[
"unstack gir4 zbk2"
],
[
"stack gir4 qaa3"
],
[
"unstack zbk2 xql1"
],
[
"put-down zbk2"
],
[
"unstack gir4 qaa3"
],
[
"stack gir4 zbk2"
],
[
"pick-up qaa3"
]
] |
[
"(on gir4 zbk2) (on-table xql1) (on zbk2 xql1) (clear gir4) (holding qaa3)",
"(arm-empty) (clear gir4) (on gir4 zbk2) (on zbk2 xql1) (clear qaa3) (on-table xql1) (on-table qaa3)",
"(clear zbk2) (holding gir4) (on zbk2 xql1) (clear qaa3) (on-table xql1) (on-table qaa3)",
"(clear zbk2) (arm-empty) (on-table xql1) (clear gir4) (on gir4 qaa3) (on zbk2 xql1) (on-table qaa3)",
"(clear gir4) (on-table xql1) (on gir4 qaa3) (holding zbk2) (clear xql1) (on-table qaa3)",
"(arm-empty) (on-table zbk2) (clear gir4) (clear zbk2) (on-table xql1) (on gir4 qaa3) (clear xql1) (on-table qaa3)",
"(clear zbk2) (on-table zbk2) (on-table xql1) (holding gir4) (clear qaa3) (clear xql1) (on-table qaa3)",
"(arm-empty) (on-table zbk2) (on-table xql1) (clear gir4) (on gir4 zbk2) (clear qaa3) (clear xql1) (on-table qaa3)",
"(on-table zbk2) (on-table xql1) (clear gir4) (on gir4 zbk2) (holding qaa3) (clear xql1)"
] |
file_148128
|
GOAL: (on vyq1 kyr5) (on xoa4 vyq1) (arm-empty) (on-table ifu2) (on kyr5 ifu2) (clear xoa4) (clear nqo3) (on-table nqo3)
|
GOAL: (on vyq1 kyr5) (on xoa4 vyq1) (arm-empty) (on-table ifu2) (on kyr5 ifu2) (clear xoa4) (clear nqo3) (on-table nqo3)
STATE: (on nqo3 xoa4) (clear ifu2) (arm-empty) (on-table ifu2) (on-table vyq1) (on kyr5 nqo3) (on-table xoa4) (clear vyq1) (clear kyr5)
|
[
[
"unstack kyr5 nqo3"
],
[
"stack kyr5 ifu2"
],
[
"pick-up vyq1"
],
[
"stack vyq1 kyr5"
],
[
"unstack nqo3 xoa4"
],
[
"put-down nqo3"
],
[
"pick-up xoa4"
],
[
"stack xoa4 vyq1"
]
] |
[
"(on nqo3 xoa4) (clear ifu2) (on-table ifu2) (on-table vyq1) (holding kyr5) (on-table xoa4) (clear nqo3) (clear vyq1)",
"(on nqo3 xoa4) (arm-empty) (on-table ifu2) (on-table vyq1) (on kyr5 ifu2) (on-table xoa4) (clear nqo3) (clear vyq1) (clear kyr5)",
"(holding vyq1) (on nqo3 xoa4) (on-table ifu2) (on kyr5 ifu2) (on-table xoa4) (clear nqo3) (clear kyr5)",
"(on nqo3 xoa4) (on vyq1 kyr5) (arm-empty) (on-table ifu2) (on kyr5 ifu2) (on-table xoa4) (clear nqo3) (clear vyq1)",
"(on vyq1 kyr5) (on-table ifu2) (on kyr5 ifu2) (clear xoa4) (on-table xoa4) (holding nqo3) (clear vyq1)",
"(on vyq1 kyr5) (arm-empty) (on-table ifu2) (on kyr5 ifu2) (clear xoa4) (on-table xoa4) (clear nqo3) (clear vyq1) (on-table nqo3)",
"(on vyq1 kyr5) (on-table ifu2) (holding xoa4) (on kyr5 ifu2) (clear nqo3) (clear vyq1) (on-table nqo3)",
"(on vyq1 kyr5) (on xoa4 vyq1) (arm-empty) (on-table ifu2) (on kyr5 ifu2) (clear xoa4) (clear nqo3) (on-table nqo3)"
] |
file_32213
|
GOAL: (on wnl1 psi5) (on-table lto2) (on-table psi5) (clear ple4) (on ple4 lto2) (holding rnd3) (clear wnl1)
|
GOAL: (on wnl1 psi5) (on-table lto2) (on-table psi5) (clear ple4) (on ple4 lto2) (holding rnd3) (clear wnl1)
STATE: (arm-empty) (on-table lto2) (on-table psi5) (on wnl1 ple4) (on ple4 lto2) (clear rnd3) (clear wnl1) (on-table rnd3) (clear psi5)
|
[
[
"unstack wnl1 ple4"
],
[
"stack wnl1 psi5"
],
[
"pick-up rnd3"
]
] |
[
"(holding wnl1) (on-table lto2) (on-table psi5) (clear ple4) (on ple4 lto2) (clear rnd3) (on-table rnd3) (clear psi5)",
"(on wnl1 psi5) (arm-empty) (on-table lto2) (on-table psi5) (clear ple4) (on ple4 lto2) (clear rnd3) (clear wnl1) (on-table rnd3)",
"(on wnl1 psi5) (on-table lto2) (on-table psi5) (clear ple4) (on ple4 lto2) (holding rnd3) (clear wnl1)"
] |
file_168639
|
GOAL: (clear kyq2) (on-table kyq2) (on uyk4 bef3) (holding zqd5) (on jvs1 uyk4) (clear jvs1) (on-table bef3)
|
GOAL: (clear kyq2) (on-table kyq2) (on uyk4 bef3) (holding zqd5) (on jvs1 uyk4) (clear jvs1) (on-table bef3)
STATE: (on bef3 uyk4) (arm-empty) (on-table kyq2) (on uyk4 zqd5) (on zqd5 jvs1) (clear bef3) (on jvs1 kyq2)
|
[
[
"unstack bef3 uyk4"
],
[
"put-down bef3"
],
[
"unstack uyk4 zqd5"
],
[
"stack uyk4 bef3"
],
[
"unstack zqd5 jvs1"
],
[
"put-down zqd5"
],
[
"unstack jvs1 kyq2"
],
[
"put-down jvs1"
],
[
"pick-up zqd5"
],
[
"stack zqd5 kyq2"
],
[
"pick-up jvs1"
],
[
"stack jvs1 uyk4"
],
[
"unstack zqd5 kyq2"
]
] |
[
"(on-table kyq2) (on uyk4 zqd5) (clear uyk4) (on jvs1 kyq2) (on zqd5 jvs1) (holding bef3)",
"(on zqd5 jvs1) (arm-empty) (on-table kyq2) (on uyk4 zqd5) (clear bef3) (clear uyk4) (on jvs1 kyq2) (on-table bef3)",
"(on-table kyq2) (holding uyk4) (on zqd5 jvs1) (clear bef3) (on jvs1 kyq2) (on-table bef3) (clear zqd5)",
"(arm-empty) (on-table kyq2) (clear uyk4) (on zqd5 jvs1) (on uyk4 bef3) (on jvs1 kyq2) (on-table bef3) (clear zqd5)",
"(on-table kyq2) (clear uyk4) (on uyk4 bef3) (holding zqd5) (on jvs1 kyq2) (clear jvs1) (on-table bef3)",
"(arm-empty) (on-table kyq2) (on-table zqd5) (clear uyk4) (on jvs1 kyq2) (clear zqd5) (on uyk4 bef3) (clear jvs1) (on-table bef3)",
"(holding jvs1) (clear kyq2) (on-table kyq2) (on-table zqd5) (clear uyk4) (on uyk4 bef3) (on-table bef3) (clear zqd5)",
"(clear kyq2) (arm-empty) (on-table kyq2) (on-table zqd5) (on-table jvs1) (clear uyk4) (on uyk4 bef3) (clear jvs1) (on-table bef3) (clear zqd5)",
"(clear kyq2) (on-table kyq2) (on-table jvs1) (clear uyk4) (on uyk4 bef3) (holding zqd5) (clear jvs1) (on-table bef3)",
"(arm-empty) (on-table kyq2) (on-table jvs1) (on zqd5 kyq2) (clear uyk4) (on uyk4 bef3) (clear jvs1) (on-table bef3) (clear zqd5)",
"(holding jvs1) (on-table kyq2) (on zqd5 kyq2) (clear uyk4) (on uyk4 bef3) (on-table bef3) (clear zqd5)",
"(arm-empty) (on-table kyq2) (on zqd5 kyq2) (on uyk4 bef3) (on jvs1 uyk4) (clear jvs1) (on-table bef3) (clear zqd5)",
"(clear kyq2) (on-table kyq2) (on uyk4 bef3) (holding zqd5) (on jvs1 uyk4) (clear jvs1) (on-table bef3)"
] |
file_143228
|
GOAL: (on uuy3 dww5) (arm-empty) (on-table dww5) (clear dyo4) (clear day2) (on-table wte1) (on-table dyo4) (on day2 uuy3) (clear wte1)
|
GOAL: (on uuy3 dww5) (arm-empty) (on-table dww5) (clear dyo4) (clear day2) (on-table wte1) (on-table dyo4) (on day2 uuy3) (clear wte1)
STATE: (on uuy3 dww5) (on dyo4 wte1) (arm-empty) (on-table dww5) (clear dyo4) (on day2 uuy3) (on wte1 day2)
|
[
[
"unstack dyo4 wte1"
],
[
"put-down dyo4"
],
[
"unstack wte1 day2"
],
[
"put-down wte1"
]
] |
[
"(on uuy3 dww5) (on-table dww5) (holding dyo4) (on wte1 day2) (on day2 uuy3) (clear wte1)",
"(on uuy3 dww5) (on-table dyo4) (clear dyo4) (on day2 uuy3) (on-table dww5) (arm-empty) (on wte1 day2) (clear wte1)",
"(holding wte1) (on uuy3 dww5) (clear day2) (on-table dww5) (clear dyo4) (on-table dyo4) (on day2 uuy3)",
"(on uuy3 dww5) (arm-empty) (on-table dww5) (clear dyo4) (clear day2) (on-table wte1) (on-table dyo4) (on day2 uuy3) (clear wte1)"
] |
file_104134
|
GOAL: (clear vsl2) (arm-empty) (on-table nad4) (on xhd1 nad4) (on vsl2 xhd1) (clear kxy3) (on-table kxy3)
|
GOAL: (clear vsl2) (arm-empty) (on-table nad4) (on xhd1 nad4) (on vsl2 xhd1) (clear kxy3) (on-table kxy3)
STATE: (on xhd1 kxy3) (arm-empty) (on-table vsl2) (on kxy3 vsl2) (clear nad4) (on-table nad4) (clear xhd1)
|
[
[
"unstack xhd1 kxy3"
],
[
"put-down xhd1"
],
[
"unstack kxy3 vsl2"
],
[
"put-down kxy3"
],
[
"pick-up xhd1"
],
[
"stack xhd1 nad4"
],
[
"pick-up vsl2"
],
[
"stack vsl2 xhd1"
]
] |
[
"(on-table vsl2) (clear nad4) (holding xhd1) (on kxy3 vsl2) (on-table nad4) (clear kxy3)",
"(arm-empty) (on-table vsl2) (clear nad4) (on-table xhd1) (on kxy3 vsl2) (on-table nad4) (clear kxy3) (clear xhd1)",
"(clear vsl2) (on-table vsl2) (on-table xhd1) (clear nad4) (on-table nad4) (holding kxy3) (clear xhd1)",
"(arm-empty) (on-table vsl2) (clear nad4) (clear vsl2) (on-table xhd1) (on-table nad4) (clear kxy3) (clear xhd1) (on-table kxy3)",
"(holding xhd1) (clear vsl2) (on-table vsl2) (clear nad4) (on-table nad4) (clear kxy3) (on-table kxy3)",
"(clear vsl2) (arm-empty) (on-table vsl2) (on-table nad4) (on xhd1 nad4) (clear kxy3) (clear xhd1) (on-table kxy3)",
"(holding vsl2) (on-table nad4) (on xhd1 nad4) (clear kxy3) (clear xhd1) (on-table kxy3)",
"(clear vsl2) (arm-empty) (on-table nad4) (on xhd1 nad4) (on vsl2 xhd1) (clear kxy3) (on-table kxy3)"
] |
file_225066
|
GOAL: (clear cqs2) (arm-empty) (on-table tng5) (on-table cvg1) (clear ecl4) (on ecl4 wtc3) (on cqs2 tng5) (clear cvg1) (on-table wtc3)
|
GOAL: (clear cqs2) (arm-empty) (on-table tng5) (on-table cvg1) (clear ecl4) (on ecl4 wtc3) (on cqs2 tng5) (clear cvg1) (on-table wtc3)
STATE: (on wtc3 ecl4) (arm-empty) (on-table cvg1) (on tng5 cvg1) (on ecl4 cqs2) (on cqs2 tng5) (clear wtc3)
|
[
[
"unstack wtc3 ecl4"
],
[
"put-down wtc3"
],
[
"unstack ecl4 cqs2"
],
[
"stack ecl4 wtc3"
],
[
"unstack cqs2 tng5"
],
[
"stack cqs2 ecl4"
],
[
"unstack tng5 cvg1"
],
[
"put-down tng5"
],
[
"unstack cqs2 ecl4"
],
[
"stack cqs2 tng5"
]
] |
[
"(clear ecl4) (on cqs2 tng5) (on-table cvg1) (on tng5 cvg1) (on ecl4 cqs2) (holding wtc3)",
"(on ecl4 cqs2) (on tng5 cvg1) (arm-empty) (on-table cvg1) (on cqs2 tng5) (clear wtc3) (clear ecl4) (on-table wtc3)",
"(clear cqs2) (on-table cvg1) (holding ecl4) (on tng5 cvg1) (on cqs2 tng5) (clear wtc3) (on-table wtc3)",
"(arm-empty) (clear ecl4) (on cqs2 tng5) (clear cqs2) (on-table cvg1) (on ecl4 wtc3) (on tng5 cvg1) (on-table wtc3)",
"(on-table cvg1) (clear ecl4) (on ecl4 wtc3) (on tng5 cvg1) (holding cqs2) (on-table wtc3) (clear tng5)",
"(clear cqs2) (arm-empty) (on-table cvg1) (on ecl4 wtc3) (on tng5 cvg1) (on cqs2 ecl4) (on-table wtc3) (clear tng5)",
"(clear cqs2) (on-table cvg1) (on ecl4 wtc3) (holding tng5) (on cqs2 ecl4) (clear cvg1) (on-table wtc3)",
"(arm-empty) (on-table tng5) (on cqs2 ecl4) (clear tng5) (clear cqs2) (on-table cvg1) (on ecl4 wtc3) (clear cvg1) (on-table wtc3)",
"(on-table tng5) (on-table cvg1) (clear ecl4) (on ecl4 wtc3) (holding cqs2) (clear cvg1) (on-table wtc3) (clear tng5)",
"(clear cqs2) (arm-empty) (on-table tng5) (on-table cvg1) (clear ecl4) (on ecl4 wtc3) (on cqs2 tng5) (clear cvg1) (on-table wtc3)"
] |
file_220037
|
GOAL: (on uuu3 vau4) (on vau4 gre1) (arm-empty) (on-table hra5) (on wdw2 hra5) (clear uuu3) (on gre1 wdw2)
|
GOAL: (on uuu3 vau4) (on vau4 gre1) (arm-empty) (on-table hra5) (on wdw2 hra5) (clear uuu3) (on gre1 wdw2)
STATE: (clear wdw2) (on gre1 uuu3) (arm-empty) (on-table hra5) (clear vau4) (on-table vau4) (on wdw2 gre1) (on-table uuu3) (clear hra5)
|
[
[
"unstack wdw2 gre1"
],
[
"stack wdw2 hra5"
],
[
"unstack gre1 uuu3"
],
[
"stack gre1 wdw2"
],
[
"pick-up vau4"
],
[
"stack vau4 gre1"
],
[
"pick-up uuu3"
],
[
"stack uuu3 vau4"
]
] |
[
"(on gre1 uuu3) (on-table hra5) (clear vau4) (on-table vau4) (holding wdw2) (clear gre1) (on-table uuu3) (clear hra5)",
"(clear wdw2) (on gre1 uuu3) (arm-empty) (on-table hra5) (clear vau4) (on-table vau4) (on wdw2 hra5) (clear gre1) (on-table uuu3)",
"(holding gre1) (clear wdw2) (on-table hra5) (clear vau4) (on-table vau4) (on wdw2 hra5) (clear uuu3) (on-table uuu3)",
"(arm-empty) (on-table hra5) (clear vau4) (on-table vau4) (on wdw2 hra5) (clear uuu3) (on gre1 wdw2) (clear gre1) (on-table uuu3)",
"(on-table hra5) (holding vau4) (on wdw2 hra5) (clear uuu3) (on gre1 wdw2) (clear gre1) (on-table uuu3)",
"(on vau4 gre1) (arm-empty) (on-table hra5) (clear vau4) (on wdw2 hra5) (clear uuu3) (on gre1 wdw2) (on-table uuu3)",
"(on vau4 gre1) (on-table hra5) (clear vau4) (on wdw2 hra5) (on gre1 wdw2) (holding uuu3)",
"(on uuu3 vau4) (on vau4 gre1) (arm-empty) (on-table hra5) (on wdw2 hra5) (clear uuu3) (on gre1 wdw2)"
] |
file_101715
|
GOAL: (on aqa3 ial4) (clear qvv2) (on dop1 aqa3) (arm-empty) (on-table qvv2) (on tkx5 dop1) (on-table ial4) (clear tkx5)
|
GOAL: (on aqa3 ial4) (clear qvv2) (on dop1 aqa3) (arm-empty) (on-table qvv2) (on tkx5 dop1) (on-table ial4) (clear tkx5)
STATE: (holding dop1) (on aqa3 ial4) (on tkx5 qvv2) (on-table ial4) (on qvv2 aqa3) (clear tkx5)
|
[
[
"put-down dop1"
],
[
"unstack tkx5 qvv2"
],
[
"put-down tkx5"
],
[
"unstack qvv2 aqa3"
],
[
"stack qvv2 tkx5"
],
[
"pick-up dop1"
],
[
"stack dop1 aqa3"
],
[
"unstack qvv2 tkx5"
],
[
"put-down qvv2"
],
[
"pick-up tkx5"
],
[
"stack tkx5 dop1"
]
] |
[
"(arm-empty) (on tkx5 qvv2) (clear tkx5) (on aqa3 ial4) (on-table dop1) (on-table ial4) (on qvv2 aqa3) (clear dop1)",
"(on aqa3 ial4) (clear qvv2) (on-table dop1) (holding tkx5) (on-table ial4) (on qvv2 aqa3) (clear dop1)",
"(arm-empty) (on-table tkx5) (clear tkx5) (on aqa3 ial4) (clear qvv2) (on-table dop1) (on-table ial4) (on qvv2 aqa3) (clear dop1)",
"(on aqa3 ial4) (on-table tkx5) (on-table dop1) (on-table ial4) (holding qvv2) (clear aqa3) (clear dop1) (clear tkx5)",
"(on aqa3 ial4) (clear qvv2) (arm-empty) (on-table tkx5) (on-table dop1) (on-table ial4) (on qvv2 tkx5) (clear aqa3) (clear dop1)",
"(holding dop1) (on aqa3 ial4) (clear qvv2) (on-table tkx5) (on-table ial4) (on qvv2 tkx5) (clear aqa3)",
"(on aqa3 ial4) (clear qvv2) (on dop1 aqa3) (arm-empty) (on-table tkx5) (on-table ial4) (on qvv2 tkx5) (clear dop1)",
"(on aqa3 ial4) (on dop1 aqa3) (on-table tkx5) (on-table ial4) (holding qvv2) (clear dop1) (clear tkx5)",
"(on dop1 aqa3) (arm-empty) (on-table qvv2) (on-table tkx5) (clear tkx5) (on aqa3 ial4) (clear qvv2) (on-table ial4) (clear dop1)",
"(on aqa3 ial4) (clear qvv2) (on dop1 aqa3) (on-table qvv2) (holding tkx5) (on-table ial4) (clear dop1)",
"(on aqa3 ial4) (clear qvv2) (on dop1 aqa3) (arm-empty) (on-table qvv2) (on tkx5 dop1) (on-table ial4) (clear tkx5)"
] |
file_207516
|
GOAL: (clear tvo2) (on mlp5 dhp1) (on-table qlp4) (on dhp1 qlp4) (on tvo2 mlp5) (holding rzd3)
|
GOAL: (clear tvo2) (on mlp5 dhp1) (on-table qlp4) (on dhp1 qlp4) (on tvo2 mlp5) (holding rzd3)
STATE: (on dhp1 mlp5) (on qlp4 dhp1) (arm-empty) (on-table tvo2) (on rzd3 tvo2) (clear qlp4) (on mlp5 rzd3)
|
[
[
"unstack qlp4 dhp1"
],
[
"put-down qlp4"
],
[
"unstack dhp1 mlp5"
],
[
"stack dhp1 qlp4"
],
[
"unstack mlp5 rzd3"
],
[
"stack mlp5 dhp1"
],
[
"unstack rzd3 tvo2"
],
[
"put-down rzd3"
],
[
"pick-up tvo2"
],
[
"stack tvo2 mlp5"
],
[
"pick-up rzd3"
]
] |
[
"(on dhp1 mlp5) (on-table tvo2) (holding qlp4) (on mlp5 rzd3) (on rzd3 tvo2) (clear dhp1)",
"(on dhp1 mlp5) (arm-empty) (on-table tvo2) (clear qlp4) (on mlp5 rzd3) (on rzd3 tvo2) (on-table qlp4) (clear dhp1)",
"(holding dhp1) (on-table tvo2) (on rzd3 tvo2) (clear qlp4) (on mlp5 rzd3) (on-table qlp4) (clear mlp5)",
"(arm-empty) (on-table tvo2) (on rzd3 tvo2) (on mlp5 rzd3) (on-table qlp4) (on dhp1 qlp4) (clear dhp1) (clear mlp5)",
"(on-table tvo2) (on rzd3 tvo2) (holding mlp5) (on-table qlp4) (on dhp1 qlp4) (clear rzd3) (clear dhp1)",
"(arm-empty) (on-table tvo2) (on rzd3 tvo2) (on mlp5 dhp1) (on-table qlp4) (on dhp1 qlp4) (clear rzd3) (clear mlp5)",
"(clear tvo2) (on-table tvo2) (on mlp5 dhp1) (on-table qlp4) (on dhp1 qlp4) (holding rzd3) (clear mlp5)",
"(arm-empty) (on-table tvo2) (clear mlp5) (clear tvo2) (on mlp5 dhp1) (on-table qlp4) (on dhp1 qlp4) (clear rzd3) (on-table rzd3)",
"(holding tvo2) (on mlp5 dhp1) (on-table qlp4) (on dhp1 qlp4) (clear rzd3) (on-table rzd3) (clear mlp5)",
"(clear tvo2) (arm-empty) (on mlp5 dhp1) (on-table qlp4) (on dhp1 qlp4) (on tvo2 mlp5) (clear rzd3) (on-table rzd3)",
"(clear tvo2) (on mlp5 dhp1) (on-table qlp4) (on dhp1 qlp4) (on tvo2 mlp5) (holding rzd3)"
] |
file_77406
|
GOAL: (clear txz2) (arm-empty) (on-table txz2) (on-table tig5) (on-table mky1) (clear rvv4) (on-table rvv4) (clear nrt3) (clear mky1) (on-table nrt3) (clear tig5)
|
GOAL: (clear txz2) (arm-empty) (on-table txz2) (on-table tig5) (on-table mky1) (clear rvv4) (on-table rvv4) (clear nrt3) (clear mky1) (on-table nrt3) (clear tig5)
STATE: (clear txz2) (on-table mky1) (clear rvv4) (holding tig5) (on-table rvv4) (on txz2 mky1) (clear nrt3) (on-table nrt3)
|
[
[
"put-down tig5"
],
[
"unstack txz2 mky1"
],
[
"put-down txz2"
]
] |
[
"(clear txz2) (arm-empty) (on-table tig5) (on-table mky1) (clear rvv4) (on-table rvv4) (on txz2 mky1) (clear nrt3) (on-table nrt3) (clear tig5)",
"(on-table tig5) (on-table mky1) (clear rvv4) (on-table rvv4) (holding txz2) (clear nrt3) (clear mky1) (on-table nrt3) (clear tig5)",
"(clear txz2) (arm-empty) (on-table txz2) (on-table tig5) (on-table mky1) (clear rvv4) (on-table rvv4) (clear nrt3) (clear mky1) (on-table nrt3) (clear tig5)"
] |
file_134135
|
GOAL: (on-table pxd1) (holding rro4) (on ukw5 mqv2) (on hic3 pxd1) (on mqv2 hic3) (clear ukw5)
|
GOAL: (on-table pxd1) (holding rro4) (on ukw5 mqv2) (on hic3 pxd1) (on mqv2 hic3) (clear ukw5)
STATE: (holding pxd1) (clear mqv2) (on-table ukw5) (on rro4 ukw5) (on mqv2 rro4) (clear hic3) (on-table hic3)
|
[
[
"put-down pxd1"
],
[
"pick-up hic3"
],
[
"stack hic3 pxd1"
],
[
"unstack mqv2 rro4"
],
[
"put-down mqv2"
],
[
"unstack rro4 ukw5"
],
[
"put-down rro4"
],
[
"pick-up mqv2"
],
[
"stack mqv2 hic3"
],
[
"pick-up ukw5"
],
[
"stack ukw5 mqv2"
],
[
"pick-up rro4"
]
] |
[
"(arm-empty) (on-table ukw5) (on rro4 ukw5) (on mqv2 rro4) (clear mqv2) (on-table pxd1) (clear hic3) (clear pxd1) (on-table hic3)",
"(clear mqv2) (on-table ukw5) (on rro4 ukw5) (on-table pxd1) (on mqv2 rro4) (holding hic3) (clear pxd1)",
"(clear mqv2) (arm-empty) (on-table ukw5) (on-table pxd1) (on rro4 ukw5) (on mqv2 rro4) (on hic3 pxd1) (clear hic3)",
"(on-table ukw5) (on-table pxd1) (on rro4 ukw5) (clear rro4) (holding mqv2) (on hic3 pxd1) (clear hic3)",
"(arm-empty) (on-table mqv2) (on-table ukw5) (on rro4 ukw5) (clear rro4) (on hic3 pxd1) (clear mqv2) (on-table pxd1) (clear hic3)",
"(clear mqv2) (on-table mqv2) (on-table ukw5) (holding rro4) (on-table pxd1) (on hic3 pxd1) (clear hic3) (clear ukw5)",
"(clear mqv2) (arm-empty) (on-table mqv2) (on-table ukw5) (on-table pxd1) (clear rro4) (on-table rro4) (on hic3 pxd1) (clear hic3) (clear ukw5)",
"(on-table ukw5) (on-table pxd1) (clear rro4) (on-table rro4) (holding mqv2) (on hic3 pxd1) (clear hic3) (clear ukw5)",
"(clear mqv2) (arm-empty) (on-table ukw5) (on-table pxd1) (clear rro4) (on-table rro4) (on hic3 pxd1) (on mqv2 hic3) (clear ukw5)",
"(clear mqv2) (on-table pxd1) (clear rro4) (holding ukw5) (on-table rro4) (on hic3 pxd1) (on mqv2 hic3)",
"(arm-empty) (on-table pxd1) (on ukw5 mqv2) (clear rro4) (on-table rro4) (on hic3 pxd1) (on mqv2 hic3) (clear ukw5)",
"(on-table pxd1) (holding rro4) (on ukw5 mqv2) (on hic3 pxd1) (on mqv2 hic3) (clear ukw5)"
] |
file_180481
|
GOAL: (clear bhs2) (arm-empty) (on dzq5 dum4) (on-table jng1) (on-table dum4) (on bhs2 dzq5) (clear mha3) (clear jng1) (on-table mha3)
|
GOAL: (clear bhs2) (arm-empty) (on dzq5 dum4) (on-table jng1) (on-table dum4) (on bhs2 dzq5) (clear mha3) (clear jng1) (on-table mha3)
STATE: (clear bhs2) (on mha3 dzq5) (arm-empty) (on-table bhs2) (on dzq5 jng1) (on-table dum4) (on jng1 dum4) (clear mha3)
|
[
[
"unstack mha3 dzq5"
],
[
"put-down mha3"
],
[
"unstack dzq5 jng1"
],
[
"put-down dzq5"
],
[
"pick-up bhs2"
],
[
"stack bhs2 mha3"
],
[
"unstack jng1 dum4"
],
[
"put-down jng1"
],
[
"unstack bhs2 mha3"
],
[
"put-down bhs2"
],
[
"pick-up dzq5"
],
[
"stack dzq5 dum4"
],
[
"pick-up bhs2"
],
[
"stack bhs2 dzq5"
]
] |
[
"(clear bhs2) (on-table bhs2) (on dzq5 jng1) (on-table dum4) (on jng1 dum4) (holding mha3) (clear dzq5)",
"(arm-empty) (on-table bhs2) (clear dzq5) (clear bhs2) (on dzq5 jng1) (on-table dum4) (on jng1 dum4) (clear mha3) (on-table mha3)",
"(clear bhs2) (on-table bhs2) (holding dzq5) (on-table dum4) (on jng1 dum4) (clear mha3) (clear jng1) (on-table mha3)",
"(clear bhs2) (arm-empty) (on-table bhs2) (on-table dzq5) (on-table dum4) (on jng1 dum4) (clear mha3) (clear jng1) (on-table mha3) (clear dzq5)",
"(on-table dzq5) (holding bhs2) (on-table dum4) (on jng1 dum4) (clear mha3) (clear jng1) (on-table mha3) (clear dzq5)",
"(clear bhs2) (arm-empty) (on-table dzq5) (clear dzq5) (on-table dum4) (on bhs2 mha3) (on jng1 dum4) (on-table mha3) (clear jng1)",
"(holding jng1) (clear bhs2) (on-table dzq5) (clear dum4) (on-table dum4) (on bhs2 mha3) (on-table mha3) (clear dzq5)",
"(clear bhs2) (arm-empty) (on-table dzq5) (on-table jng1) (clear dum4) (on-table dum4) (on bhs2 mha3) (clear jng1) (on-table mha3) (clear dzq5)",
"(on-table dzq5) (on-table jng1) (clear dum4) (on-table dum4) (holding bhs2) (clear mha3) (clear jng1) (on-table mha3) (clear dzq5)",
"(clear bhs2) (arm-empty) (on-table bhs2) (on-table dzq5) (on-table jng1) (clear dum4) (on-table dum4) (clear mha3) (clear jng1) (on-table mha3) (clear dzq5)",
"(clear bhs2) (on-table bhs2) (on-table jng1) (clear dum4) (holding dzq5) (on-table dum4) (clear mha3) (clear jng1) (on-table mha3)",
"(clear bhs2) (arm-empty) (on dzq5 dum4) (on-table bhs2) (on-table jng1) (on-table dum4) (clear mha3) (clear jng1) (on-table mha3) (clear dzq5)",
"(on dzq5 dum4) (on-table jng1) (on-table dum4) (holding bhs2) (clear mha3) (clear jng1) (on-table mha3) (clear dzq5)",
"(clear bhs2) (arm-empty) (on dzq5 dum4) (on-table jng1) (on-table dum4) (on bhs2 dzq5) (clear mha3) (clear jng1) (on-table mha3)"
] |
file_69865
|
GOAL: (arm-empty) (on-table ggz2) (on-table lbn1) (on gvp5 ggz2) (clear nfm4) (on-table nfm4) (on vjg3 lbn1) (clear vjg3) (clear gvp5)
|
GOAL: (arm-empty) (on-table ggz2) (on-table lbn1) (on gvp5 ggz2) (clear nfm4) (on-table nfm4) (on vjg3 lbn1) (clear vjg3) (clear gvp5)
STATE: (on-table ggz2) (holding nfm4) (on gvp5 lbn1) (clear vjg3) (on lbn1 ggz2) (on-table vjg3) (clear gvp5)
|
[
[
"put-down nfm4"
],
[
"unstack gvp5 lbn1"
],
[
"stack gvp5 nfm4"
],
[
"unstack lbn1 ggz2"
],
[
"stack lbn1 vjg3"
],
[
"pick-up ggz2"
],
[
"stack ggz2 gvp5"
],
[
"unstack lbn1 vjg3"
],
[
"put-down lbn1"
],
[
"pick-up vjg3"
],
[
"stack vjg3 lbn1"
],
[
"unstack ggz2 gvp5"
],
[
"put-down ggz2"
],
[
"unstack gvp5 nfm4"
],
[
"stack gvp5 ggz2"
]
] |
[
"(arm-empty) (on-table ggz2) (clear nfm4) (on lbn1 ggz2) (clear gvp5) (on gvp5 lbn1) (on-table nfm4) (clear vjg3) (on-table vjg3)",
"(on-table ggz2) (clear nfm4) (holding gvp5) (on-table nfm4) (clear vjg3) (on lbn1 ggz2) (clear lbn1) (on-table vjg3)",
"(arm-empty) (on gvp5 nfm4) (on-table ggz2) (on-table nfm4) (clear vjg3) (on lbn1 ggz2) (clear lbn1) (on-table vjg3) (clear gvp5)",
"(holding lbn1) (clear ggz2) (on gvp5 nfm4) (on-table ggz2) (on-table nfm4) (clear vjg3) (on-table vjg3) (clear gvp5)",
"(clear ggz2) (on lbn1 vjg3) (on gvp5 nfm4) (on-table ggz2) (arm-empty) (on-table nfm4) (clear lbn1) (on-table vjg3) (clear gvp5)",
"(on lbn1 vjg3) (on gvp5 nfm4) (on-table nfm4) (holding ggz2) (clear lbn1) (on-table vjg3) (clear gvp5)",
"(clear ggz2) (on lbn1 vjg3) (on gvp5 nfm4) (arm-empty) (on-table nfm4) (on ggz2 gvp5) (clear lbn1) (on-table vjg3)",
"(holding lbn1) (clear ggz2) (on gvp5 nfm4) (on-table nfm4) (on ggz2 gvp5) (clear vjg3) (on-table vjg3)",
"(arm-empty) (on gvp5 nfm4) (on ggz2 gvp5) (clear ggz2) (on-table lbn1) (on-table nfm4) (clear vjg3) (clear lbn1) (on-table vjg3)",
"(clear ggz2) (on gvp5 nfm4) (on-table lbn1) (on-table nfm4) (on ggz2 gvp5) (holding vjg3) (clear lbn1)",
"(clear ggz2) (arm-empty) (on gvp5 nfm4) (on-table lbn1) (on-table nfm4) (on vjg3 lbn1) (on ggz2 gvp5) (clear vjg3)",
"(on gvp5 nfm4) (on-table lbn1) (on-table nfm4) (holding ggz2) (on vjg3 lbn1) (clear vjg3) (clear gvp5)",
"(arm-empty) (on gvp5 nfm4) (on-table ggz2) (on vjg3 lbn1) (clear gvp5) (clear ggz2) (on-table lbn1) (on-table nfm4) (clear vjg3)",
"(clear ggz2) (on-table ggz2) (on-table lbn1) (clear nfm4) (holding gvp5) (on-table nfm4) (on vjg3 lbn1) (clear vjg3)",
"(arm-empty) (on-table ggz2) (on-table lbn1) (on gvp5 ggz2) (clear nfm4) (on-table nfm4) (on vjg3 lbn1) (clear vjg3) (clear gvp5)"
] |
file_217811
|
GOAL: (holding kmg1) (on lhq3 efr4) (clear dpl2) (on-table dpl2) (on-table mrc5) (on-table efr4) (clear lhq3) (clear mrc5)
|
GOAL: (holding kmg1) (on lhq3 efr4) (clear dpl2) (on-table dpl2) (on-table mrc5) (on-table efr4) (clear lhq3) (clear mrc5)
STATE: (on kmg1 mrc5) (arm-empty) (on-table mrc5) (on lhq3 dpl2) (clear efr4) (on efr4 lhq3) (on dpl2 kmg1)
|
[
[
"unstack efr4 lhq3"
],
[
"put-down efr4"
],
[
"unstack lhq3 dpl2"
],
[
"stack lhq3 efr4"
],
[
"unstack dpl2 kmg1"
],
[
"put-down dpl2"
],
[
"unstack kmg1 mrc5"
]
] |
[
"(on kmg1 mrc5) (on-table mrc5) (holding efr4) (on dpl2 kmg1) (on lhq3 dpl2) (clear lhq3)",
"(on kmg1 mrc5) (arm-empty) (on-table mrc5) (clear efr4) (on dpl2 kmg1) (on lhq3 dpl2) (on-table efr4) (clear lhq3)",
"(on kmg1 mrc5) (clear dpl2) (on-table mrc5) (clear efr4) (on-table efr4) (on dpl2 kmg1) (holding lhq3)",
"(on kmg1 mrc5) (clear dpl2) (on lhq3 efr4) (arm-empty) (on-table mrc5) (on-table efr4) (on dpl2 kmg1) (clear lhq3)",
"(on kmg1 mrc5) (on lhq3 efr4) (on-table mrc5) (on-table efr4) (holding dpl2) (clear lhq3) (clear kmg1)",
"(on kmg1 mrc5) (arm-empty) (on-table dpl2) (on-table mrc5) (on lhq3 efr4) (clear dpl2) (on-table efr4) (clear lhq3) (clear kmg1)",
"(holding kmg1) (on lhq3 efr4) (clear dpl2) (on-table dpl2) (on-table mrc5) (on-table efr4) (clear lhq3) (clear mrc5)"
] |
file_3010
|
GOAL: (on euh3 dnp5) (clear jnh2) (arm-empty) (on-table dnp5) (on-table fyh1) (on-table rda4) (on jnh2 rda4) (clear euh3) (clear fyh1)
|
GOAL: (on euh3 dnp5) (clear jnh2) (arm-empty) (on-table dnp5) (on-table fyh1) (on-table rda4) (on jnh2 rda4) (clear euh3) (clear fyh1)
STATE: (arm-empty) (on-table dnp5) (on euh3 jnh2) (on rda4 euh3) (on fyh1 rda4) (on jnh2 dnp5) (clear fyh1)
|
[
[
"unstack fyh1 rda4"
],
[
"put-down fyh1"
],
[
"unstack rda4 euh3"
],
[
"stack rda4 fyh1"
],
[
"unstack euh3 jnh2"
],
[
"put-down euh3"
],
[
"unstack rda4 fyh1"
],
[
"put-down rda4"
],
[
"unstack jnh2 dnp5"
],
[
"stack jnh2 fyh1"
],
[
"pick-up euh3"
],
[
"stack euh3 dnp5"
],
[
"unstack jnh2 fyh1"
],
[
"stack jnh2 rda4"
]
] |
[
"(on-table dnp5) (clear rda4) (on jnh2 dnp5) (holding fyh1) (on euh3 jnh2) (on rda4 euh3)",
"(arm-empty) (on-table dnp5) (clear rda4) (on jnh2 dnp5) (on-table fyh1) (on euh3 jnh2) (on rda4 euh3) (clear fyh1)",
"(on-table dnp5) (on-table fyh1) (holding rda4) (on euh3 jnh2) (on jnh2 dnp5) (clear euh3) (clear fyh1)",
"(on rda4 fyh1) (arm-empty) (on-table dnp5) (on-table fyh1) (on euh3 jnh2) (clear rda4) (on jnh2 dnp5) (clear euh3)",
"(clear jnh2) (on rda4 fyh1) (on-table dnp5) (on-table fyh1) (clear rda4) (on jnh2 dnp5) (holding euh3)",
"(on rda4 fyh1) (arm-empty) (on-table dnp5) (clear rda4) (on jnh2 dnp5) (clear jnh2) (on-table fyh1) (clear euh3) (on-table euh3)",
"(clear jnh2) (on-table dnp5) (on-table fyh1) (holding rda4) (on jnh2 dnp5) (clear euh3) (clear fyh1) (on-table euh3)",
"(clear jnh2) (arm-empty) (on-table dnp5) (on-table fyh1) (clear rda4) (on-table rda4) (on jnh2 dnp5) (clear euh3) (clear fyh1) (on-table euh3)",
"(on-table dnp5) (on-table fyh1) (clear rda4) (on-table rda4) (holding jnh2) (clear euh3) (clear fyh1) (on-table euh3) (clear dnp5)",
"(clear jnh2) (arm-empty) (on-table dnp5) (on-table fyh1) (clear rda4) (on-table rda4) (on jnh2 fyh1) (clear euh3) (on-table euh3) (clear dnp5)",
"(clear jnh2) (on-table dnp5) (on-table fyh1) (clear rda4) (on-table rda4) (on jnh2 fyh1) (holding euh3) (clear dnp5)",
"(clear jnh2) (on euh3 dnp5) (arm-empty) (on-table dnp5) (on-table fyh1) (clear rda4) (on-table rda4) (on jnh2 fyh1) (clear euh3)",
"(on euh3 dnp5) (on-table dnp5) (on-table fyh1) (clear rda4) (on-table rda4) (holding jnh2) (clear euh3) (clear fyh1)",
"(on euh3 dnp5) (clear jnh2) (arm-empty) (on-table dnp5) (on-table fyh1) (on-table rda4) (on jnh2 rda4) (clear euh3) (clear fyh1)"
] |
file_216763
|
GOAL: (clear psr2) (arm-empty) (on-table psr2) (on-table jup5) (on-table eaa1) (clear yzg4) (on-table yzg4) (on bgk3 eaa1) (clear bgk3) (clear jup5)
|
GOAL: (clear psr2) (arm-empty) (on-table psr2) (on-table jup5) (on-table eaa1) (clear yzg4) (on-table yzg4) (on bgk3 eaa1) (clear bgk3) (clear jup5)
STATE: (on yzg4 jup5) (on-table eaa1) (clear yzg4) (on jup5 bgk3) (holding psr2) (on bgk3 eaa1)
|
[
[
"put-down psr2"
],
[
"unstack yzg4 jup5"
],
[
"put-down yzg4"
],
[
"unstack jup5 bgk3"
],
[
"put-down jup5"
]
] |
[
"(arm-empty) (on-table psr2) (on yzg4 jup5) (clear yzg4) (on jup5 bgk3) (on bgk3 eaa1) (clear psr2) (on-table eaa1)",
"(clear psr2) (on-table psr2) (on-table eaa1) (holding yzg4) (on jup5 bgk3) (on bgk3 eaa1) (clear jup5)",
"(arm-empty) (on-table psr2) (clear yzg4) (on jup5 bgk3) (on bgk3 eaa1) (clear jup5) (clear psr2) (on-table eaa1) (on-table yzg4)",
"(clear psr2) (on-table psr2) (on-table eaa1) (clear yzg4) (holding jup5) (on-table yzg4) (on bgk3 eaa1) (clear bgk3)",
"(clear psr2) (arm-empty) (on-table psr2) (on-table jup5) (on-table eaa1) (clear yzg4) (on-table yzg4) (on bgk3 eaa1) (clear bgk3) (clear jup5)"
] |
file_118236
|
GOAL: (clear mey2) (on-table sds5) (on-table cfk4) (on hlz1 cfk4) (on mey2 hlz1) (holding zas3) (clear sds5)
|
GOAL: (clear mey2) (on-table sds5) (on-table cfk4) (on hlz1 cfk4) (on mey2 hlz1) (holding zas3) (clear sds5)
STATE: (clear mey2) (arm-empty) (on zas3 sds5) (on-table sds5) (on-table hlz1) (clear cfk4) (on-table cfk4) (on mey2 zas3) (clear hlz1)
|
[
[
"pick-up hlz1"
],
[
"stack hlz1 cfk4"
],
[
"unstack mey2 zas3"
],
[
"stack mey2 hlz1"
],
[
"unstack zas3 sds5"
]
] |
[
"(holding hlz1) (clear mey2) (on zas3 sds5) (on-table sds5) (clear cfk4) (on-table cfk4) (on mey2 zas3)",
"(clear mey2) (on zas3 sds5) (arm-empty) (on-table sds5) (on-table cfk4) (on hlz1 cfk4) (on mey2 zas3) (clear hlz1)",
"(on zas3 sds5) (on-table sds5) (holding mey2) (on-table cfk4) (on hlz1 cfk4) (clear zas3) (clear hlz1)",
"(on zas3 sds5) (clear mey2) (arm-empty) (on-table sds5) (on-table cfk4) (on hlz1 cfk4) (on mey2 hlz1) (clear zas3)",
"(clear mey2) (on-table sds5) (on-table cfk4) (on hlz1 cfk4) (on mey2 hlz1) (holding zas3) (clear sds5)"
] |
file_227239
|
GOAL: (on gnw4 atl1) (on-table atl1) (clear gnw4) (on rpr5 odg3) (holding zzt2) (on-table odg3) (clear rpr5)
|
GOAL: (on gnw4 atl1) (on-table atl1) (clear gnw4) (on rpr5 odg3) (holding zzt2) (on-table odg3) (clear rpr5)
STATE: (arm-empty) (on gnw4 rpr5) (on rpr5 zzt2) (on atl1 gnw4) (on zzt2 odg3) (clear atl1) (on-table odg3)
|
[
[
"unstack atl1 gnw4"
],
[
"put-down atl1"
],
[
"unstack gnw4 rpr5"
],
[
"stack gnw4 atl1"
],
[
"unstack rpr5 zzt2"
],
[
"put-down rpr5"
],
[
"unstack zzt2 odg3"
],
[
"stack zzt2 gnw4"
],
[
"pick-up rpr5"
],
[
"stack rpr5 odg3"
],
[
"unstack zzt2 gnw4"
]
] |
[
"(on gnw4 rpr5) (on rpr5 zzt2) (clear gnw4) (holding atl1) (on zzt2 odg3) (on-table odg3)",
"(arm-empty) (on gnw4 rpr5) (on rpr5 zzt2) (clear gnw4) (on-table atl1) (on zzt2 odg3) (clear atl1) (on-table odg3)",
"(on-table atl1) (holding gnw4) (on rpr5 zzt2) (on zzt2 odg3) (clear atl1) (on-table odg3) (clear rpr5)",
"(on gnw4 atl1) (arm-empty) (on-table atl1) (on rpr5 zzt2) (clear gnw4) (on zzt2 odg3) (on-table odg3) (clear rpr5)",
"(clear zzt2) (on gnw4 atl1) (on-table atl1) (clear gnw4) (holding rpr5) (on zzt2 odg3) (on-table odg3)",
"(on gnw4 atl1) (arm-empty) (on-table rpr5) (clear gnw4) (clear rpr5) (clear zzt2) (on-table atl1) (on zzt2 odg3) (on-table odg3)",
"(on gnw4 atl1) (on-table rpr5) (on-table atl1) (clear gnw4) (holding zzt2) (clear odg3) (on-table odg3) (clear rpr5)",
"(clear zzt2) (on gnw4 atl1) (arm-empty) (on-table rpr5) (on-table atl1) (on zzt2 gnw4) (clear odg3) (on-table odg3) (clear rpr5)",
"(clear zzt2) (on gnw4 atl1) (on-table atl1) (holding rpr5) (on zzt2 gnw4) (clear odg3) (on-table odg3)",
"(clear zzt2) (on gnw4 atl1) (arm-empty) (on-table atl1) (on rpr5 odg3) (on zzt2 gnw4) (on-table odg3) (clear rpr5)",
"(on gnw4 atl1) (on-table atl1) (clear gnw4) (on rpr5 odg3) (holding zzt2) (on-table odg3) (clear rpr5)"
] |
file_36605
|
GOAL: (clear pvc2) (on uvt4 rre1) (on-table rre1) (holding pau3) (on pvc2 uvt4)
|
GOAL: (clear pvc2) (on uvt4 rre1) (on-table rre1) (holding pau3) (on pvc2 uvt4)
STATE: (on uvt4 rre1) (on-table rre1) (clear uvt4) (holding pvc2) (clear pau3) (on-table pau3)
|
[
[
"stack pvc2 uvt4"
],
[
"pick-up pau3"
]
] |
[
"(clear pvc2) (on uvt4 rre1) (arm-empty) (on-table rre1) (on pvc2 uvt4) (clear pau3) (on-table pau3)",
"(clear pvc2) (on uvt4 rre1) (on-table rre1) (holding pau3) (on pvc2 uvt4)"
] |
file_63029
|
GOAL: (on rwi4 uta1) (arm-empty) (on-table dqi5) (on-table uta1) (on vnn3 frz2) (clear rwi4) (on frz2 dqi5) (clear vnn3)
|
GOAL: (on rwi4 uta1) (arm-empty) (on-table dqi5) (on-table uta1) (on vnn3 frz2) (clear rwi4) (on frz2 dqi5) (clear vnn3)
STATE: (arm-empty) (on-table dqi5) (on-table uta1) (clear rwi4) (on vnn3 uta1) (on rwi4 frz2) (on frz2 vnn3) (clear dqi5)
|
[
[
"unstack rwi4 frz2"
],
[
"put-down rwi4"
],
[
"unstack frz2 vnn3"
],
[
"stack frz2 dqi5"
],
[
"unstack vnn3 uta1"
],
[
"stack vnn3 frz2"
],
[
"pick-up rwi4"
],
[
"stack rwi4 uta1"
]
] |
[
"(clear frz2) (on-table dqi5) (on-table uta1) (holding rwi4) (on vnn3 uta1) (on frz2 vnn3) (clear dqi5)",
"(arm-empty) (on-table dqi5) (clear rwi4) (on vnn3 uta1) (clear dqi5) (clear frz2) (on-table uta1) (on-table rwi4) (on frz2 vnn3)",
"(on-table dqi5) (on-table uta1) (clear rwi4) (on-table rwi4) (holding frz2) (on vnn3 uta1) (clear vnn3) (clear dqi5)",
"(clear frz2) (arm-empty) (on-table dqi5) (on-table uta1) (clear rwi4) (on-table rwi4) (on vnn3 uta1) (on frz2 dqi5) (clear vnn3)",
"(clear frz2) (on-table dqi5) (on-table uta1) (clear rwi4) (on-table rwi4) (on frz2 dqi5) (holding vnn3) (clear uta1)",
"(arm-empty) (on-table dqi5) (on-table uta1) (on vnn3 frz2) (clear rwi4) (on-table rwi4) (on frz2 dqi5) (clear vnn3) (clear uta1)",
"(on-table dqi5) (on-table uta1) (holding rwi4) (on vnn3 frz2) (on frz2 dqi5) (clear vnn3) (clear uta1)",
"(on rwi4 uta1) (arm-empty) (on-table dqi5) (on-table uta1) (on vnn3 frz2) (clear rwi4) (on frz2 dqi5) (clear vnn3)"
] |
file_17058
|
GOAL: (arm-empty) (on aoy2 uiv4) (on hvg5 dma3) (on-table uiv4) (on dma3 ziq1) (on ziq1 aoy2) (clear hvg5)
|
GOAL: (arm-empty) (on aoy2 uiv4) (on hvg5 dma3) (on-table uiv4) (on dma3 ziq1) (on ziq1 aoy2) (clear hvg5)
STATE: (clear aoy2) (on-table hvg5) (on-table ziq1) (clear uiv4) (on-table uiv4) (on aoy2 ziq1) (holding dma3) (clear hvg5)
|
[
[
"stack dma3 hvg5"
],
[
"unstack aoy2 ziq1"
],
[
"stack aoy2 uiv4"
],
[
"pick-up ziq1"
],
[
"stack ziq1 aoy2"
],
[
"unstack dma3 hvg5"
],
[
"stack dma3 ziq1"
],
[
"pick-up hvg5"
],
[
"stack hvg5 dma3"
]
] |
[
"(clear aoy2) (on dma3 hvg5) (arm-empty) (on-table hvg5) (on-table ziq1) (clear uiv4) (on-table uiv4) (on aoy2 ziq1) (clear dma3)",
"(on dma3 hvg5) (on-table hvg5) (on-table ziq1) (clear uiv4) (on-table uiv4) (holding aoy2) (clear dma3) (clear ziq1)",
"(on dma3 hvg5) (clear aoy2) (arm-empty) (on-table hvg5) (on-table ziq1) (on-table uiv4) (on aoy2 uiv4) (clear dma3) (clear ziq1)",
"(holding ziq1) (on dma3 hvg5) (clear aoy2) (on-table hvg5) (on-table uiv4) (on aoy2 uiv4) (clear dma3)",
"(on dma3 hvg5) (arm-empty) (on-table hvg5) (on-table uiv4) (on aoy2 uiv4) (clear dma3) (on ziq1 aoy2) (clear ziq1)",
"(on-table hvg5) (on-table uiv4) (on aoy2 uiv4) (on ziq1 aoy2) (clear ziq1) (holding dma3) (clear hvg5)",
"(arm-empty) (on-table hvg5) (on aoy2 uiv4) (on-table uiv4) (on dma3 ziq1) (clear dma3) (on ziq1 aoy2) (clear hvg5)",
"(on aoy2 uiv4) (holding hvg5) (on-table uiv4) (on dma3 ziq1) (clear dma3) (on ziq1 aoy2)",
"(arm-empty) (on aoy2 uiv4) (on hvg5 dma3) (on-table uiv4) (on dma3 ziq1) (on ziq1 aoy2) (clear hvg5)"
] |
file_71713
|
GOAL: (arm-empty) (on-table izn2) (on aca5 izn2) (clear iuq4) (on kbh3 grm1) (clear aca5) (on-table grm1) (on-table iuq4) (clear kbh3)
|
GOAL: (arm-empty) (on-table izn2) (on aca5 izn2) (clear iuq4) (on kbh3 grm1) (clear aca5) (on-table grm1) (on-table iuq4) (clear kbh3)
STATE: (on kbh3 iuq4) (on-table izn2) (on-table grm1) (holding aca5) (on iuq4 izn2) (clear kbh3) (clear grm1)
|
[
[
"put-down aca5"
],
[
"unstack kbh3 iuq4"
],
[
"stack kbh3 grm1"
],
[
"unstack iuq4 izn2"
],
[
"stack iuq4 kbh3"
],
[
"pick-up aca5"
],
[
"stack aca5 izn2"
],
[
"unstack iuq4 kbh3"
],
[
"put-down iuq4"
]
] |
[
"(arm-empty) (on-table izn2) (on-table aca5) (clear aca5) (on kbh3 iuq4) (on-table grm1) (on iuq4 izn2) (clear kbh3) (clear grm1)",
"(on-table izn2) (on-table aca5) (on-table grm1) (clear iuq4) (on iuq4 izn2) (holding kbh3) (clear grm1) (clear aca5)",
"(arm-empty) (on-table izn2) (on-table aca5) (on-table grm1) (clear iuq4) (on kbh3 grm1) (on iuq4 izn2) (clear kbh3) (clear aca5)",
"(clear izn2) (on-table izn2) (on-table aca5) (on-table grm1) (holding iuq4) (on kbh3 grm1) (clear kbh3) (clear aca5)",
"(clear izn2) (arm-empty) (on-table izn2) (on-table aca5) (on-table grm1) (clear iuq4) (on iuq4 kbh3) (on kbh3 grm1) (clear aca5)",
"(clear izn2) (on-table izn2) (on-table grm1) (clear iuq4) (on iuq4 kbh3) (holding aca5) (on kbh3 grm1)",
"(arm-empty) (on-table izn2) (on-table grm1) (on aca5 izn2) (clear iuq4) (on iuq4 kbh3) (on kbh3 grm1) (clear aca5)",
"(on-table izn2) (on-table grm1) (holding iuq4) (on aca5 izn2) (on kbh3 grm1) (clear kbh3) (clear aca5)",
"(arm-empty) (on-table izn2) (on aca5 izn2) (clear iuq4) (on kbh3 grm1) (clear aca5) (on-table grm1) (on-table iuq4) (clear kbh3)"
] |
file_94341
|
GOAL: (on erb3 xur5) (clear okv2) (arm-empty) (on xur5 kxv1) (on-table yfn4) (on kxv1 yfn4) (on okv2 erb3)
|
GOAL: (on erb3 xur5) (clear okv2) (arm-empty) (on xur5 kxv1) (on-table yfn4) (on kxv1 yfn4) (on okv2 erb3)
STATE: (clear okv2) (arm-empty) (on-table kxv1) (clear yfn4) (on xur5 kxv1) (on-table yfn4) (on okv2 xur5) (clear erb3) (on-table erb3)
|
[
[
"unstack okv2 xur5"
],
[
"put-down okv2"
],
[
"pick-up erb3"
],
[
"stack erb3 okv2"
],
[
"unstack xur5 kxv1"
],
[
"stack xur5 erb3"
],
[
"pick-up kxv1"
],
[
"stack kxv1 yfn4"
],
[
"unstack xur5 erb3"
],
[
"stack xur5 kxv1"
],
[
"unstack erb3 okv2"
],
[
"stack erb3 xur5"
],
[
"pick-up okv2"
],
[
"stack okv2 erb3"
]
] |
[
"(on-table kxv1) (clear yfn4) (on xur5 kxv1) (on-table yfn4) (holding okv2) (clear erb3) (on-table erb3) (clear xur5)",
"(clear okv2) (arm-empty) (on-table okv2) (on-table kxv1) (clear yfn4) (on xur5 kxv1) (on-table yfn4) (clear erb3) (on-table erb3) (clear xur5)",
"(clear okv2) (on-table okv2) (on-table kxv1) (clear yfn4) (on xur5 kxv1) (on-table yfn4) (holding erb3) (clear xur5)",
"(arm-empty) (on-table okv2) (on-table kxv1) (on erb3 okv2) (clear yfn4) (on xur5 kxv1) (on-table yfn4) (clear erb3) (clear xur5)",
"(on-table okv2) (on-table kxv1) (on erb3 okv2) (clear yfn4) (holding xur5) (on-table yfn4) (clear erb3) (clear kxv1)",
"(arm-empty) (on-table okv2) (on-table kxv1) (on erb3 okv2) (clear yfn4) (on xur5 erb3) (on-table yfn4) (clear kxv1) (clear xur5)",
"(holding kxv1) (on-table okv2) (on erb3 okv2) (clear yfn4) (on xur5 erb3) (on-table yfn4) (clear xur5)",
"(arm-empty) (on-table okv2) (on erb3 okv2) (on xur5 erb3) (on-table yfn4) (on kxv1 yfn4) (clear kxv1) (clear xur5)",
"(on-table okv2) (on erb3 okv2) (holding xur5) (on-table yfn4) (on kxv1 yfn4) (clear erb3) (clear kxv1)",
"(arm-empty) (on-table okv2) (on erb3 okv2) (on xur5 kxv1) (on-table yfn4) (on kxv1 yfn4) (clear erb3) (clear xur5)",
"(clear okv2) (on-table okv2) (on xur5 kxv1) (on-table yfn4) (on kxv1 yfn4) (holding erb3) (clear xur5)",
"(clear okv2) (on erb3 xur5) (arm-empty) (on-table okv2) (on xur5 kxv1) (on-table yfn4) (on kxv1 yfn4) (clear erb3)",
"(on erb3 xur5) (holding okv2) (on xur5 kxv1) (on-table yfn4) (on kxv1 yfn4) (clear erb3)",
"(on erb3 xur5) (clear okv2) (arm-empty) (on xur5 kxv1) (on-table yfn4) (on kxv1 yfn4) (on okv2 erb3)"
] |
file_170306
|
GOAL: (clear omx2) (arm-empty) (on odp5 tmj3) (on-table rcl4) (on gar1 rcl4) (on omx2 gar1) (on-table tmj3) (clear odp5)
|
GOAL: (clear omx2) (arm-empty) (on odp5 tmj3) (on-table rcl4) (on gar1 rcl4) (on omx2 gar1) (on-table tmj3) (clear odp5)
STATE: (holding gar1) (clear omx2) (on-table omx2) (clear rcl4) (on odp5 tmj3) (on-table rcl4) (on-table tmj3) (clear odp5)
|
[
[
"stack gar1 rcl4"
],
[
"pick-up omx2"
],
[
"stack omx2 gar1"
]
] |
[
"(clear omx2) (arm-empty) (on-table omx2) (on odp5 tmj3) (on-table rcl4) (on gar1 rcl4) (clear gar1) (on-table tmj3) (clear odp5)",
"(holding omx2) (on odp5 tmj3) (on-table rcl4) (on gar1 rcl4) (clear gar1) (on-table tmj3) (clear odp5)",
"(clear omx2) (arm-empty) (on odp5 tmj3) (on-table rcl4) (on gar1 rcl4) (on omx2 gar1) (on-table tmj3) (clear odp5)"
] |
file_219685
|
GOAL: (on uaq1 eek5) (clear kie2) (on eek5 gkd4) (on-table gkd4) (on kie2 uaq1) (holding sku3)
|
GOAL: (on uaq1 eek5) (clear kie2) (on eek5 gkd4) (on-table gkd4) (on kie2 uaq1) (holding sku3)
STATE: (on-table kie2) (on-table eek5) (holding gkd4) (on sku3 uaq1) (clear sku3) (on uaq1 kie2) (clear eek5)
|
[
[
"stack gkd4 eek5"
],
[
"unstack sku3 uaq1"
],
[
"put-down sku3"
],
[
"unstack gkd4 eek5"
],
[
"stack gkd4 sku3"
],
[
"pick-up eek5"
],
[
"stack eek5 uaq1"
],
[
"unstack gkd4 sku3"
],
[
"put-down gkd4"
],
[
"unstack eek5 uaq1"
],
[
"stack eek5 gkd4"
],
[
"unstack uaq1 kie2"
],
[
"stack uaq1 eek5"
],
[
"pick-up kie2"
],
[
"stack kie2 uaq1"
],
[
"pick-up sku3"
]
] |
[
"(arm-empty) (on-table kie2) (on-table eek5) (on gkd4 eek5) (clear gkd4) (on sku3 uaq1) (clear sku3) (on uaq1 kie2)",
"(on-table kie2) (on-table eek5) (on gkd4 eek5) (clear gkd4) (on uaq1 kie2) (clear uaq1) (holding sku3)",
"(arm-empty) (on-table kie2) (on-table eek5) (on gkd4 eek5) (clear gkd4) (on uaq1 kie2) (clear sku3) (clear uaq1) (on-table sku3)",
"(on-table kie2) (on-table eek5) (holding gkd4) (clear sku3) (on uaq1 kie2) (clear uaq1) (on-table sku3) (clear eek5)",
"(arm-empty) (on-table kie2) (on-table eek5) (clear gkd4) (on gkd4 sku3) (on uaq1 kie2) (clear uaq1) (on-table sku3) (clear eek5)",
"(on-table kie2) (clear gkd4) (on gkd4 sku3) (holding eek5) (on uaq1 kie2) (clear uaq1) (on-table sku3)",
"(on gkd4 sku3) (on eek5 uaq1) (arm-empty) (on-table kie2) (clear gkd4) (on uaq1 kie2) (on-table sku3) (clear eek5)",
"(on-table kie2) (holding gkd4) (on eek5 uaq1) (clear sku3) (on uaq1 kie2) (on-table sku3) (clear eek5)",
"(arm-empty) (on-table kie2) (clear gkd4) (on uaq1 kie2) (clear eek5) (on eek5 uaq1) (on-table gkd4) (clear sku3) (on-table sku3)",
"(on-table kie2) (clear gkd4) (holding eek5) (on-table gkd4) (clear sku3) (on uaq1 kie2) (clear uaq1) (on-table sku3)",
"(arm-empty) (on eek5 gkd4) (on-table kie2) (on-table gkd4) (clear sku3) (on uaq1 kie2) (clear uaq1) (on-table sku3) (clear eek5)",
"(holding uaq1) (clear kie2) (on eek5 gkd4) (on-table kie2) (on-table gkd4) (clear sku3) (on-table sku3) (clear eek5)",
"(on uaq1 eek5) (clear kie2) (arm-empty) (on eek5 gkd4) (on-table kie2) (on-table gkd4) (clear sku3) (clear uaq1) (on-table sku3)",
"(on uaq1 eek5) (on eek5 gkd4) (on-table gkd4) (holding kie2) (clear sku3) (clear uaq1) (on-table sku3)",
"(on uaq1 eek5) (clear kie2) (arm-empty) (on eek5 gkd4) (on-table gkd4) (on kie2 uaq1) (clear sku3) (on-table sku3)",
"(on uaq1 eek5) (clear kie2) (on eek5 gkd4) (on-table gkd4) (on kie2 uaq1) (holding sku3)"
] |
file_199382
|
GOAL: (on-table xck5) (clear eip4) (on-table eip4) (on yid2 xck5) (on bcz1 yid2) (clear bcz1) (holding ijm3)
|
GOAL: (on-table xck5) (clear eip4) (on-table eip4) (on yid2 xck5) (on bcz1 yid2) (clear bcz1) (holding ijm3)
STATE: (clear yid2) (on eip4 bcz1) (on bcz1 ijm3) (arm-empty) (on-table xck5) (on yid2 eip4) (on-table ijm3) (clear xck5)
|
[
[
"unstack yid2 eip4"
],
[
"stack yid2 xck5"
],
[
"unstack eip4 bcz1"
],
[
"stack eip4 yid2"
],
[
"unstack bcz1 ijm3"
],
[
"put-down bcz1"
],
[
"unstack eip4 yid2"
],
[
"put-down eip4"
],
[
"pick-up bcz1"
],
[
"stack bcz1 yid2"
],
[
"pick-up ijm3"
]
] |
[
"(on eip4 bcz1) (on bcz1 ijm3) (on-table xck5) (clear eip4) (holding yid2) (on-table ijm3) (clear xck5)",
"(clear yid2) (on eip4 bcz1) (on bcz1 ijm3) (arm-empty) (on-table xck5) (clear eip4) (on yid2 xck5) (on-table ijm3)",
"(clear yid2) (on bcz1 ijm3) (on-table xck5) (holding eip4) (on yid2 xck5) (clear bcz1) (on-table ijm3)",
"(on bcz1 ijm3) (arm-empty) (on-table xck5) (clear eip4) (on yid2 xck5) (on eip4 yid2) (clear bcz1) (on-table ijm3)",
"(holding bcz1) (on-table xck5) (clear eip4) (on eip4 yid2) (on yid2 xck5) (clear ijm3) (on-table ijm3)",
"(arm-empty) (on-table xck5) (clear eip4) (on yid2 xck5) (on-table bcz1) (on eip4 yid2) (clear ijm3) (clear bcz1) (on-table ijm3)",
"(clear yid2) (on-table xck5) (on-table bcz1) (holding eip4) (on yid2 xck5) (clear ijm3) (clear bcz1) (on-table ijm3)",
"(clear yid2) (arm-empty) (on-table xck5) (on-table bcz1) (clear eip4) (on-table eip4) (on yid2 xck5) (clear ijm3) (clear bcz1) (on-table ijm3)",
"(holding bcz1) (clear yid2) (on-table xck5) (clear eip4) (on-table eip4) (on yid2 xck5) (clear ijm3) (on-table ijm3)",
"(arm-empty) (on-table xck5) (clear eip4) (on-table eip4) (on yid2 xck5) (clear ijm3) (on bcz1 yid2) (clear bcz1) (on-table ijm3)",
"(on-table xck5) (clear eip4) (on-table eip4) (on yid2 xck5) (on bcz1 yid2) (clear bcz1) (holding ijm3)"
] |
file_38215
|
GOAL: (on qmn3 qno4) (on nkw1 ggr5) (arm-empty) (on-table etd2) (on ggr5 etd2) (on-table qno4) (clear qmn3) (clear nkw1)
|
GOAL: (on qmn3 qno4) (on nkw1 ggr5) (arm-empty) (on-table etd2) (on ggr5 etd2) (on-table qno4) (clear qmn3) (clear nkw1)
STATE: (on nkw1 ggr5) (clear etd2) (on-table etd2) (on-table ggr5) (holding qno4) (clear qmn3) (clear nkw1) (on-table qmn3)
|
[
[
"stack qno4 etd2"
],
[
"unstack nkw1 ggr5"
],
[
"put-down nkw1"
],
[
"pick-up qmn3"
],
[
"stack qmn3 nkw1"
],
[
"unstack qno4 etd2"
],
[
"stack qno4 qmn3"
],
[
"pick-up ggr5"
],
[
"stack ggr5 etd2"
],
[
"unstack qno4 qmn3"
],
[
"put-down qno4"
],
[
"unstack qmn3 nkw1"
],
[
"stack qmn3 qno4"
],
[
"pick-up nkw1"
],
[
"stack nkw1 ggr5"
]
] |
[
"(on nkw1 ggr5) (arm-empty) (on-table etd2) (on-table ggr5) (clear qno4) (on qno4 etd2) (clear qmn3) (clear nkw1) (on-table qmn3)",
"(holding nkw1) (on-table etd2) (on-table ggr5) (clear qno4) (on qno4 etd2) (clear qmn3) (on-table qmn3) (clear ggr5)",
"(arm-empty) (on-table etd2) (on-table ggr5) (on-table nkw1) (clear qno4) (on qno4 etd2) (clear qmn3) (clear nkw1) (on-table qmn3) (clear ggr5)",
"(on-table etd2) (on-table ggr5) (on-table nkw1) (clear qno4) (on qno4 etd2) (holding qmn3) (clear nkw1) (clear ggr5)",
"(arm-empty) (on-table etd2) (on-table ggr5) (on-table nkw1) (clear qno4) (on qmn3 nkw1) (on qno4 etd2) (clear qmn3) (clear ggr5)",
"(clear etd2) (on-table etd2) (on-table ggr5) (on-table nkw1) (holding qno4) (on qmn3 nkw1) (clear qmn3) (clear ggr5)",
"(clear etd2) (arm-empty) (on-table etd2) (on-table ggr5) (on-table nkw1) (clear qno4) (on qno4 qmn3) (on qmn3 nkw1) (clear ggr5)",
"(clear etd2) (on-table etd2) (on-table nkw1) (clear qno4) (on qno4 qmn3) (holding ggr5) (on qmn3 nkw1)",
"(arm-empty) (on-table etd2) (on-table nkw1) (on ggr5 etd2) (clear qno4) (on qno4 qmn3) (on qmn3 nkw1) (clear ggr5)",
"(on-table etd2) (on-table nkw1) (holding qno4) (on ggr5 etd2) (on qmn3 nkw1) (clear qmn3) (clear ggr5)",
"(arm-empty) (on-table etd2) (on ggr5 etd2) (clear qno4) (on qmn3 nkw1) (clear ggr5) (on-table nkw1) (on-table qno4) (clear qmn3)",
"(on-table etd2) (on-table nkw1) (on ggr5 etd2) (clear qno4) (on-table qno4) (holding qmn3) (clear nkw1) (clear ggr5)",
"(on qmn3 qno4) (arm-empty) (on-table etd2) (on-table nkw1) (on ggr5 etd2) (on-table qno4) (clear qmn3) (clear nkw1) (clear ggr5)",
"(holding nkw1) (on qmn3 qno4) (on-table etd2) (on ggr5 etd2) (on-table qno4) (clear qmn3) (clear ggr5)",
"(on qmn3 qno4) (on nkw1 ggr5) (arm-empty) (on-table etd2) (on ggr5 etd2) (on-table qno4) (clear qmn3) (clear nkw1)"
] |
file_37354
|
GOAL: (clear jih2) (on law1 ncz3) (holding snf5) (on-table mye4) (on jih2 mye4) (clear law1) (on-table ncz3)
|
GOAL: (clear jih2) (on law1 ncz3) (holding snf5) (on-table mye4) (on jih2 mye4) (clear law1) (on-table ncz3)
STATE: (arm-empty) (on snf5 law1) (on law1 mye4) (on mye4 jih2) (on jih2 ncz3) (on-table ncz3) (clear snf5)
|
[
[
"unstack snf5 law1"
],
[
"put-down snf5"
],
[
"unstack law1 mye4"
],
[
"stack law1 snf5"
],
[
"unstack mye4 jih2"
],
[
"put-down mye4"
],
[
"unstack jih2 ncz3"
],
[
"stack jih2 mye4"
],
[
"unstack law1 snf5"
],
[
"stack law1 ncz3"
],
[
"pick-up snf5"
]
] |
[
"(holding snf5) (on law1 mye4) (on mye4 jih2) (on jih2 ncz3) (clear law1) (on-table ncz3)",
"(arm-empty) (on-table snf5) (clear snf5) (on law1 mye4) (on mye4 jih2) (on jih2 ncz3) (clear law1) (on-table ncz3)",
"(holding law1) (on-table snf5) (clear mye4) (on mye4 jih2) (on jih2 ncz3) (on-table ncz3) (clear snf5)",
"(on law1 snf5) (arm-empty) (on-table snf5) (clear mye4) (on mye4 jih2) (on jih2 ncz3) (clear law1) (on-table ncz3)",
"(on law1 snf5) (clear jih2) (on-table snf5) (holding mye4) (on jih2 ncz3) (clear law1) (on-table ncz3)",
"(on law1 snf5) (arm-empty) (on-table snf5) (clear mye4) (clear jih2) (on-table mye4) (on jih2 ncz3) (clear law1) (on-table ncz3)",
"(on law1 snf5) (on-table snf5) (clear mye4) (on-table mye4) (holding jih2) (clear ncz3) (clear law1) (on-table ncz3)",
"(on law1 snf5) (clear jih2) (arm-empty) (on-table snf5) (on-table mye4) (on jih2 mye4) (clear ncz3) (clear law1) (on-table ncz3)",
"(holding law1) (clear jih2) (on-table snf5) (on-table mye4) (on jih2 mye4) (clear ncz3) (on-table ncz3) (clear snf5)",
"(clear jih2) (on law1 ncz3) (arm-empty) (on-table snf5) (on-table mye4) (on jih2 mye4) (clear law1) (on-table ncz3) (clear snf5)",
"(clear jih2) (on law1 ncz3) (holding snf5) (on-table mye4) (on jih2 mye4) (clear law1) (on-table ncz3)"
] |
file_88259
|
GOAL: (on ios3 ezr5) (arm-empty) (on ezr5 gdx2) (on-table yse4) (on qsn1 yse4) (on gdx2 qsn1) (clear ios3)
|
GOAL: (on ios3 ezr5) (arm-empty) (on ezr5 gdx2) (on-table yse4) (on qsn1 yse4) (on gdx2 qsn1) (clear ios3)
STATE: (clear gdx2) (arm-empty) (on ezr5 qsn1) (on-table yse4) (on qsn1 yse4) (on gdx2 ezr5) (clear ios3) (on-table ios3)
|
[
[
"unstack gdx2 ezr5"
],
[
"put-down gdx2"
],
[
"unstack ezr5 qsn1"
],
[
"stack ezr5 ios3"
],
[
"pick-up gdx2"
],
[
"stack gdx2 qsn1"
],
[
"unstack ezr5 ios3"
],
[
"stack ezr5 gdx2"
],
[
"pick-up ios3"
],
[
"stack ios3 ezr5"
]
] |
[
"(holding gdx2) (on ezr5 qsn1) (on-table yse4) (on qsn1 yse4) (clear ios3) (on-table ios3) (clear ezr5)",
"(arm-empty) (on-table gdx2) (clear ezr5) (clear gdx2) (on ezr5 qsn1) (on-table yse4) (on qsn1 yse4) (clear ios3) (on-table ios3)",
"(clear gdx2) (on-table gdx2) (holding ezr5) (on-table yse4) (on qsn1 yse4) (clear ios3) (clear qsn1) (on-table ios3)",
"(clear gdx2) (arm-empty) (on-table gdx2) (on ezr5 ios3) (on-table yse4) (on qsn1 yse4) (clear qsn1) (on-table ios3) (clear ezr5)",
"(holding gdx2) (on ezr5 ios3) (on-table yse4) (on qsn1 yse4) (clear qsn1) (on-table ios3) (clear ezr5)",
"(clear gdx2) (arm-empty) (on ezr5 ios3) (on-table yse4) (on qsn1 yse4) (on gdx2 qsn1) (on-table ios3) (clear ezr5)",
"(clear gdx2) (holding ezr5) (on-table yse4) (on qsn1 yse4) (on gdx2 qsn1) (clear ios3) (on-table ios3)",
"(arm-empty) (on ezr5 gdx2) (on-table yse4) (on qsn1 yse4) (on gdx2 qsn1) (clear ios3) (on-table ios3) (clear ezr5)",
"(on ezr5 gdx2) (on-table yse4) (on qsn1 yse4) (on gdx2 qsn1) (holding ios3) (clear ezr5)",
"(on ios3 ezr5) (arm-empty) (on ezr5 gdx2) (on-table yse4) (on qsn1 yse4) (on gdx2 qsn1) (clear ios3)"
] |
file_113293
|
GOAL: (on ifq1 fvo5) (on-table fvo5) (clear ukk4) (on ukk4 lce2) (on lce2 ifq1) (holding ioz3)
|
GOAL: (on ifq1 fvo5) (on-table fvo5) (clear ukk4) (on ukk4 lce2) (on lce2 ifq1) (holding ioz3)
STATE: (on ifq1 fvo5) (clear lce2) (on-table fvo5) (clear ukk4) (on-table ukk4) (on lce2 ifq1) (holding ioz3)
|
[
[
"put-down ioz3"
],
[
"pick-up ukk4"
],
[
"stack ukk4 lce2"
],
[
"pick-up ioz3"
]
] |
[
"(on ifq1 fvo5) (arm-empty) (on-table fvo5) (clear ukk4) (on lce2 ifq1) (clear lce2) (on-table ukk4) (clear ioz3) (on-table ioz3)",
"(on ifq1 fvo5) (clear lce2) (on-table fvo5) (holding ukk4) (on lce2 ifq1) (clear ioz3) (on-table ioz3)",
"(on ifq1 fvo5) (arm-empty) (on-table fvo5) (clear ukk4) (on lce2 ifq1) (on ukk4 lce2) (clear ioz3) (on-table ioz3)",
"(on ifq1 fvo5) (on-table fvo5) (clear ukk4) (on ukk4 lce2) (on lce2 ifq1) (holding ioz3)"
] |
file_17122
|
GOAL: (on-table tsq5) (on-table onr1) (on fzw4 tsq5) (clear fzw4) (holding ycz2) (on bpj3 onr1) (clear bpj3)
|
GOAL: (on-table tsq5) (on-table onr1) (on fzw4 tsq5) (clear fzw4) (holding ycz2) (on bpj3 onr1) (clear bpj3)
STATE: (arm-empty) (on-table onr1) (on tsq5 ycz2) (clear fzw4) (on-table fzw4) (on bpj3 onr1) (on ycz2 bpj3) (clear tsq5)
|
[
[
"unstack tsq5 ycz2"
],
[
"put-down tsq5"
],
[
"pick-up fzw4"
],
[
"stack fzw4 tsq5"
],
[
"unstack ycz2 bpj3"
]
] |
[
"(clear ycz2) (on-table onr1) (clear fzw4) (holding tsq5) (on-table fzw4) (on bpj3 onr1) (on ycz2 bpj3)",
"(arm-empty) (on-table tsq5) (clear fzw4) (on bpj3 onr1) (clear tsq5) (clear ycz2) (on-table onr1) (on-table fzw4) (on ycz2 bpj3)",
"(clear ycz2) (on-table tsq5) (on-table onr1) (holding fzw4) (on bpj3 onr1) (on ycz2 bpj3) (clear tsq5)",
"(clear ycz2) (arm-empty) (on-table tsq5) (on-table onr1) (on fzw4 tsq5) (clear fzw4) (on bpj3 onr1) (on ycz2 bpj3)",
"(on-table tsq5) (on-table onr1) (on fzw4 tsq5) (clear fzw4) (holding ycz2) (on bpj3 onr1) (clear bpj3)"
] |
file_24692
|
GOAL: (on prx4 haz3) (on haz3 gxz1) (clear jsq2) (arm-empty) (on-table jsq2) (on-table gxz1) (clear prx4)
|
GOAL: (on prx4 haz3) (on haz3 gxz1) (clear jsq2) (arm-empty) (on-table jsq2) (on-table gxz1) (clear prx4)
STATE: (clear jsq2) (arm-empty) (on-table jsq2) (on-table gxz1) (clear prx4) (on prx4 haz3) (clear gxz1) (on-table haz3)
|
[
[
"unstack prx4 haz3"
],
[
"put-down prx4"
],
[
"pick-up haz3"
],
[
"stack haz3 gxz1"
],
[
"pick-up prx4"
],
[
"stack prx4 haz3"
]
] |
[
"(clear jsq2) (on-table jsq2) (on-table gxz1) (holding prx4) (clear haz3) (clear gxz1) (on-table haz3)",
"(arm-empty) (on-table jsq2) (clear prx4) (clear jsq2) (on-table gxz1) (on-table prx4) (clear haz3) (clear gxz1) (on-table haz3)",
"(clear jsq2) (on-table jsq2) (on-table gxz1) (clear prx4) (on-table prx4) (holding haz3) (clear gxz1)",
"(clear jsq2) (arm-empty) (on-table jsq2) (on-table gxz1) (clear prx4) (on-table prx4) (on haz3 gxz1) (clear haz3)",
"(clear jsq2) (on-table jsq2) (on-table gxz1) (holding prx4) (on haz3 gxz1) (clear haz3)",
"(on prx4 haz3) (on haz3 gxz1) (clear jsq2) (arm-empty) (on-table jsq2) (on-table gxz1) (clear prx4)"
] |
file_79530
|
GOAL: (on pfa1 nft5) (clear bhb2) (arm-empty) (on-table nft5) (clear pme4) (on pme4 zou3) (on bhb2 pfa1) (on-table zou3)
|
GOAL: (on pfa1 nft5) (clear bhb2) (arm-empty) (on-table nft5) (clear pme4) (on pme4 zou3) (on bhb2 pfa1) (on-table zou3)
STATE: (arm-empty) (on-table bhb2) (on-table nft5) (on zou3 bhb2) (on pme4 zou3) (on pfa1 pme4) (clear pfa1) (clear nft5)
|
[
[
"unstack pfa1 pme4"
],
[
"stack pfa1 nft5"
],
[
"unstack pme4 zou3"
],
[
"stack pme4 pfa1"
],
[
"unstack zou3 bhb2"
],
[
"put-down zou3"
],
[
"unstack pme4 pfa1"
],
[
"stack pme4 zou3"
],
[
"pick-up bhb2"
],
[
"stack bhb2 pfa1"
]
] |
[
"(holding pfa1) (on-table bhb2) (on-table nft5) (on zou3 bhb2) (clear pme4) (on pme4 zou3) (clear nft5)",
"(on pfa1 nft5) (arm-empty) (on-table bhb2) (on-table nft5) (on zou3 bhb2) (clear pme4) (on pme4 zou3) (clear pfa1)",
"(on pfa1 nft5) (on-table bhb2) (on-table nft5) (holding pme4) (on zou3 bhb2) (clear zou3) (clear pfa1)",
"(on pfa1 nft5) (on pme4 pfa1) (arm-empty) (on-table bhb2) (on-table nft5) (on zou3 bhb2) (clear pme4) (clear zou3)",
"(on pfa1 nft5) (clear bhb2) (on pme4 pfa1) (on-table bhb2) (on-table nft5) (clear pme4) (holding zou3)",
"(on pfa1 nft5) (on pme4 pfa1) (arm-empty) (on-table bhb2) (on-table nft5) (clear pme4) (clear bhb2) (clear zou3) (on-table zou3)",
"(on pfa1 nft5) (clear bhb2) (on-table bhb2) (on-table nft5) (holding pme4) (clear zou3) (clear pfa1) (on-table zou3)",
"(on pfa1 nft5) (clear bhb2) (arm-empty) (on-table bhb2) (on-table nft5) (clear pme4) (on pme4 zou3) (clear pfa1) (on-table zou3)",
"(on pfa1 nft5) (on-table nft5) (clear pme4) (on pme4 zou3) (holding bhb2) (clear pfa1) (on-table zou3)",
"(on pfa1 nft5) (clear bhb2) (arm-empty) (on-table nft5) (clear pme4) (on pme4 zou3) (on bhb2 pfa1) (on-table zou3)"
] |
file_16141
|
GOAL: (on-table hfb2) (on rxw3 hfb2) (on jht4 rxw3) (holding olj5) (on fgx1 jht4) (clear fgx1)
|
GOAL: (on-table hfb2) (on rxw3 hfb2) (on jht4 rxw3) (holding olj5) (on fgx1 jht4) (clear fgx1)
STATE: (on fgx1 olj5) (clear hfb2) (on jht4 fgx1) (on-table hfb2) (on-table olj5) (clear jht4) (holding rxw3)
|
[
[
"stack rxw3 hfb2"
],
[
"unstack jht4 fgx1"
],
[
"stack jht4 rxw3"
],
[
"unstack fgx1 olj5"
],
[
"stack fgx1 jht4"
],
[
"pick-up olj5"
]
] |
[
"(on fgx1 olj5) (on jht4 fgx1) (arm-empty) (on-table hfb2) (on-table olj5) (on rxw3 hfb2) (clear jht4) (clear rxw3)",
"(on fgx1 olj5) (on-table hfb2) (on-table olj5) (holding jht4) (on rxw3 hfb2) (clear rxw3) (clear fgx1)",
"(on fgx1 olj5) (arm-empty) (on-table hfb2) (on-table olj5) (on rxw3 hfb2) (clear jht4) (on jht4 rxw3) (clear fgx1)",
"(holding fgx1) (on-table hfb2) (on-table olj5) (on rxw3 hfb2) (clear jht4) (on jht4 rxw3) (clear olj5)",
"(arm-empty) (on-table hfb2) (on-table olj5) (on rxw3 hfb2) (on jht4 rxw3) (on fgx1 jht4) (clear fgx1) (clear olj5)",
"(on-table hfb2) (on rxw3 hfb2) (on jht4 rxw3) (holding olj5) (on fgx1 jht4) (clear fgx1)"
] |
file_206206
|
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