goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (on kdd1 cvg5) (arm-empty) (on cvg5 hwd4) (on hwd4 vbm2) (on vbm2 ane3) (clear kdd1) (on-table ane3)
|
GOAL: (on kdd1 cvg5) (arm-empty) (on cvg5 hwd4) (on hwd4 vbm2) (on vbm2 ane3) (clear kdd1) (on-table ane3)
STATE: (on kdd1 cvg5) (on hwd4 kdd1) (on-table cvg5) (clear hwd4) (holding vbm2) (clear ane3) (on-table ane3)
|
[
[
"stack vbm2 ane3"
],
[
"unstack hwd4 kdd1"
],
[
"stack hwd4 vbm2"
],
[
"unstack kdd1 cvg5"
],
[
"put-down kdd1"
],
[
"pick-up cvg5"
],
[
"stack cvg5 hwd4"
],
[
"pick-up kdd1"
],
[
"stack kdd1 cvg5"
]
] |
[
"(on kdd1 cvg5) (clear vbm2) (on hwd4 kdd1) (arm-empty) (on-table cvg5) (clear hwd4) (on vbm2 ane3) (on-table ane3)",
"(on kdd1 cvg5) (clear vbm2) (on-table cvg5) (holding hwd4) (on vbm2 ane3) (clear kdd1) (on-table ane3)",
"(on kdd1 cvg5) (arm-empty) (on-table cvg5) (clear hwd4) (on hwd4 vbm2) (on vbm2 ane3) (clear kdd1) (on-table ane3)",
"(holding kdd1) (on-table cvg5) (clear hwd4) (on hwd4 vbm2) (on vbm2 ane3) (on-table ane3) (clear cvg5)",
"(arm-empty) (on-table cvg5) (clear hwd4) (clear cvg5) (on-table kdd1) (on hwd4 vbm2) (on vbm2 ane3) (clear kdd1) (on-table ane3)",
"(on-table kdd1) (clear hwd4) (holding cvg5) (on hwd4 vbm2) (on vbm2 ane3) (clear kdd1) (on-table ane3)",
"(arm-empty) (on cvg5 hwd4) (on-table kdd1) (on hwd4 vbm2) (on vbm2 ane3) (clear kdd1) (on-table ane3) (clear cvg5)",
"(holding kdd1) (on cvg5 hwd4) (on hwd4 vbm2) (on vbm2 ane3) (on-table ane3) (clear cvg5)",
"(on kdd1 cvg5) (arm-empty) (on cvg5 hwd4) (on hwd4 vbm2) (on vbm2 ane3) (clear kdd1) (on-table ane3)"
] |
file_2251
|
GOAL: (on pep4 xlb1) (on-table ihr2) (on-table giy5) (clear ihr2) (on-table xlb1) (clear pep4) (holding bef3) (clear giy5)
|
GOAL: (on pep4 xlb1) (on-table ihr2) (on-table giy5) (clear ihr2) (on-table xlb1) (clear pep4) (holding bef3) (clear giy5)
STATE: (on bef3 giy5) (arm-empty) (on-table giy5) (on-table xlb1) (clear pep4) (on pep4 ihr2) (on ihr2 bef3) (clear xlb1)
|
[
[
"unstack pep4 ihr2"
],
[
"stack pep4 xlb1"
],
[
"unstack ihr2 bef3"
],
[
"put-down ihr2"
],
[
"unstack bef3 giy5"
]
] |
[
"(on bef3 giy5) (clear ihr2) (on-table giy5) (on-table xlb1) (holding pep4) (on ihr2 bef3) (clear xlb1)",
"(on bef3 giy5) (clear ihr2) (on pep4 xlb1) (arm-empty) (on-table giy5) (on-table xlb1) (clear pep4) (on ihr2 bef3)",
"(on bef3 giy5) (on pep4 xlb1) (on-table giy5) (on-table xlb1) (clear pep4) (holding ihr2) (clear bef3)",
"(on bef3 giy5) (on pep4 xlb1) (arm-empty) (on-table ihr2) (on-table giy5) (clear pep4) (clear ihr2) (on-table xlb1) (clear bef3)",
"(on pep4 xlb1) (on-table ihr2) (on-table giy5) (clear ihr2) (on-table xlb1) (clear pep4) (holding bef3) (clear giy5)"
] |
file_36909
|
GOAL: (arm-empty) (on-table psk2) (on-table jmk5) (on zij4 jmk5) (clear zij4) (on hkc3 akr1) (clear hkc3) (on akr1 psk2)
|
GOAL: (arm-empty) (on-table psk2) (on-table jmk5) (on zij4 jmk5) (clear zij4) (on hkc3 akr1) (clear hkc3) (on akr1 psk2)
STATE: (arm-empty) (on-table psk2) (on zij4 jmk5) (clear zij4) (on jmk5 hkc3) (on hkc3 akr1) (on akr1 psk2)
|
[
[
"unstack zij4 jmk5"
],
[
"put-down zij4"
],
[
"unstack jmk5 hkc3"
],
[
"put-down jmk5"
],
[
"pick-up zij4"
],
[
"stack zij4 jmk5"
]
] |
[
"(on-table psk2) (holding zij4) (on jmk5 hkc3) (on hkc3 akr1) (on akr1 psk2) (clear jmk5)",
"(arm-empty) (on-table psk2) (clear zij4) (on jmk5 hkc3) (on hkc3 akr1) (on akr1 psk2) (clear jmk5) (on-table zij4)",
"(on-table psk2) (clear zij4) (holding jmk5) (on-table zij4) (on hkc3 akr1) (clear hkc3) (on akr1 psk2)",
"(arm-empty) (on-table psk2) (on-table jmk5) (clear zij4) (on hkc3 akr1) (on akr1 psk2) (clear jmk5) (on-table zij4) (clear hkc3)",
"(on-table psk2) (on-table jmk5) (holding zij4) (on hkc3 akr1) (clear hkc3) (on akr1 psk2) (clear jmk5)",
"(arm-empty) (on-table psk2) (on-table jmk5) (on zij4 jmk5) (clear zij4) (on hkc3 akr1) (clear hkc3) (on akr1 psk2)"
] |
file_201658
|
GOAL: (holding rim1) (on uyz3 fpa5) (on fpa5 jsa4) (on-table ffa2) (on jsa4 ffa2) (clear uyz3)
|
GOAL: (holding rim1) (on uyz3 fpa5) (on fpa5 jsa4) (on-table ffa2) (on jsa4 ffa2) (clear uyz3)
STATE: (clear ffa2) (on-table ffa2) (on-table fpa5) (holding jsa4) (on-table rim1) (clear uyz3) (clear rim1) (on-table uyz3) (clear fpa5)
|
[
[
"stack jsa4 ffa2"
],
[
"pick-up fpa5"
],
[
"stack fpa5 jsa4"
],
[
"pick-up uyz3"
],
[
"stack uyz3 fpa5"
],
[
"pick-up rim1"
]
] |
[
"(arm-empty) (on-table ffa2) (on-table fpa5) (on-table rim1) (clear jsa4) (on jsa4 ffa2) (clear uyz3) (clear rim1) (on-table uyz3) (clear fpa5)",
"(on-table ffa2) (on-table rim1) (clear jsa4) (holding fpa5) (on jsa4 ffa2) (clear uyz3) (clear rim1) (on-table uyz3)",
"(arm-empty) (on fpa5 jsa4) (on-table ffa2) (on-table rim1) (on jsa4 ffa2) (clear uyz3) (clear rim1) (on-table uyz3) (clear fpa5)",
"(on fpa5 jsa4) (on-table ffa2) (on-table rim1) (on jsa4 ffa2) (holding uyz3) (clear rim1) (clear fpa5)",
"(on uyz3 fpa5) (arm-empty) (on fpa5 jsa4) (on-table ffa2) (on-table rim1) (on jsa4 ffa2) (clear uyz3) (clear rim1)",
"(holding rim1) (on uyz3 fpa5) (on fpa5 jsa4) (on-table ffa2) (on jsa4 ffa2) (clear uyz3)"
] |
file_184212
|
GOAL: (clear wqc2) (arm-empty) (on-table wqc2) (on-table lfe5) (on-table led1) (clear hhy4) (on-table hhy4) (clear odb3) (clear led1) (on-table odb3) (clear lfe5)
|
GOAL: (clear wqc2) (arm-empty) (on-table wqc2) (on-table lfe5) (on-table led1) (clear hhy4) (on-table hhy4) (clear odb3) (clear led1) (on-table odb3) (clear lfe5)
STATE: (arm-empty) (on odb3 wqc2) (on lfe5 odb3) (on-table hhy4) (on led1 hhy4) (on wqc2 led1) (clear lfe5)
|
[
[
"unstack lfe5 odb3"
],
[
"put-down lfe5"
],
[
"unstack odb3 wqc2"
],
[
"put-down odb3"
],
[
"unstack wqc2 led1"
],
[
"stack wqc2 lfe5"
],
[
"pick-up odb3"
],
[
"stack odb3 led1"
],
[
"unstack wqc2 lfe5"
],
[
"put-down wqc2"
],
[
"unstack odb3 led1"
],
[
"put-down odb3"
],
[
"unstack led1 hhy4"
],
[
"put-down led1"
]
] |
[
"(holding lfe5) (on wqc2 led1) (on odb3 wqc2) (on-table hhy4) (on led1 hhy4) (clear odb3)",
"(arm-empty) (on-table lfe5) (on wqc2 led1) (clear lfe5) (on odb3 wqc2) (on-table hhy4) (on led1 hhy4) (clear odb3)",
"(clear wqc2) (on-table lfe5) (on-table hhy4) (on led1 hhy4) (on wqc2 led1) (holding odb3) (clear lfe5)",
"(arm-empty) (on-table lfe5) (on wqc2 led1) (clear lfe5) (clear wqc2) (on-table hhy4) (on led1 hhy4) (clear odb3) (on-table odb3)",
"(on-table lfe5) (holding wqc2) (on-table hhy4) (on led1 hhy4) (clear odb3) (clear led1) (on-table odb3) (clear lfe5)",
"(clear wqc2) (arm-empty) (on-table lfe5) (on-table hhy4) (on wqc2 lfe5) (clear odb3) (on led1 hhy4) (on-table odb3) (clear led1)",
"(clear wqc2) (on-table lfe5) (on-table hhy4) (on led1 hhy4) (on wqc2 lfe5) (holding odb3) (clear led1)",
"(clear wqc2) (arm-empty) (on-table lfe5) (on-table hhy4) (on led1 hhy4) (on odb3 led1) (on wqc2 lfe5) (clear odb3)",
"(on-table lfe5) (holding wqc2) (on-table hhy4) (on led1 hhy4) (on odb3 led1) (clear odb3) (clear lfe5)",
"(arm-empty) (on-table wqc2) (on-table lfe5) (on odb3 led1) (clear lfe5) (clear wqc2) (on-table hhy4) (on led1 hhy4) (clear odb3)",
"(clear wqc2) (on-table wqc2) (on-table lfe5) (on-table hhy4) (on led1 hhy4) (holding odb3) (clear led1) (clear lfe5)",
"(clear wqc2) (arm-empty) (on-table wqc2) (on-table lfe5) (on-table hhy4) (on led1 hhy4) (clear odb3) (clear led1) (on-table odb3) (clear lfe5)",
"(holding led1) (clear wqc2) (on-table wqc2) (on-table lfe5) (clear hhy4) (on-table hhy4) (clear odb3) (on-table odb3) (clear lfe5)",
"(clear wqc2) (arm-empty) (on-table wqc2) (on-table lfe5) (on-table led1) (clear hhy4) (on-table hhy4) (clear odb3) (clear led1) (on-table odb3) (clear lfe5)"
] |
file_99952
|
GOAL: (on nix4 hrp3) (on zuc5 bba1) (arm-empty) (on-table bba1) (on gij2 zuc5) (on hrp3 gij2) (clear nix4)
|
GOAL: (on nix4 hrp3) (on zuc5 bba1) (arm-empty) (on-table bba1) (on gij2 zuc5) (on hrp3 gij2) (clear nix4)
STATE: (clear gij2) (on-table gij2) (holding nix4) (on-table bba1) (on zuc5 bba1) (clear hrp3) (on-table hrp3) (clear zuc5)
|
[
[
"stack nix4 zuc5"
],
[
"pick-up hrp3"
],
[
"stack hrp3 gij2"
],
[
"unstack nix4 zuc5"
],
[
"put-down nix4"
],
[
"unstack hrp3 gij2"
],
[
"stack hrp3 nix4"
],
[
"pick-up gij2"
],
[
"stack gij2 zuc5"
],
[
"unstack hrp3 nix4"
],
[
"stack hrp3 gij2"
],
[
"pick-up nix4"
],
[
"stack nix4 hrp3"
]
] |
[
"(clear gij2) (arm-empty) (on-table gij2) (on nix4 zuc5) (on-table bba1) (clear nix4) (on zuc5 bba1) (clear hrp3) (on-table hrp3)",
"(clear gij2) (on-table gij2) (on nix4 zuc5) (on-table bba1) (clear nix4) (on zuc5 bba1) (holding hrp3)",
"(arm-empty) (on-table gij2) (on nix4 zuc5) (on-table bba1) (on hrp3 gij2) (clear nix4) (on zuc5 bba1) (clear hrp3)",
"(on-table gij2) (on-table bba1) (holding nix4) (on hrp3 gij2) (on zuc5 bba1) (clear hrp3) (clear zuc5)",
"(arm-empty) (on-table gij2) (clear nix4) (clear zuc5) (on-table bba1) (on hrp3 gij2) (on zuc5 bba1) (on-table nix4) (clear hrp3)",
"(clear gij2) (on-table gij2) (on-table bba1) (clear nix4) (on zuc5 bba1) (on-table nix4) (holding hrp3) (clear zuc5)",
"(on hrp3 nix4) (clear gij2) (arm-empty) (on-table gij2) (on-table bba1) (on zuc5 bba1) (on-table nix4) (clear hrp3) (clear zuc5)",
"(on hrp3 nix4) (on-table bba1) (on zuc5 bba1) (on-table nix4) (holding gij2) (clear hrp3) (clear zuc5)",
"(on hrp3 nix4) (clear gij2) (arm-empty) (on-table bba1) (on zuc5 bba1) (on-table nix4) (on gij2 zuc5) (clear hrp3)",
"(clear gij2) (on-table bba1) (clear nix4) (on zuc5 bba1) (on-table nix4) (on gij2 zuc5) (holding hrp3)",
"(arm-empty) (on-table bba1) (on hrp3 gij2) (clear nix4) (on zuc5 bba1) (on-table nix4) (on gij2 zuc5) (clear hrp3)",
"(on-table bba1) (holding nix4) (on hrp3 gij2) (on zuc5 bba1) (on gij2 zuc5) (clear hrp3)",
"(on nix4 hrp3) (on zuc5 bba1) (arm-empty) (on-table bba1) (on gij2 zuc5) (on hrp3 gij2) (clear nix4)"
] |
file_201044
|
GOAL: (clear jta2) (on lef4 eqq1) (on-table eqq1) (holding ryi5) (on jta2 lef4) (clear yxj3) (on-table yxj3)
|
GOAL: (clear jta2) (on lef4 eqq1) (on-table eqq1) (holding ryi5) (on jta2 lef4) (clear yxj3) (on-table yxj3)
STATE: (on yxj3 lef4) (clear jta2) (on lef4 eqq1) (on-table jta2) (on-table eqq1) (holding ryi5) (clear yxj3)
|
[
[
"stack ryi5 jta2"
],
[
"unstack yxj3 lef4"
],
[
"put-down yxj3"
],
[
"unstack ryi5 jta2"
],
[
"stack ryi5 yxj3"
],
[
"pick-up jta2"
],
[
"stack jta2 lef4"
],
[
"unstack ryi5 yxj3"
]
] |
[
"(on yxj3 lef4) (on lef4 eqq1) (arm-empty) (on-table jta2) (on-table eqq1) (on ryi5 jta2) (clear yxj3) (clear ryi5)",
"(on lef4 eqq1) (on-table jta2) (on-table eqq1) (on ryi5 jta2) (clear lef4) (holding yxj3) (clear ryi5)",
"(on lef4 eqq1) (arm-empty) (on-table jta2) (on ryi5 jta2) (clear lef4) (clear ryi5) (on-table eqq1) (clear yxj3) (on-table yxj3)",
"(clear jta2) (on lef4 eqq1) (on-table jta2) (on-table eqq1) (clear lef4) (holding ryi5) (clear yxj3) (on-table yxj3)",
"(clear jta2) (on lef4 eqq1) (arm-empty) (on-table jta2) (on-table eqq1) (clear lef4) (on ryi5 yxj3) (on-table yxj3) (clear ryi5)",
"(on lef4 eqq1) (on-table eqq1) (clear lef4) (on ryi5 yxj3) (holding jta2) (on-table yxj3) (clear ryi5)",
"(clear jta2) (on lef4 eqq1) (arm-empty) (on-table eqq1) (on ryi5 yxj3) (on jta2 lef4) (on-table yxj3) (clear ryi5)",
"(clear jta2) (on lef4 eqq1) (on-table eqq1) (holding ryi5) (on jta2 lef4) (clear yxj3) (on-table yxj3)"
] |
file_227917
|
GOAL: (holding xor2) (on amj3 dke1) (clear amj3) (on-table dke1)
|
GOAL: (holding xor2) (on amj3 dke1) (clear amj3) (on-table dke1)
STATE: (arm-empty) (on-table xor2) (on amj3 dke1) (clear amj3) (on dke1 xor2)
|
[
[
"unstack amj3 dke1"
],
[
"put-down amj3"
],
[
"unstack dke1 xor2"
],
[
"put-down dke1"
],
[
"pick-up amj3"
],
[
"stack amj3 dke1"
],
[
"pick-up xor2"
]
] |
[
"(on-table xor2) (on dke1 xor2) (clear dke1) (holding amj3)",
"(arm-empty) (on-table xor2) (clear amj3) (on dke1 xor2) (clear dke1) (on-table amj3)",
"(holding dke1) (clear xor2) (on-table xor2) (clear amj3) (on-table amj3)",
"(clear xor2) (arm-empty) (on-table xor2) (on-table dke1) (clear amj3) (clear dke1) (on-table amj3)",
"(clear xor2) (on-table xor2) (on-table dke1) (holding amj3) (clear dke1)",
"(on amj3 dke1) (clear xor2) (arm-empty) (on-table xor2) (on-table dke1) (clear amj3)",
"(holding xor2) (on amj3 dke1) (clear amj3) (on-table dke1)"
] |
file_78305
|
GOAL: (on-table tnw1) (clear fkv4) (on lch5 tnw1) (on fkv4 dvj3) (holding rsk2) (on-table dvj3) (clear lch5)
|
GOAL: (on-table tnw1) (clear fkv4) (on lch5 tnw1) (on fkv4 dvj3) (holding rsk2) (on-table dvj3) (clear lch5)
STATE: (on-table rsk2) (on-table tnw1) (on dvj3 rsk2) (clear fkv4) (on fkv4 dvj3) (holding lch5) (clear tnw1)
|
[
[
"stack lch5 tnw1"
],
[
"unstack fkv4 dvj3"
],
[
"put-down fkv4"
],
[
"unstack dvj3 rsk2"
],
[
"put-down dvj3"
],
[
"pick-up fkv4"
],
[
"stack fkv4 dvj3"
],
[
"pick-up rsk2"
]
] |
[
"(arm-empty) (on-table rsk2) (clear fkv4) (clear lch5) (on-table tnw1) (on dvj3 rsk2) (on fkv4 dvj3) (on lch5 tnw1)",
"(on-table rsk2) (on-table tnw1) (holding fkv4) (on dvj3 rsk2) (on lch5 tnw1) (clear dvj3) (clear lch5)",
"(arm-empty) (on-table rsk2) (clear fkv4) (clear lch5) (on-table tnw1) (on dvj3 rsk2) (on lch5 tnw1) (on-table fkv4) (clear dvj3)",
"(clear rsk2) (on-table rsk2) (on-table tnw1) (clear fkv4) (on lch5 tnw1) (on-table fkv4) (holding dvj3) (clear lch5)",
"(clear rsk2) (arm-empty) (on-table rsk2) (on-table tnw1) (clear fkv4) (on lch5 tnw1) (on-table fkv4) (clear dvj3) (on-table dvj3) (clear lch5)",
"(clear rsk2) (on-table rsk2) (on-table tnw1) (holding fkv4) (on lch5 tnw1) (clear dvj3) (on-table dvj3) (clear lch5)",
"(clear rsk2) (arm-empty) (on-table rsk2) (on-table tnw1) (clear fkv4) (on lch5 tnw1) (on fkv4 dvj3) (on-table dvj3) (clear lch5)",
"(on-table tnw1) (clear fkv4) (on lch5 tnw1) (on fkv4 dvj3) (holding rsk2) (on-table dvj3) (clear lch5)"
] |
file_119532
|
GOAL: (on fua4 ikn1) (on-table ikn1) (clear fua4) (on mcv5 xlc3) (holding onk2) (on-table xlc3) (clear mcv5)
|
GOAL: (on fua4 ikn1) (on-table ikn1) (clear fua4) (on mcv5 xlc3) (holding onk2) (on-table xlc3) (clear mcv5)
STATE: (clear onk2) (on fua4 ikn1) (on-table ikn1) (holding mcv5) (on onk2 fua4) (clear xlc3) (on-table xlc3)
|
[
[
"stack mcv5 xlc3"
],
[
"unstack onk2 fua4"
]
] |
[
"(clear onk2) (on fua4 ikn1) (arm-empty) (on-table ikn1) (on mcv5 xlc3) (on onk2 fua4) (on-table xlc3) (clear mcv5)",
"(on fua4 ikn1) (on-table ikn1) (clear fua4) (on mcv5 xlc3) (holding onk2) (on-table xlc3) (clear mcv5)"
] |
file_87911
|
GOAL: (on dhb1 skx3) (arm-empty) (on-table ozu2) (on skx3 ozu2) (clear dhb1)
|
GOAL: (on dhb1 skx3) (arm-empty) (on-table ozu2) (on skx3 ozu2) (clear dhb1)
STATE: (on-table dhb1) (on ozu2 dhb1) (clear ozu2) (holding skx3)
|
[
[
"put-down skx3"
],
[
"unstack ozu2 dhb1"
],
[
"put-down ozu2"
],
[
"pick-up skx3"
],
[
"stack skx3 ozu2"
],
[
"pick-up dhb1"
],
[
"stack dhb1 skx3"
]
] |
[
"(clear ozu2) (arm-empty) (on-table dhb1) (on ozu2 dhb1) (clear skx3) (on-table skx3)",
"(holding ozu2) (on-table dhb1) (clear skx3) (clear dhb1) (on-table skx3)",
"(clear ozu2) (arm-empty) (on-table ozu2) (on-table dhb1) (clear skx3) (clear dhb1) (on-table skx3)",
"(clear ozu2) (on-table ozu2) (on-table dhb1) (holding skx3) (clear dhb1)",
"(arm-empty) (on-table ozu2) (clear skx3) (on-table dhb1) (on skx3 ozu2) (clear dhb1)",
"(holding dhb1) (on skx3 ozu2) (on-table ozu2) (clear skx3)",
"(on dhb1 skx3) (arm-empty) (on-table ozu2) (on skx3 ozu2) (clear dhb1)"
] |
file_53146
|
GOAL: (on-table evg2) (clear wib4) (holding wez5) (on-table wib4) (clear pby3) (on nsh1 evg2) (clear nsh1) (on-table pby3)
|
GOAL: (on-table evg2) (clear wib4) (holding wez5) (on-table wib4) (clear pby3) (on nsh1 evg2) (clear nsh1) (on-table pby3)
STATE: (arm-empty) (on-table wez5) (on-table nsh1) (on pby3 evg2) (clear wib4) (on-table wib4) (on evg2 nsh1) (clear pby3) (clear wez5)
|
[
[
"pick-up wez5"
],
[
"stack wez5 wib4"
],
[
"unstack pby3 evg2"
],
[
"stack pby3 wez5"
],
[
"unstack evg2 nsh1"
],
[
"put-down evg2"
],
[
"pick-up nsh1"
],
[
"stack nsh1 evg2"
],
[
"unstack pby3 wez5"
],
[
"put-down pby3"
],
[
"unstack wez5 wib4"
]
] |
[
"(on-table nsh1) (on pby3 evg2) (clear wib4) (holding wez5) (on-table wib4) (on evg2 nsh1) (clear pby3)",
"(arm-empty) (on wez5 wib4) (on-table nsh1) (on pby3 evg2) (on-table wib4) (on evg2 nsh1) (clear pby3) (clear wez5)",
"(clear evg2) (on wez5 wib4) (on-table nsh1) (on-table wib4) (on evg2 nsh1) (holding pby3) (clear wez5)",
"(clear evg2) (on pby3 wez5) (on wez5 wib4) (arm-empty) (on-table nsh1) (on-table wib4) (on evg2 nsh1) (clear pby3)",
"(on pby3 wez5) (on wez5 wib4) (on-table nsh1) (on-table wib4) (holding evg2) (clear pby3) (clear nsh1)",
"(on pby3 wez5) (arm-empty) (on wez5 wib4) (on-table evg2) (clear evg2) (on-table nsh1) (on-table wib4) (clear pby3) (clear nsh1)",
"(holding nsh1) (on pby3 wez5) (on wez5 wib4) (on-table evg2) (clear evg2) (on-table wib4) (clear pby3)",
"(on pby3 wez5) (arm-empty) (on wez5 wib4) (on-table evg2) (on-table wib4) (clear pby3) (on nsh1 evg2) (clear nsh1)",
"(on wez5 wib4) (on-table evg2) (on-table wib4) (on nsh1 evg2) (clear nsh1) (holding pby3) (clear wez5)",
"(arm-empty) (on wez5 wib4) (on-table evg2) (on nsh1 evg2) (clear wez5) (on-table wib4) (clear pby3) (clear nsh1) (on-table pby3)",
"(on-table evg2) (clear wib4) (holding wez5) (on-table wib4) (clear pby3) (on nsh1 evg2) (clear nsh1) (on-table pby3)"
] |
file_10515
|
GOAL: (clear ysz2) (on-table ysz2) (on-table voq5) (holding ulj4) (on-table grw1) (clear zme3) (clear grw1) (on-table zme3) (clear voq5)
|
GOAL: (clear ysz2) (on-table ysz2) (on-table voq5) (holding ulj4) (on-table grw1) (clear zme3) (clear grw1) (on-table zme3) (clear voq5)
STATE: (on zme3 ulj4) (arm-empty) (on-table voq5) (on ulj4 voq5) (on ysz2 zme3) (on grw1 ysz2) (clear grw1)
|
[
[
"unstack grw1 ysz2"
],
[
"put-down grw1"
],
[
"unstack ysz2 zme3"
],
[
"put-down ysz2"
],
[
"unstack zme3 ulj4"
],
[
"put-down zme3"
],
[
"unstack ulj4 voq5"
]
] |
[
"(on-table voq5) (on ulj4 voq5) (holding grw1) (on zme3 ulj4) (clear ysz2) (on ysz2 zme3)",
"(arm-empty) (on-table voq5) (on ulj4 voq5) (on zme3 ulj4) (clear ysz2) (on-table grw1) (on ysz2 zme3) (clear grw1)",
"(on zme3 ulj4) (on-table voq5) (on ulj4 voq5) (on-table grw1) (holding ysz2) (clear zme3) (clear grw1)",
"(arm-empty) (on-table ysz2) (on-table voq5) (on ulj4 voq5) (on zme3 ulj4) (clear ysz2) (on-table grw1) (clear zme3) (clear grw1)",
"(clear ysz2) (on-table ysz2) (on-table voq5) (on ulj4 voq5) (on-table grw1) (clear ulj4) (holding zme3) (clear grw1)",
"(clear ysz2) (arm-empty) (on-table ysz2) (on-table voq5) (on ulj4 voq5) (on-table grw1) (clear ulj4) (clear zme3) (clear grw1) (on-table zme3)",
"(clear ysz2) (on-table ysz2) (on-table voq5) (holding ulj4) (on-table grw1) (clear zme3) (clear grw1) (on-table zme3) (clear voq5)"
] |
file_223094
|
GOAL: (on uzt3 kcw4) (clear nlt2) (arm-empty) (on-table nlt2) (on-table hls5) (on-table exe1) (on kcw4 hls5) (clear uzt3) (clear exe1)
|
GOAL: (on uzt3 kcw4) (clear nlt2) (arm-empty) (on-table nlt2) (on-table hls5) (on-table exe1) (on kcw4 hls5) (clear uzt3) (clear exe1)
STATE: (on kcw4 hls5) (on-table exe1) (clear kcw4) (on hls5 uzt3) (holding nlt2) (on uzt3 exe1)
|
[
[
"put-down nlt2"
],
[
"unstack kcw4 hls5"
],
[
"put-down kcw4"
],
[
"unstack hls5 uzt3"
],
[
"put-down hls5"
],
[
"unstack uzt3 exe1"
],
[
"stack uzt3 nlt2"
],
[
"pick-up kcw4"
],
[
"stack kcw4 hls5"
],
[
"unstack uzt3 nlt2"
],
[
"stack uzt3 kcw4"
]
] |
[
"(arm-empty) (on-table nlt2) (on kcw4 hls5) (clear kcw4) (on hls5 uzt3) (on uzt3 exe1) (clear nlt2) (on-table exe1)",
"(clear nlt2) (on-table nlt2) (on-table exe1) (holding kcw4) (on hls5 uzt3) (on uzt3 exe1) (clear hls5)",
"(arm-empty) (on-table nlt2) (clear kcw4) (on hls5 uzt3) (on uzt3 exe1) (clear hls5) (clear nlt2) (on-table exe1) (on-table kcw4)",
"(clear nlt2) (on-table nlt2) (on-table exe1) (clear kcw4) (holding hls5) (on-table kcw4) (on uzt3 exe1) (clear uzt3)",
"(clear nlt2) (arm-empty) (on-table nlt2) (on-table hls5) (on-table exe1) (clear kcw4) (on-table kcw4) (on uzt3 exe1) (clear uzt3) (clear hls5)",
"(clear nlt2) (on-table nlt2) (on-table hls5) (on-table exe1) (clear kcw4) (on-table kcw4) (holding uzt3) (clear exe1) (clear hls5)",
"(arm-empty) (on-table nlt2) (on-table hls5) (on-table exe1) (on uzt3 nlt2) (clear kcw4) (on-table kcw4) (clear uzt3) (clear exe1) (clear hls5)",
"(on-table nlt2) (on-table hls5) (on-table exe1) (holding kcw4) (on uzt3 nlt2) (clear uzt3) (clear exe1) (clear hls5)",
"(arm-empty) (on-table nlt2) (on-table hls5) (on-table exe1) (on kcw4 hls5) (on uzt3 nlt2) (clear kcw4) (clear uzt3) (clear exe1)",
"(clear nlt2) (on-table nlt2) (on-table hls5) (on-table exe1) (on kcw4 hls5) (clear kcw4) (holding uzt3) (clear exe1)",
"(on uzt3 kcw4) (clear nlt2) (arm-empty) (on-table nlt2) (on-table hls5) (on-table exe1) (on kcw4 hls5) (clear uzt3) (clear exe1)"
] |
file_118430
|
GOAL: (clear kks2) (arm-empty) (on-table vio5) (on vmt4 vio5) (on-table toi1) (clear vmt4) (on kks2 pef3) (clear toi1) (on-table pef3)
|
GOAL: (clear kks2) (arm-empty) (on-table vio5) (on vmt4 vio5) (on-table toi1) (clear vmt4) (on kks2 pef3) (clear toi1) (on-table pef3)
STATE: (arm-empty) (on-table kks2) (on vmt4 vio5) (clear vmt4) (on vio5 pef3) (on pef3 toi1) (on toi1 kks2)
|
[
[
"unstack vmt4 vio5"
],
[
"put-down vmt4"
],
[
"unstack vio5 pef3"
],
[
"put-down vio5"
],
[
"pick-up vmt4"
],
[
"stack vmt4 vio5"
],
[
"unstack pef3 toi1"
],
[
"put-down pef3"
],
[
"unstack toi1 kks2"
],
[
"put-down toi1"
],
[
"pick-up kks2"
],
[
"stack kks2 pef3"
]
] |
[
"(on-table kks2) (holding vmt4) (on vio5 pef3) (on pef3 toi1) (on toi1 kks2) (clear vio5)",
"(arm-empty) (on-table kks2) (clear vmt4) (on vio5 pef3) (on pef3 toi1) (on toi1 kks2) (clear vio5) (on-table vmt4)",
"(on-table kks2) (clear vmt4) (holding vio5) (on-table vmt4) (on pef3 toi1) (clear pef3) (on toi1 kks2)",
"(arm-empty) (on-table kks2) (on-table vio5) (clear vmt4) (on pef3 toi1) (on toi1 kks2) (clear vio5) (on-table vmt4) (clear pef3)",
"(on-table kks2) (on-table vio5) (holding vmt4) (on pef3 toi1) (clear pef3) (on toi1 kks2) (clear vio5)",
"(arm-empty) (on-table kks2) (on-table vio5) (on vmt4 vio5) (clear vmt4) (on pef3 toi1) (clear pef3) (on toi1 kks2)",
"(on-table kks2) (on-table vio5) (on vmt4 vio5) (clear vmt4) (on toi1 kks2) (clear toi1) (holding pef3)",
"(arm-empty) (on-table kks2) (on-table vio5) (on vmt4 vio5) (clear vmt4) (on toi1 kks2) (clear pef3) (clear toi1) (on-table pef3)",
"(holding toi1) (clear kks2) (on-table kks2) (on-table vio5) (on vmt4 vio5) (clear vmt4) (clear pef3) (on-table pef3)",
"(clear kks2) (arm-empty) (on-table kks2) (on-table vio5) (on vmt4 vio5) (on-table toi1) (clear vmt4) (clear pef3) (clear toi1) (on-table pef3)",
"(on-table vio5) (on vmt4 vio5) (on-table toi1) (clear vmt4) (holding kks2) (clear pef3) (clear toi1) (on-table pef3)",
"(clear kks2) (arm-empty) (on-table vio5) (on vmt4 vio5) (on-table toi1) (clear vmt4) (on kks2 pef3) (clear toi1) (on-table pef3)"
] |
file_201776
|
GOAL: (on vwr1 wzy5) (on-table wzy5) (clear jmq4) (on-table jmq4) (holding xer2) (on eih3 vwr1) (clear eih3)
|
GOAL: (on vwr1 wzy5) (on-table wzy5) (clear jmq4) (on-table jmq4) (holding xer2) (on eih3 vwr1) (clear eih3)
STATE: (on vwr1 eih3) (arm-empty) (clear jmq4) (on wzy5 vwr1) (on jmq4 xer2) (on xer2 wzy5) (on-table eih3)
|
[
[
"unstack jmq4 xer2"
],
[
"put-down jmq4"
],
[
"unstack xer2 wzy5"
],
[
"stack xer2 jmq4"
],
[
"unstack wzy5 vwr1"
],
[
"put-down wzy5"
],
[
"unstack vwr1 eih3"
],
[
"stack vwr1 wzy5"
],
[
"pick-up eih3"
],
[
"stack eih3 vwr1"
],
[
"unstack xer2 jmq4"
]
] |
[
"(on wzy5 vwr1) (clear xer2) (on vwr1 eih3) (holding jmq4) (on xer2 wzy5) (on-table eih3)",
"(on vwr1 eih3) (arm-empty) (clear jmq4) (on xer2 wzy5) (clear xer2) (on wzy5 vwr1) (on-table jmq4) (on-table eih3)",
"(on vwr1 eih3) (clear jmq4) (on wzy5 vwr1) (on-table jmq4) (holding xer2) (on-table eih3) (clear wzy5)",
"(clear xer2) (on vwr1 eih3) (arm-empty) (on wzy5 vwr1) (on-table jmq4) (on xer2 jmq4) (on-table eih3) (clear wzy5)",
"(clear xer2) (on vwr1 eih3) (holding wzy5) (on-table jmq4) (on xer2 jmq4) (clear vwr1) (on-table eih3)",
"(on vwr1 eih3) (arm-empty) (on-table wzy5) (on xer2 jmq4) (clear wzy5) (clear xer2) (on-table jmq4) (clear vwr1) (on-table eih3)",
"(holding vwr1) (clear xer2) (on-table wzy5) (on-table jmq4) (on xer2 jmq4) (clear eih3) (on-table eih3) (clear wzy5)",
"(on vwr1 wzy5) (clear xer2) (arm-empty) (on-table wzy5) (on-table jmq4) (on xer2 jmq4) (clear eih3) (clear vwr1) (on-table eih3)",
"(on vwr1 wzy5) (clear xer2) (on-table wzy5) (on-table jmq4) (on xer2 jmq4) (holding eih3) (clear vwr1)",
"(on vwr1 wzy5) (clear xer2) (arm-empty) (on-table wzy5) (on xer2 jmq4) (on-table jmq4) (on eih3 vwr1) (clear eih3)",
"(on vwr1 wzy5) (on-table wzy5) (clear jmq4) (on-table jmq4) (holding xer2) (on eih3 vwr1) (clear eih3)"
] |
file_154878
|
GOAL: (clear cey2) (on iyu5 kso4) (on-table cey2) (on-table ogk1) (on-table kso4) (holding pgi3) (clear ogk1) (clear iyu5)
|
GOAL: (clear cey2) (on iyu5 kso4) (on-table cey2) (on-table ogk1) (on-table kso4) (holding pgi3) (clear ogk1) (clear iyu5)
STATE: (on pgi3 iyu5) (arm-empty) (on iyu5 kso4) (on-table kso4) (on cey2 pgi3) (on ogk1 cey2) (clear ogk1)
|
[
[
"unstack ogk1 cey2"
],
[
"put-down ogk1"
],
[
"unstack cey2 pgi3"
],
[
"stack cey2 ogk1"
],
[
"unstack pgi3 iyu5"
],
[
"put-down pgi3"
],
[
"unstack cey2 ogk1"
],
[
"stack cey2 iyu5"
],
[
"pick-up pgi3"
],
[
"stack pgi3 ogk1"
],
[
"unstack cey2 iyu5"
],
[
"put-down cey2"
],
[
"unstack pgi3 ogk1"
]
] |
[
"(on pgi3 iyu5) (on iyu5 kso4) (holding ogk1) (clear cey2) (on-table kso4) (on cey2 pgi3)",
"(on pgi3 iyu5) (arm-empty) (on iyu5 kso4) (clear cey2) (on-table ogk1) (on-table kso4) (on cey2 pgi3) (clear ogk1)",
"(on pgi3 iyu5) (on iyu5 kso4) (on-table ogk1) (on-table kso4) (holding cey2) (clear pgi3) (clear ogk1)",
"(on pgi3 iyu5) (clear cey2) (on iyu5 kso4) (arm-empty) (on-table ogk1) (on-table kso4) (on cey2 ogk1) (clear pgi3)",
"(clear cey2) (on iyu5 kso4) (on-table ogk1) (on-table kso4) (on cey2 ogk1) (holding pgi3) (clear iyu5)",
"(arm-empty) (on iyu5 kso4) (on cey2 ogk1) (clear iyu5) (clear cey2) (on-table ogk1) (on-table kso4) (clear pgi3) (on-table pgi3)",
"(on iyu5 kso4) (on-table ogk1) (on-table kso4) (holding cey2) (clear pgi3) (clear ogk1) (on-table pgi3) (clear iyu5)",
"(clear cey2) (arm-empty) (on iyu5 kso4) (on-table ogk1) (on-table kso4) (on cey2 iyu5) (clear pgi3) (clear ogk1) (on-table pgi3)",
"(clear cey2) (on iyu5 kso4) (on-table ogk1) (on-table kso4) (on cey2 iyu5) (holding pgi3) (clear ogk1)",
"(clear cey2) (arm-empty) (on iyu5 kso4) (on-table ogk1) (on-table kso4) (on pgi3 ogk1) (on cey2 iyu5) (clear pgi3)",
"(on iyu5 kso4) (on-table ogk1) (on-table kso4) (holding cey2) (on pgi3 ogk1) (clear pgi3) (clear iyu5)",
"(arm-empty) (on iyu5 kso4) (on-table cey2) (on pgi3 ogk1) (clear iyu5) (clear cey2) (on-table ogk1) (on-table kso4) (clear pgi3)",
"(clear cey2) (on iyu5 kso4) (on-table cey2) (on-table ogk1) (on-table kso4) (holding pgi3) (clear ogk1) (clear iyu5)"
] |
file_122184
|
GOAL: (holding fff1) (clear rvj2) (on ccg3 egk5) (on-table rvj2) (on-table egk5) (clear crj4) (on-table crj4) (clear ccg3)
|
GOAL: (holding fff1) (clear rvj2) (on ccg3 egk5) (on-table rvj2) (on-table egk5) (clear crj4) (on-table crj4) (clear ccg3)
STATE: (on fff1 egk5) (arm-empty) (on egk5 rvj2) (on crj4 ccg3) (on rvj2 crj4) (clear fff1) (on-table ccg3)
|
[
[
"unstack fff1 egk5"
],
[
"put-down fff1"
],
[
"unstack egk5 rvj2"
],
[
"stack egk5 fff1"
],
[
"unstack rvj2 crj4"
],
[
"put-down rvj2"
],
[
"unstack crj4 ccg3"
],
[
"put-down crj4"
],
[
"pick-up ccg3"
],
[
"stack ccg3 crj4"
],
[
"unstack egk5 fff1"
],
[
"put-down egk5"
],
[
"unstack ccg3 crj4"
],
[
"stack ccg3 egk5"
],
[
"pick-up fff1"
]
] |
[
"(on egk5 rvj2) (on rvj2 crj4) (clear egk5) (holding fff1) (on crj4 ccg3) (on-table ccg3)",
"(arm-empty) (on egk5 rvj2) (on rvj2 crj4) (clear egk5) (on-table fff1) (on crj4 ccg3) (clear fff1) (on-table ccg3)",
"(clear rvj2) (on-table fff1) (on crj4 ccg3) (holding egk5) (on rvj2 crj4) (clear fff1) (on-table ccg3)",
"(on crj4 ccg3) (on egk5 fff1) (clear rvj2) (arm-empty) (on-table fff1) (on rvj2 crj4) (on-table ccg3) (clear egk5)",
"(on-table fff1) (clear crj4) (on crj4 ccg3) (on egk5 fff1) (holding rvj2) (on-table ccg3) (clear egk5)",
"(arm-empty) (on-table rvj2) (clear crj4) (clear egk5) (clear rvj2) (on-table fff1) (on crj4 ccg3) (on egk5 fff1) (on-table ccg3)",
"(clear rvj2) (on-table rvj2) (on-table fff1) (holding crj4) (on egk5 fff1) (clear ccg3) (on-table ccg3) (clear egk5)",
"(clear rvj2) (arm-empty) (on-table rvj2) (on-table fff1) (clear crj4) (on egk5 fff1) (on-table crj4) (clear ccg3) (on-table ccg3) (clear egk5)",
"(clear rvj2) (on-table rvj2) (on-table fff1) (clear crj4) (on egk5 fff1) (on-table crj4) (holding ccg3) (clear egk5)",
"(on ccg3 crj4) (clear rvj2) (arm-empty) (on-table rvj2) (on-table fff1) (on egk5 fff1) (on-table crj4) (clear ccg3) (clear egk5)",
"(on ccg3 crj4) (clear rvj2) (on-table rvj2) (on-table fff1) (holding egk5) (on-table crj4) (clear ccg3) (clear fff1)",
"(on ccg3 crj4) (clear rvj2) (arm-empty) (on-table rvj2) (on-table egk5) (on-table fff1) (on-table crj4) (clear ccg3) (clear fff1) (clear egk5)",
"(clear rvj2) (on-table rvj2) (on-table egk5) (on-table fff1) (clear crj4) (on-table crj4) (holding ccg3) (clear fff1) (clear egk5)",
"(clear rvj2) (on ccg3 egk5) (arm-empty) (on-table rvj2) (on-table egk5) (on-table fff1) (clear crj4) (on-table crj4) (clear ccg3) (clear fff1)",
"(holding fff1) (clear rvj2) (on ccg3 egk5) (on-table rvj2) (on-table egk5) (clear crj4) (on-table crj4) (clear ccg3)"
] |
file_78817
|
GOAL: (holding zzk1) (clear qgw2) (on-table qgw2) (clear gzt4) (on nxd5 ymz3) (on-table gzt4) (on-table ymz3) (clear nxd5)
|
GOAL: (holding zzk1) (clear qgw2) (on-table qgw2) (clear gzt4) (on nxd5 ymz3) (on-table gzt4) (on-table ymz3) (clear nxd5)
STATE: (clear qgw2) (on zzk1 ymz3) (on-table qgw2) (clear gzt4) (holding nxd5) (on-table gzt4) (clear zzk1) (on-table ymz3)
|
[
[
"put-down nxd5"
],
[
"unstack zzk1 ymz3"
],
[
"stack zzk1 gzt4"
],
[
"pick-up nxd5"
],
[
"stack nxd5 ymz3"
],
[
"unstack zzk1 gzt4"
]
] |
[
"(clear qgw2) (on zzk1 ymz3) (arm-empty) (on-table qgw2) (on-table nxd5) (clear gzt4) (on-table gzt4) (clear zzk1) (on-table ymz3) (clear nxd5)",
"(holding zzk1) (clear qgw2) (on-table qgw2) (on-table nxd5) (clear gzt4) (on-table gzt4) (clear ymz3) (on-table ymz3) (clear nxd5)",
"(clear qgw2) (arm-empty) (on-table qgw2) (on-table nxd5) (on-table gzt4) (on zzk1 gzt4) (clear ymz3) (clear zzk1) (on-table ymz3) (clear nxd5)",
"(clear qgw2) (on-table qgw2) (holding nxd5) (on-table gzt4) (on zzk1 gzt4) (clear ymz3) (clear zzk1) (on-table ymz3)",
"(clear qgw2) (arm-empty) (on-table qgw2) (on nxd5 ymz3) (on-table gzt4) (on zzk1 gzt4) (clear zzk1) (on-table ymz3) (clear nxd5)",
"(holding zzk1) (clear qgw2) (on-table qgw2) (clear gzt4) (on nxd5 ymz3) (on-table gzt4) (on-table ymz3) (clear nxd5)"
] |
file_218332
|
GOAL: (on vls3 gpq5) (on pfc4 fmf1) (arm-empty) (on-table tkx2) (on-table gpq5) (clear pfc4) (clear tkx2) (on-table fmf1) (clear vls3)
|
GOAL: (on vls3 gpq5) (on pfc4 fmf1) (arm-empty) (on-table tkx2) (on-table gpq5) (clear pfc4) (clear tkx2) (on-table fmf1) (clear vls3)
STATE: (clear tkx2) (on pfc4 fmf1) (on-table fmf1) (holding gpq5) (on tkx2 pfc4) (clear vls3) (on-table vls3)
|
[
[
"put-down gpq5"
],
[
"pick-up vls3"
],
[
"stack vls3 gpq5"
],
[
"unstack tkx2 pfc4"
],
[
"put-down tkx2"
]
] |
[
"(on pfc4 fmf1) (arm-empty) (on-table gpq5) (on tkx2 pfc4) (clear gpq5) (clear tkx2) (on-table fmf1) (clear vls3) (on-table vls3)",
"(clear tkx2) (on pfc4 fmf1) (on-table gpq5) (on-table fmf1) (on tkx2 pfc4) (holding vls3) (clear gpq5)",
"(clear tkx2) (on pfc4 fmf1) (on vls3 gpq5) (arm-empty) (on-table gpq5) (on-table fmf1) (on tkx2 pfc4) (clear vls3)",
"(on pfc4 fmf1) (on vls3 gpq5) (on-table gpq5) (on-table fmf1) (clear pfc4) (holding tkx2) (clear vls3)",
"(on vls3 gpq5) (on pfc4 fmf1) (arm-empty) (on-table tkx2) (on-table gpq5) (clear pfc4) (clear tkx2) (on-table fmf1) (clear vls3)"
] |
file_88040
|
GOAL: (on drc3 imt5) (on dif1 drc3) (arm-empty) (on-table vbb2) (on-table imt5) (clear wch4) (clear vbb2) (on-table wch4) (clear dif1)
|
GOAL: (on drc3 imt5) (on dif1 drc3) (arm-empty) (on-table vbb2) (on-table imt5) (clear wch4) (clear vbb2) (on-table wch4) (clear dif1)
STATE: (clear vbb2) (on drc3 imt5) (arm-empty) (on-table vbb2) (on-table imt5) (on-table dif1) (clear wch4) (on wch4 drc3) (clear dif1)
|
[
[
"unstack wch4 drc3"
],
[
"stack wch4 vbb2"
],
[
"pick-up dif1"
],
[
"stack dif1 drc3"
],
[
"unstack wch4 vbb2"
],
[
"put-down wch4"
]
] |
[
"(clear vbb2) (on drc3 imt5) (on-table vbb2) (on-table imt5) (on-table dif1) (holding wch4) (clear drc3) (clear dif1)",
"(on drc3 imt5) (arm-empty) (on-table vbb2) (on-table imt5) (on-table dif1) (clear wch4) (on wch4 vbb2) (clear drc3) (clear dif1)",
"(holding dif1) (on drc3 imt5) (on-table vbb2) (on-table imt5) (clear wch4) (on wch4 vbb2) (clear drc3)",
"(on drc3 imt5) (on dif1 drc3) (arm-empty) (on-table vbb2) (on-table imt5) (clear wch4) (on wch4 vbb2) (clear dif1)",
"(on drc3 imt5) (on dif1 drc3) (on-table vbb2) (on-table imt5) (clear vbb2) (holding wch4) (clear dif1)",
"(on drc3 imt5) (on dif1 drc3) (arm-empty) (on-table vbb2) (on-table imt5) (clear wch4) (clear vbb2) (on-table wch4) (clear dif1)"
] |
file_92064
|
GOAL: (holding sbi4) (on-table mlj2) (on dul3 mjw1) (clear dul3) (on mjw1 mlj2)
|
GOAL: (holding sbi4) (on-table mlj2) (on dul3 mjw1) (clear dul3) (on mjw1 mlj2)
STATE: (clear mlj2) (arm-empty) (on-table sbi4) (on mjw1 sbi4) (on mlj2 mjw1) (clear dul3) (on-table dul3)
|
[
[
"unstack mlj2 mjw1"
],
[
"put-down mlj2"
],
[
"unstack mjw1 sbi4"
],
[
"stack mjw1 mlj2"
],
[
"pick-up dul3"
],
[
"stack dul3 mjw1"
],
[
"pick-up sbi4"
]
] |
[
"(on mjw1 sbi4) (on-table sbi4) (holding mlj2) (clear dul3) (clear mjw1) (on-table dul3)",
"(arm-empty) (on-table mlj2) (clear mlj2) (on-table sbi4) (on mjw1 sbi4) (clear dul3) (clear mjw1) (on-table dul3)",
"(holding mjw1) (clear mlj2) (on-table mlj2) (clear sbi4) (on-table sbi4) (clear dul3) (on-table dul3)",
"(arm-empty) (on-table mlj2) (clear sbi4) (on-table sbi4) (clear dul3) (on mjw1 mlj2) (clear mjw1) (on-table dul3)",
"(on-table mlj2) (clear sbi4) (on-table sbi4) (on mjw1 mlj2) (clear mjw1) (holding dul3)",
"(arm-empty) (on-table mlj2) (clear sbi4) (on-table sbi4) (on dul3 mjw1) (clear dul3) (on mjw1 mlj2)",
"(holding sbi4) (on-table mlj2) (on dul3 mjw1) (clear dul3) (on mjw1 mlj2)"
] |
file_18229
|
GOAL: (on pln3 hcd5) (arm-empty) (on-table oxy2) (on hcd5 qcm1) (on qcm1 mao4) (on mao4 oxy2) (clear pln3)
|
GOAL: (on pln3 hcd5) (arm-empty) (on-table oxy2) (on hcd5 qcm1) (on qcm1 mao4) (on mao4 oxy2) (clear pln3)
STATE: (on qcm1 hcd5) (arm-empty) (on hcd5 mao4) (on-table oxy2) (on mao4 oxy2) (clear pln3) (clear qcm1) (on-table pln3)
|
[
[
"unstack qcm1 hcd5"
],
[
"stack qcm1 pln3"
],
[
"unstack hcd5 mao4"
],
[
"put-down hcd5"
],
[
"unstack qcm1 pln3"
],
[
"stack qcm1 mao4"
],
[
"pick-up hcd5"
],
[
"stack hcd5 qcm1"
],
[
"pick-up pln3"
],
[
"stack pln3 hcd5"
]
] |
[
"(holding qcm1) (on hcd5 mao4) (on-table oxy2) (on mao4 oxy2) (clear pln3) (on-table pln3) (clear hcd5)",
"(on qcm1 pln3) (on hcd5 mao4) (on-table oxy2) (arm-empty) (on mao4 oxy2) (clear qcm1) (on-table pln3) (clear hcd5)",
"(on qcm1 pln3) (on-table oxy2) (clear mao4) (holding hcd5) (on mao4 oxy2) (clear qcm1) (on-table pln3)",
"(on qcm1 pln3) (arm-empty) (on-table oxy2) (on-table hcd5) (clear mao4) (clear hcd5) (on mao4 oxy2) (clear qcm1) (on-table pln3)",
"(holding qcm1) (on-table oxy2) (on-table hcd5) (clear mao4) (on mao4 oxy2) (clear pln3) (on-table pln3) (clear hcd5)",
"(arm-empty) (on-table oxy2) (on-table hcd5) (on qcm1 mao4) (on mao4 oxy2) (clear pln3) (clear qcm1) (on-table pln3) (clear hcd5)",
"(on-table oxy2) (holding hcd5) (on qcm1 mao4) (on mao4 oxy2) (clear pln3) (clear qcm1) (on-table pln3)",
"(arm-empty) (on-table oxy2) (on hcd5 qcm1) (on qcm1 mao4) (on mao4 oxy2) (clear pln3) (on-table pln3) (clear hcd5)",
"(on-table oxy2) (on hcd5 qcm1) (on qcm1 mao4) (on mao4 oxy2) (holding pln3) (clear hcd5)",
"(on pln3 hcd5) (arm-empty) (on-table oxy2) (on hcd5 qcm1) (on qcm1 mao4) (on mao4 oxy2) (clear pln3)"
] |
file_136263
|
GOAL: (on ird1 fks5) (clear jun2) (on ayl4 ird1) (arm-empty) (on-table jun2) (on-table fks5) (clear ayl4) (clear zqk3) (on-table zqk3)
|
GOAL: (on ird1 fks5) (clear jun2) (on ayl4 ird1) (arm-empty) (on-table jun2) (on-table fks5) (clear ayl4) (clear zqk3) (on-table zqk3)
STATE: (on ird1 fks5) (on-table jun2) (holding ayl4) (on fks5 jun2) (on zqk3 ird1) (clear zqk3)
|
[
[
"put-down ayl4"
],
[
"unstack zqk3 ird1"
],
[
"stack zqk3 ayl4"
],
[
"unstack ird1 fks5"
],
[
"stack ird1 zqk3"
],
[
"unstack fks5 jun2"
],
[
"put-down fks5"
],
[
"unstack ird1 zqk3"
],
[
"put-down ird1"
],
[
"unstack zqk3 ayl4"
],
[
"put-down zqk3"
],
[
"pick-up ird1"
],
[
"stack ird1 fks5"
],
[
"pick-up ayl4"
],
[
"stack ayl4 ird1"
]
] |
[
"(on ird1 fks5) (arm-empty) (on-table jun2) (on fks5 jun2) (clear ayl4) (on zqk3 ird1) (on-table ayl4) (clear zqk3)",
"(on ird1 fks5) (on-table jun2) (on fks5 jun2) (clear ayl4) (on-table ayl4) (holding zqk3) (clear ird1)",
"(on ird1 fks5) (on zqk3 ayl4) (arm-empty) (on-table jun2) (on fks5 jun2) (on-table ayl4) (clear zqk3) (clear ird1)",
"(holding ird1) (on zqk3 ayl4) (on-table jun2) (on fks5 jun2) (on-table ayl4) (clear zqk3) (clear fks5)",
"(on zqk3 ayl4) (on ird1 zqk3) (arm-empty) (on-table jun2) (on fks5 jun2) (on-table ayl4) (clear ird1) (clear fks5)",
"(on zqk3 ayl4) (clear jun2) (on ird1 zqk3) (on-table jun2) (holding fks5) (on-table ayl4) (clear ird1)",
"(on ird1 zqk3) (arm-empty) (on-table jun2) (on-table fks5) (clear fks5) (on zqk3 ayl4) (clear jun2) (on-table ayl4) (clear ird1)",
"(holding ird1) (on zqk3 ayl4) (clear jun2) (on-table jun2) (on-table fks5) (on-table ayl4) (clear zqk3) (clear fks5)",
"(on zqk3 ayl4) (clear jun2) (arm-empty) (on-table jun2) (on-table fks5) (on-table ird1) (on-table ayl4) (clear zqk3) (clear ird1) (clear fks5)",
"(clear jun2) (on-table jun2) (on-table fks5) (on-table ird1) (clear ayl4) (on-table ayl4) (holding zqk3) (clear ird1) (clear fks5)",
"(clear jun2) (arm-empty) (on-table jun2) (on-table fks5) (on-table ird1) (clear ayl4) (on-table ayl4) (clear zqk3) (clear ird1) (on-table zqk3) (clear fks5)",
"(holding ird1) (clear jun2) (on-table jun2) (on-table fks5) (clear ayl4) (on-table ayl4) (clear zqk3) (on-table zqk3) (clear fks5)",
"(on ird1 fks5) (clear jun2) (arm-empty) (on-table jun2) (on-table fks5) (clear ayl4) (on-table ayl4) (clear zqk3) (clear ird1) (on-table zqk3)",
"(on ird1 fks5) (clear jun2) (on-table jun2) (on-table fks5) (holding ayl4) (clear zqk3) (clear ird1) (on-table zqk3)",
"(on ird1 fks5) (clear jun2) (on ayl4 ird1) (arm-empty) (on-table jun2) (on-table fks5) (clear ayl4) (clear zqk3) (on-table zqk3)"
] |
file_5966
|
GOAL: (clear fed2) (on-table qod1) (holding oue4) (on jia5 qod1) (on fed2 jia5) (clear wox3) (on-table wox3)
|
GOAL: (clear fed2) (on-table qod1) (holding oue4) (on jia5 qod1) (on fed2 jia5) (clear wox3) (on-table wox3)
STATE: (holding qod1) (on-table fed2) (on jia5 fed2) (clear oue4) (on-table oue4) (clear wox3) (on-table wox3) (clear jia5)
|
[
[
"put-down qod1"
],
[
"unstack jia5 fed2"
],
[
"stack jia5 qod1"
],
[
"pick-up fed2"
],
[
"stack fed2 jia5"
],
[
"pick-up oue4"
]
] |
[
"(arm-empty) (on-table fed2) (on-table qod1) (on jia5 fed2) (clear oue4) (on-table oue4) (clear wox3) (clear qod1) (on-table wox3) (clear jia5)",
"(clear fed2) (on-table fed2) (on-table qod1) (clear oue4) (holding jia5) (on-table oue4) (clear wox3) (clear qod1) (on-table wox3)",
"(clear fed2) (arm-empty) (on-table fed2) (on-table qod1) (clear oue4) (on jia5 qod1) (on-table oue4) (clear wox3) (on-table wox3) (clear jia5)",
"(on-table qod1) (clear oue4) (on jia5 qod1) (on-table oue4) (holding fed2) (clear wox3) (on-table wox3) (clear jia5)",
"(clear fed2) (arm-empty) (on-table qod1) (clear oue4) (on jia5 qod1) (on-table oue4) (on fed2 jia5) (clear wox3) (on-table wox3)",
"(clear fed2) (on-table qod1) (holding oue4) (on jia5 qod1) (on fed2 jia5) (clear wox3) (on-table wox3)"
] |
file_223408
|
GOAL: (arm-empty) (on-table yko2) (on-table yuc5) (on-table cti1) (clear hpt4) (on hpt4 yko2) (clear qit3) (clear cti1) (on-table qit3) (clear yuc5)
|
GOAL: (arm-empty) (on-table yko2) (on-table yuc5) (on-table cti1) (clear hpt4) (on hpt4 yko2) (clear qit3) (clear cti1) (on-table qit3) (clear yuc5)
STATE: (on qit3 hpt4) (clear yko2) (on hpt4 cti1) (arm-empty) (on-table cti1) (on yuc5 qit3) (on yko2 yuc5)
|
[
[
"unstack yko2 yuc5"
],
[
"put-down yko2"
],
[
"unstack yuc5 qit3"
],
[
"stack yuc5 yko2"
],
[
"unstack qit3 hpt4"
],
[
"put-down qit3"
],
[
"unstack hpt4 cti1"
],
[
"stack hpt4 qit3"
],
[
"unstack yuc5 yko2"
],
[
"put-down yuc5"
],
[
"unstack hpt4 qit3"
],
[
"stack hpt4 yko2"
]
] |
[
"(on hpt4 cti1) (on yuc5 qit3) (clear yuc5) (on qit3 hpt4) (on-table cti1) (holding yko2)",
"(on hpt4 cti1) (arm-empty) (on-table yko2) (on yuc5 qit3) (clear yuc5) (on qit3 hpt4) (clear yko2) (on-table cti1)",
"(on qit3 hpt4) (clear yko2) (on hpt4 cti1) (on-table yko2) (on-table cti1) (holding yuc5) (clear qit3)",
"(on qit3 hpt4) (on hpt4 cti1) (arm-empty) (on-table yko2) (on-table cti1) (on yuc5 yko2) (clear qit3) (clear yuc5)",
"(on hpt4 cti1) (on-table yko2) (on-table cti1) (on yuc5 yko2) (clear hpt4) (holding qit3) (clear yuc5)",
"(on hpt4 cti1) (arm-empty) (on-table yko2) (on yuc5 yko2) (clear hpt4) (clear yuc5) (on-table cti1) (clear qit3) (on-table qit3)",
"(on-table yko2) (on-table cti1) (holding hpt4) (on yuc5 yko2) (clear qit3) (clear cti1) (on-table qit3) (clear yuc5)",
"(arm-empty) (on-table yko2) (on-table cti1) (on yuc5 yko2) (clear hpt4) (on hpt4 qit3) (clear cti1) (on-table qit3) (clear yuc5)",
"(clear yko2) (on-table yko2) (on-table cti1) (clear hpt4) (on hpt4 qit3) (holding yuc5) (clear cti1) (on-table qit3)",
"(clear yko2) (arm-empty) (on-table yko2) (on-table yuc5) (on-table cti1) (clear hpt4) (on hpt4 qit3) (clear cti1) (on-table qit3) (clear yuc5)",
"(clear yko2) (on-table yko2) (on-table yuc5) (on-table cti1) (holding hpt4) (clear qit3) (clear cti1) (on-table qit3) (clear yuc5)",
"(arm-empty) (on-table yko2) (on-table yuc5) (on-table cti1) (clear hpt4) (on hpt4 yko2) (clear qit3) (clear cti1) (on-table qit3) (clear yuc5)"
] |
file_173169
|
GOAL: (holding qvx1) (on qrh3 fvw5) (clear rkl2) (on-table fvw5) (on-table zje4) (on rkl2 zje4) (clear qrh3)
|
GOAL: (holding qvx1) (on qrh3 fvw5) (clear rkl2) (on-table fvw5) (on-table zje4) (on rkl2 zje4) (clear qrh3)
STATE: (clear rkl2) (on qrh3 fvw5) (on qvx1 qrh3) (on-table fvw5) (holding zje4) (on rkl2 qvx1)
|
[
[
"put-down zje4"
],
[
"unstack rkl2 qvx1"
],
[
"stack rkl2 zje4"
],
[
"unstack qvx1 qrh3"
]
] |
[
"(clear rkl2) (on qrh3 fvw5) (on qvx1 qrh3) (on-table zje4) (on-table fvw5) (arm-empty) (on rkl2 qvx1) (clear zje4)",
"(on qrh3 fvw5) (on qvx1 qrh3) (on-table fvw5) (clear zje4) (on-table zje4) (holding rkl2) (clear qvx1)",
"(on qrh3 fvw5) (on qvx1 qrh3) (clear rkl2) (arm-empty) (on-table fvw5) (on-table zje4) (on rkl2 zje4) (clear qvx1)",
"(holding qvx1) (on qrh3 fvw5) (clear rkl2) (on-table fvw5) (on-table zje4) (on rkl2 zje4) (clear qrh3)"
] |
file_140101
|
GOAL: (arm-empty) (on-table vgb2) (clear oef5) (clear vgb2) (on tqc4 wod3) (on oef5 idd1) (on idd1 tqc4) (on-table wod3)
|
GOAL: (arm-empty) (on-table vgb2) (clear oef5) (clear vgb2) (on tqc4 wod3) (on oef5 idd1) (on idd1 tqc4) (on-table wod3)
STATE: (on-table vgb2) (on tqc4 oef5) (on oef5 vgb2) (on idd1 tqc4) (holding wod3) (clear idd1)
|
[
[
"put-down wod3"
],
[
"unstack idd1 tqc4"
],
[
"put-down idd1"
],
[
"unstack tqc4 oef5"
],
[
"stack tqc4 wod3"
],
[
"pick-up idd1"
],
[
"stack idd1 tqc4"
],
[
"unstack oef5 vgb2"
],
[
"stack oef5 idd1"
]
] |
[
"(arm-empty) (on-table vgb2) (on tqc4 oef5) (on oef5 vgb2) (on idd1 tqc4) (clear wod3) (clear idd1) (on-table wod3)",
"(holding idd1) (on-table vgb2) (on tqc4 oef5) (on oef5 vgb2) (clear tqc4) (clear wod3) (on-table wod3)",
"(arm-empty) (on-table vgb2) (on tqc4 oef5) (on oef5 vgb2) (clear tqc4) (on-table idd1) (clear wod3) (clear idd1) (on-table wod3)",
"(on-table vgb2) (on-table idd1) (holding tqc4) (on oef5 vgb2) (clear wod3) (clear idd1) (on-table wod3) (clear oef5)",
"(arm-empty) (on-table vgb2) (on-table idd1) (on oef5 vgb2) (clear tqc4) (on tqc4 wod3) (clear idd1) (on-table wod3) (clear oef5)",
"(holding idd1) (on-table vgb2) (on oef5 vgb2) (clear tqc4) (on tqc4 wod3) (on-table wod3) (clear oef5)",
"(arm-empty) (on-table vgb2) (on oef5 vgb2) (on tqc4 wod3) (on idd1 tqc4) (clear idd1) (on-table wod3) (clear oef5)",
"(clear vgb2) (on-table vgb2) (on tqc4 wod3) (holding oef5) (on idd1 tqc4) (clear idd1) (on-table wod3)",
"(arm-empty) (on-table vgb2) (clear oef5) (clear vgb2) (on tqc4 wod3) (on oef5 idd1) (on idd1 tqc4) (on-table wod3)"
] |
file_188296
|
GOAL: (on-table ppx5) (on-table mit1) (clear gib4) (on gib4 flc3) (holding jiu2) (clear mit1) (on-table flc3) (clear ppx5)
|
GOAL: (on-table ppx5) (on-table mit1) (clear gib4) (on gib4 flc3) (holding jiu2) (clear mit1) (on-table flc3) (clear ppx5)
STATE: (arm-empty) (on-table ppx5) (clear gib4) (on-table gib4) (on jiu2 ppx5) (clear flc3) (on mit1 jiu2) (clear mit1) (on-table flc3)
|
[
[
"unstack mit1 jiu2"
],
[
"put-down mit1"
],
[
"pick-up gib4"
],
[
"stack gib4 flc3"
],
[
"unstack jiu2 ppx5"
]
] |
[
"(holding mit1) (clear jiu2) (on-table ppx5) (clear gib4) (on-table gib4) (on jiu2 ppx5) (clear flc3) (on-table flc3)",
"(clear jiu2) (arm-empty) (on-table ppx5) (on-table mit1) (clear gib4) (on-table gib4) (on jiu2 ppx5) (clear flc3) (clear mit1) (on-table flc3)",
"(clear jiu2) (on-table ppx5) (on-table mit1) (holding gib4) (on jiu2 ppx5) (clear flc3) (clear mit1) (on-table flc3)",
"(clear jiu2) (arm-empty) (on-table ppx5) (on-table mit1) (clear gib4) (on gib4 flc3) (on jiu2 ppx5) (clear mit1) (on-table flc3)",
"(on-table ppx5) (on-table mit1) (clear gib4) (on gib4 flc3) (holding jiu2) (clear mit1) (on-table flc3) (clear ppx5)"
] |
file_171478
|
GOAL: (on jok1 tkj3) (on-table cgt2) (holding hfl4) (on jlj5 cgt2) (clear jok1) (on-table tkj3) (clear jlj5)
|
GOAL: (on jok1 tkj3) (on-table cgt2) (holding hfl4) (on jlj5 cgt2) (clear jok1) (on-table tkj3) (clear jlj5)
STATE: (on tkj3 hfl4) (on-table jok1) (holding jlj5) (on hfl4 cgt2) (on cgt2 jok1) (clear tkj3)
|
[
[
"put-down jlj5"
],
[
"unstack tkj3 hfl4"
],
[
"put-down tkj3"
],
[
"pick-up jlj5"
],
[
"stack jlj5 tkj3"
],
[
"unstack hfl4 cgt2"
],
[
"put-down hfl4"
],
[
"unstack jlj5 tkj3"
],
[
"stack jlj5 hfl4"
],
[
"unstack cgt2 jok1"
],
[
"put-down cgt2"
],
[
"pick-up jok1"
],
[
"stack jok1 tkj3"
],
[
"unstack jlj5 hfl4"
],
[
"stack jlj5 cgt2"
],
[
"pick-up hfl4"
]
] |
[
"(arm-empty) (on-table jlj5) (on cgt2 jok1) (clear jlj5) (on tkj3 hfl4) (on-table jok1) (on hfl4 cgt2) (clear tkj3)",
"(on-table jlj5) (on-table jok1) (clear hfl4) (on hfl4 cgt2) (on cgt2 jok1) (holding tkj3) (clear jlj5)",
"(arm-empty) (on-table jlj5) (clear hfl4) (on cgt2 jok1) (clear jlj5) (on-table jok1) (on hfl4 cgt2) (clear tkj3) (on-table tkj3)",
"(on-table jok1) (clear hfl4) (holding jlj5) (on hfl4 cgt2) (on cgt2 jok1) (clear tkj3) (on-table tkj3)",
"(arm-empty) (on-table jok1) (clear hfl4) (on jlj5 tkj3) (on hfl4 cgt2) (on cgt2 jok1) (on-table tkj3) (clear jlj5)",
"(clear cgt2) (on-table jok1) (holding hfl4) (on jlj5 tkj3) (on cgt2 jok1) (on-table tkj3) (clear jlj5)",
"(arm-empty) (clear hfl4) (on jlj5 tkj3) (on cgt2 jok1) (clear jlj5) (clear cgt2) (on-table jok1) (on-table hfl4) (on-table tkj3)",
"(clear cgt2) (on-table jok1) (clear hfl4) (holding jlj5) (on-table hfl4) (on cgt2 jok1) (clear tkj3) (on-table tkj3)",
"(clear cgt2) (arm-empty) (on jlj5 hfl4) (on-table jok1) (on-table hfl4) (on cgt2 jok1) (clear tkj3) (on-table tkj3) (clear jlj5)",
"(on jlj5 hfl4) (on-table jok1) (on-table hfl4) (holding cgt2) (clear tkj3) (clear jok1) (on-table tkj3) (clear jlj5)",
"(clear cgt2) (arm-empty) (on jlj5 hfl4) (on-table cgt2) (on-table jok1) (on-table hfl4) (clear tkj3) (clear jok1) (on-table tkj3) (clear jlj5)",
"(holding jok1) (clear cgt2) (on jlj5 hfl4) (on-table cgt2) (on-table hfl4) (clear tkj3) (on-table tkj3) (clear jlj5)",
"(clear cgt2) (on jok1 tkj3) (on jlj5 hfl4) (on-table cgt2) (arm-empty) (on-table hfl4) (clear jok1) (on-table tkj3) (clear jlj5)",
"(clear cgt2) (on jok1 tkj3) (on-table cgt2) (clear hfl4) (holding jlj5) (on-table hfl4) (clear jok1) (on-table tkj3)",
"(on jok1 tkj3) (arm-empty) (on-table cgt2) (on jlj5 cgt2) (clear hfl4) (on-table hfl4) (clear jok1) (on-table tkj3) (clear jlj5)",
"(on jok1 tkj3) (on-table cgt2) (holding hfl4) (on jlj5 cgt2) (clear jok1) (on-table tkj3) (clear jlj5)"
] |
file_167383
|
GOAL: (clear cbx2) (arm-empty) (on pse5 kep3) (on-table eco4) (on huu1 eco4) (on cbx2 huu1) (on-table kep3) (clear pse5)
|
GOAL: (clear cbx2) (arm-empty) (on pse5 kep3) (on-table eco4) (on huu1 eco4) (on cbx2 huu1) (on-table kep3) (clear pse5)
STATE: (arm-empty) (on pse5 cbx2) (on-table eco4) (on huu1 eco4) (on cbx2 huu1) (clear kep3) (on-table kep3) (clear pse5)
|
[
[
"unstack pse5 cbx2"
],
[
"stack pse5 kep3"
]
] |
[
"(clear cbx2) (holding pse5) (on-table eco4) (on huu1 eco4) (on cbx2 huu1) (clear kep3) (on-table kep3)",
"(clear cbx2) (arm-empty) (on pse5 kep3) (on-table eco4) (on huu1 eco4) (on cbx2 huu1) (on-table kep3) (clear pse5)"
] |
file_185121
|
GOAL: (clear waa2) (arm-empty) (on-table uwz5) (on-table ntg1) (clear lhs4) (on lhs4 gwe3) (on waa2 ntg1) (on-table gwe3) (clear uwz5)
|
GOAL: (clear waa2) (arm-empty) (on-table uwz5) (on-table ntg1) (clear lhs4) (on lhs4 gwe3) (on waa2 ntg1) (on-table gwe3) (clear uwz5)
STATE: (clear waa2) (arm-empty) (on-table waa2) (on-table uwz5) (on-table ntg1) (clear lhs4) (on-table lhs4) (clear gwe3) (clear ntg1) (on-table gwe3) (clear uwz5)
|
[
[
"pick-up waa2"
],
[
"stack waa2 ntg1"
],
[
"pick-up lhs4"
],
[
"stack lhs4 gwe3"
]
] |
[
"(on-table uwz5) (on-table ntg1) (clear lhs4) (on-table lhs4) (holding waa2) (clear gwe3) (clear ntg1) (on-table gwe3) (clear uwz5)",
"(clear waa2) (arm-empty) (on-table uwz5) (on-table ntg1) (clear lhs4) (on-table lhs4) (on waa2 ntg1) (clear gwe3) (on-table gwe3) (clear uwz5)",
"(clear waa2) (on-table uwz5) (on-table ntg1) (holding lhs4) (on waa2 ntg1) (clear gwe3) (on-table gwe3) (clear uwz5)",
"(clear waa2) (arm-empty) (on-table uwz5) (on-table ntg1) (clear lhs4) (on lhs4 gwe3) (on waa2 ntg1) (on-table gwe3) (clear uwz5)"
] |
file_20949
|
GOAL: (arm-empty) (on cuo4 git5) (on git5 gen3) (on hxq2 cuo4) (on iqe1 hxq2) (clear iqe1) (on-table gen3)
|
GOAL: (arm-empty) (on cuo4 git5) (on git5 gen3) (on hxq2 cuo4) (on iqe1 hxq2) (clear iqe1) (on-table gen3)
STATE: (clear hxq2) (arm-empty) (on-table git5) (on-table iqe1) (clear cuo4) (on-table cuo4) (on hxq2 iqe1) (clear gen3) (on-table gen3) (clear git5)
|
[
[
"pick-up git5"
],
[
"stack git5 gen3"
],
[
"pick-up cuo4"
],
[
"stack cuo4 git5"
],
[
"unstack hxq2 iqe1"
],
[
"stack hxq2 cuo4"
],
[
"pick-up iqe1"
],
[
"stack iqe1 hxq2"
]
] |
[
"(clear hxq2) (on-table iqe1) (clear cuo4) (holding git5) (on-table cuo4) (on hxq2 iqe1) (clear gen3) (on-table gen3)",
"(clear hxq2) (arm-empty) (on-table iqe1) (clear cuo4) (on git5 gen3) (on-table cuo4) (on hxq2 iqe1) (on-table gen3) (clear git5)",
"(clear hxq2) (on-table iqe1) (holding cuo4) (on git5 gen3) (on hxq2 iqe1) (on-table gen3) (clear git5)",
"(clear hxq2) (arm-empty) (on cuo4 git5) (on-table iqe1) (clear cuo4) (on git5 gen3) (on hxq2 iqe1) (on-table gen3)",
"(on cuo4 git5) (on-table iqe1) (clear cuo4) (on git5 gen3) (holding hxq2) (clear iqe1) (on-table gen3)",
"(arm-empty) (on cuo4 git5) (on git5 gen3) (on hxq2 cuo4) (clear hxq2) (on-table iqe1) (clear iqe1) (on-table gen3)",
"(holding iqe1) (clear hxq2) (on cuo4 git5) (on git5 gen3) (on hxq2 cuo4) (on-table gen3)",
"(arm-empty) (on cuo4 git5) (on git5 gen3) (on hxq2 cuo4) (on iqe1 hxq2) (clear iqe1) (on-table gen3)"
] |
file_62199
|
GOAL: (on-table soa2) (clear yqi4) (on qtw5 agg1) (on-table yqi4) (on agg1 soa2) (holding mim3) (clear qtw5)
|
GOAL: (on-table soa2) (clear yqi4) (on qtw5 agg1) (on-table yqi4) (on agg1 soa2) (holding mim3) (clear qtw5)
STATE: (arm-empty) (on-table soa2) (on-table qtw5) (clear yqi4) (on-table yqi4) (on mim3 agg1) (clear mim3) (on agg1 soa2) (clear qtw5)
|
[
[
"unstack mim3 agg1"
],
[
"stack mim3 yqi4"
],
[
"pick-up qtw5"
],
[
"stack qtw5 agg1"
],
[
"unstack mim3 yqi4"
]
] |
[
"(on-table soa2) (on-table qtw5) (clear yqi4) (on-table yqi4) (on agg1 soa2) (clear agg1) (holding mim3) (clear qtw5)",
"(on mim3 yqi4) (arm-empty) (on-table soa2) (on-table qtw5) (on-table yqi4) (clear mim3) (on agg1 soa2) (clear agg1) (clear qtw5)",
"(on mim3 yqi4) (on-table soa2) (holding qtw5) (on-table yqi4) (clear mim3) (on agg1 soa2) (clear agg1)",
"(on mim3 yqi4) (arm-empty) (on-table soa2) (on qtw5 agg1) (on-table yqi4) (clear mim3) (on agg1 soa2) (clear qtw5)",
"(on-table soa2) (clear yqi4) (on qtw5 agg1) (on-table yqi4) (on agg1 soa2) (holding mim3) (clear qtw5)"
] |
file_1551
|
GOAL: (arm-empty) (on-table cji5) (on jtw3 svg1) (on cur2 prj4) (clear cji5) (clear cur2) (on-table svg1) (on-table prj4) (clear jtw3)
|
GOAL: (arm-empty) (on-table cji5) (on jtw3 svg1) (on cur2 prj4) (clear cji5) (clear cur2) (on-table svg1) (on-table prj4) (clear jtw3)
STATE: (holding svg1) (on jtw3 cji5) (on cji5 cur2) (on-table prj4) (on cur2 prj4) (clear jtw3)
|
[
[
"put-down svg1"
],
[
"unstack jtw3 cji5"
],
[
"stack jtw3 svg1"
],
[
"unstack cji5 cur2"
],
[
"put-down cji5"
]
] |
[
"(on jtw3 cji5) (arm-empty) (on cji5 cur2) (on cur2 prj4) (on-table svg1) (on-table prj4) (clear jtw3) (clear svg1)",
"(on-table svg1) (on cji5 cur2) (on-table prj4) (on cur2 prj4) (holding jtw3) (clear svg1) (clear cji5)",
"(arm-empty) (on-table svg1) (on cji5 cur2) (on cur2 prj4) (on-table prj4) (on jtw3 svg1) (clear jtw3) (clear cji5)",
"(clear cur2) (on-table svg1) (on cur2 prj4) (holding cji5) (on-table prj4) (on jtw3 svg1) (clear jtw3)",
"(arm-empty) (on-table cji5) (on jtw3 svg1) (on cur2 prj4) (clear cji5) (clear cur2) (on-table svg1) (on-table prj4) (clear jtw3)"
] |
file_89041
|
GOAL: (arm-empty) (on lsx2 krf3) (on rir1 lsx2) (on-table krf3) (clear rir1)
|
GOAL: (arm-empty) (on lsx2 krf3) (on rir1 lsx2) (on-table krf3) (clear rir1)
STATE: (on rir1 krf3) (arm-empty) (on-table lsx2) (on krf3 lsx2) (clear rir1)
|
[
[
"unstack rir1 krf3"
],
[
"put-down rir1"
],
[
"unstack krf3 lsx2"
],
[
"put-down krf3"
],
[
"pick-up lsx2"
],
[
"stack lsx2 krf3"
],
[
"pick-up rir1"
],
[
"stack rir1 lsx2"
]
] |
[
"(holding rir1) (on-table lsx2) (clear krf3) (on krf3 lsx2)",
"(arm-empty) (on-table lsx2) (on-table rir1) (on krf3 lsx2) (clear krf3) (clear rir1)",
"(clear lsx2) (on-table lsx2) (on-table rir1) (holding krf3) (clear rir1)",
"(clear lsx2) (arm-empty) (on-table lsx2) (on-table rir1) (clear krf3) (clear rir1) (on-table krf3)",
"(holding lsx2) (on-table rir1) (clear krf3) (clear rir1) (on-table krf3)",
"(clear lsx2) (arm-empty) (on-table rir1) (on lsx2 krf3) (clear rir1) (on-table krf3)",
"(holding rir1) (clear lsx2) (on lsx2 krf3) (on-table krf3)",
"(arm-empty) (on lsx2 krf3) (on rir1 lsx2) (on-table krf3) (clear rir1)"
] |
file_148814
|
GOAL: (on juy3 nyo4) (clear smw2) (on nyo4 hyp1) (arm-empty) (on-table smw2) (on-table hyp1) (on nxb5 juy3) (clear nxb5)
|
GOAL: (on juy3 nyo4) (clear smw2) (on nyo4 hyp1) (arm-empty) (on-table smw2) (on-table hyp1) (on nxb5 juy3) (clear nxb5)
STATE: (on juy3 nyo4) (clear smw2) (on nyo4 hyp1) (on-table hyp1) (holding nxb5) (on smw2 juy3)
|
[
[
"put-down nxb5"
],
[
"unstack smw2 juy3"
],
[
"put-down smw2"
],
[
"pick-up nxb5"
],
[
"stack nxb5 juy3"
]
] |
[
"(on juy3 nyo4) (clear smw2) (on nyo4 hyp1) (arm-empty) (on-table nxb5) (on-table hyp1) (on smw2 juy3) (clear nxb5)",
"(on juy3 nyo4) (on nyo4 hyp1) (on-table nxb5) (on-table hyp1) (holding smw2) (clear juy3) (clear nxb5)",
"(on nyo4 hyp1) (arm-empty) (on-table smw2) (on-table nxb5) (clear nxb5) (on juy3 nyo4) (clear smw2) (on-table hyp1) (clear juy3)",
"(on juy3 nyo4) (clear smw2) (on nyo4 hyp1) (on-table smw2) (on-table hyp1) (holding nxb5) (clear juy3)",
"(on juy3 nyo4) (clear smw2) (on nyo4 hyp1) (arm-empty) (on-table smw2) (on-table hyp1) (on nxb5 juy3) (clear nxb5)"
] |
file_163277
|
GOAL: (arm-empty) (on-table kkh2) (clear mkm4) (clear kkh2) (on-table vsf1) (on mkm4 eyl3) (clear vsf1) (on-table eyl3)
|
GOAL: (arm-empty) (on-table kkh2) (clear mkm4) (clear kkh2) (on-table vsf1) (on mkm4 eyl3) (clear vsf1) (on-table eyl3)
STATE: (clear kkh2) (holding mkm4) (on-table vsf1) (on eyl3 vsf1) (on kkh2 eyl3)
|
[
[
"put-down mkm4"
],
[
"unstack kkh2 eyl3"
],
[
"put-down kkh2"
],
[
"unstack eyl3 vsf1"
],
[
"stack eyl3 kkh2"
],
[
"pick-up vsf1"
],
[
"stack vsf1 mkm4"
],
[
"unstack eyl3 kkh2"
],
[
"put-down eyl3"
],
[
"unstack vsf1 mkm4"
],
[
"put-down vsf1"
],
[
"pick-up mkm4"
],
[
"stack mkm4 eyl3"
]
] |
[
"(on eyl3 vsf1) (clear kkh2) (on-table mkm4) (clear mkm4) (on kkh2 eyl3) (arm-empty) (on-table vsf1)",
"(clear mkm4) (on eyl3 vsf1) (on-table vsf1) (on-table mkm4) (holding kkh2) (clear eyl3)",
"(arm-empty) (on-table kkh2) (clear mkm4) (on eyl3 vsf1) (clear kkh2) (on-table vsf1) (on-table mkm4) (clear eyl3)",
"(clear kkh2) (on-table kkh2) (on-table vsf1) (clear mkm4) (on-table mkm4) (holding eyl3) (clear vsf1)",
"(arm-empty) (on-table kkh2) (on-table vsf1) (on eyl3 kkh2) (clear mkm4) (on-table mkm4) (clear eyl3) (clear vsf1)",
"(holding vsf1) (on-table kkh2) (on eyl3 kkh2) (clear mkm4) (on-table mkm4) (clear eyl3)",
"(arm-empty) (on-table kkh2) (on eyl3 kkh2) (on-table mkm4) (on vsf1 mkm4) (clear eyl3) (clear vsf1)",
"(on-table kkh2) (clear kkh2) (on-table mkm4) (on vsf1 mkm4) (holding eyl3) (clear vsf1)",
"(arm-empty) (on-table kkh2) (clear kkh2) (on-table mkm4) (on vsf1 mkm4) (clear eyl3) (clear vsf1) (on-table eyl3)",
"(holding vsf1) (clear kkh2) (on-table kkh2) (clear mkm4) (on-table mkm4) (clear eyl3) (on-table eyl3)",
"(arm-empty) (on-table kkh2) (clear mkm4) (clear kkh2) (on-table vsf1) (on-table mkm4) (clear eyl3) (clear vsf1) (on-table eyl3)",
"(clear kkh2) (on-table kkh2) (on-table vsf1) (holding mkm4) (clear eyl3) (clear vsf1) (on-table eyl3)",
"(arm-empty) (on-table kkh2) (clear mkm4) (clear kkh2) (on-table vsf1) (on mkm4 eyl3) (clear vsf1) (on-table eyl3)"
] |
file_100361
|
GOAL: (on zbd4 ufz3) (on ufz3 bja5) (arm-empty) (on-table bja5) (on gfh2 zbd4) (on pbv1 gfh2) (clear pbv1)
|
GOAL: (on zbd4 ufz3) (on ufz3 bja5) (arm-empty) (on-table bja5) (on gfh2 zbd4) (on pbv1 gfh2) (clear pbv1)
STATE: (clear gfh2) (on ufz3 bja5) (arm-empty) (on-table gfh2) (on-table bja5) (on-table pbv1) (clear zbd4) (on zbd4 ufz3) (clear pbv1)
|
[
[
"pick-up gfh2"
],
[
"stack gfh2 zbd4"
],
[
"pick-up pbv1"
],
[
"stack pbv1 gfh2"
]
] |
[
"(on ufz3 bja5) (on-table bja5) (on-table pbv1) (clear zbd4) (on zbd4 ufz3) (holding gfh2) (clear pbv1)",
"(on ufz3 bja5) (arm-empty) (on-table bja5) (on gfh2 zbd4) (clear gfh2) (on-table pbv1) (on zbd4 ufz3) (clear pbv1)",
"(holding pbv1) (on ufz3 bja5) (clear gfh2) (on-table bja5) (on zbd4 ufz3) (on gfh2 zbd4)",
"(on zbd4 ufz3) (on ufz3 bja5) (arm-empty) (on-table bja5) (on gfh2 zbd4) (on pbv1 gfh2) (clear pbv1)"
] |
file_91831
|
GOAL: (clear fsw2) (on-table fsw2) (on-table lah1) (holding mgg4) (on tvl5 lah1) (clear elz3) (on-table elz3) (clear tvl5)
|
GOAL: (clear fsw2) (on-table fsw2) (on-table lah1) (holding mgg4) (on tvl5 lah1) (clear elz3) (on-table elz3) (clear tvl5)
STATE: (on-table fsw2) (on-table tvl5) (on-table lah1) (clear mgg4) (on mgg4 fsw2) (holding elz3) (clear lah1) (clear tvl5)
|
[
[
"stack elz3 mgg4"
],
[
"pick-up tvl5"
],
[
"stack tvl5 lah1"
],
[
"unstack elz3 mgg4"
],
[
"put-down elz3"
],
[
"unstack mgg4 fsw2"
]
] |
[
"(on elz3 mgg4) (arm-empty) (on-table fsw2) (on-table tvl5) (on-table lah1) (on mgg4 fsw2) (clear elz3) (clear lah1) (clear tvl5)",
"(on elz3 mgg4) (on-table fsw2) (on-table lah1) (holding tvl5) (on mgg4 fsw2) (clear elz3) (clear lah1)",
"(on elz3 mgg4) (arm-empty) (on-table fsw2) (on-table lah1) (on tvl5 lah1) (on mgg4 fsw2) (clear elz3) (clear tvl5)",
"(on-table fsw2) (on-table lah1) (clear mgg4) (on tvl5 lah1) (on mgg4 fsw2) (holding elz3) (clear tvl5)",
"(arm-empty) (on-table fsw2) (clear mgg4) (clear tvl5) (on-table lah1) (on tvl5 lah1) (on mgg4 fsw2) (clear elz3) (on-table elz3)",
"(clear fsw2) (on-table fsw2) (on-table lah1) (holding mgg4) (on tvl5 lah1) (clear elz3) (on-table elz3) (clear tvl5)"
] |
file_122605
|
GOAL: (on itu3 oqy4) (on tdw1 itu3) (on-table ucu2) (holding jqq5) (on oqy4 ucu2) (clear tdw1)
|
GOAL: (on itu3 oqy4) (on tdw1 itu3) (on-table ucu2) (holding jqq5) (on oqy4 ucu2) (clear tdw1)
STATE: (on tdw1 jqq5) (clear ucu2) (arm-empty) (on-table jqq5) (on oqy4 itu3) (on itu3 tdw1) (on ucu2 oqy4)
|
[
[
"unstack ucu2 oqy4"
],
[
"put-down ucu2"
],
[
"unstack oqy4 itu3"
],
[
"stack oqy4 ucu2"
],
[
"unstack itu3 tdw1"
],
[
"stack itu3 oqy4"
],
[
"unstack tdw1 jqq5"
],
[
"stack tdw1 itu3"
],
[
"pick-up jqq5"
]
] |
[
"(on oqy4 itu3) (on tdw1 jqq5) (on-table jqq5) (on itu3 tdw1) (clear oqy4) (holding ucu2)",
"(on tdw1 jqq5) (arm-empty) (on-table ucu2) (on-table jqq5) (clear oqy4) (on itu3 tdw1) (clear ucu2) (on oqy4 itu3)",
"(on tdw1 jqq5) (clear ucu2) (on-table ucu2) (on-table jqq5) (holding oqy4) (on itu3 tdw1) (clear itu3)",
"(on tdw1 jqq5) (arm-empty) (on-table ucu2) (on-table jqq5) (clear oqy4) (on itu3 tdw1) (on oqy4 ucu2) (clear itu3)",
"(on tdw1 jqq5) (on-table ucu2) (on-table jqq5) (on oqy4 ucu2) (clear oqy4) (holding itu3) (clear tdw1)",
"(on tdw1 jqq5) (on itu3 oqy4) (arm-empty) (on-table ucu2) (on-table jqq5) (on oqy4 ucu2) (clear itu3) (clear tdw1)",
"(holding tdw1) (on itu3 oqy4) (on-table ucu2) (on-table jqq5) (on oqy4 ucu2) (clear itu3) (clear jqq5)",
"(on itu3 oqy4) (on tdw1 itu3) (arm-empty) (on-table ucu2) (on-table jqq5) (on oqy4 ucu2) (clear tdw1) (clear jqq5)",
"(on itu3 oqy4) (on tdw1 itu3) (on-table ucu2) (holding jqq5) (on oqy4 ucu2) (clear tdw1)"
] |
file_90322
|
GOAL: (clear fli2) (on-table fli2) (on-table uub5) (on-table wuz1) (clear jjx4) (on-table jjx4) (holding znv3) (clear wuz1) (clear uub5)
|
GOAL: (clear fli2) (on-table fli2) (on-table uub5) (on-table wuz1) (clear jjx4) (on-table jjx4) (holding znv3) (clear wuz1) (clear uub5)
STATE: (clear fli2) (on-table fli2) (holding uub5) (on-table jjx4) (on wuz1 jjx4) (on znv3 wuz1) (clear znv3)
|
[
[
"put-down uub5"
],
[
"unstack znv3 wuz1"
],
[
"stack znv3 fli2"
],
[
"unstack wuz1 jjx4"
],
[
"put-down wuz1"
],
[
"unstack znv3 fli2"
]
] |
[
"(arm-empty) (on-table fli2) (on-table uub5) (on znv3 wuz1) (clear uub5) (clear fli2) (on-table jjx4) (on wuz1 jjx4) (clear znv3)",
"(clear fli2) (on-table fli2) (on-table uub5) (on-table jjx4) (on wuz1 jjx4) (holding znv3) (clear wuz1) (clear uub5)",
"(arm-empty) (on-table fli2) (on-table uub5) (on znv3 fli2) (on-table jjx4) (on wuz1 jjx4) (clear znv3) (clear wuz1) (clear uub5)",
"(holding wuz1) (on-table fli2) (on-table uub5) (on znv3 fli2) (clear jjx4) (on-table jjx4) (clear znv3) (clear uub5)",
"(arm-empty) (on-table fli2) (on-table uub5) (on-table wuz1) (on znv3 fli2) (clear jjx4) (on-table jjx4) (clear znv3) (clear wuz1) (clear uub5)",
"(clear fli2) (on-table fli2) (on-table uub5) (on-table wuz1) (clear jjx4) (on-table jjx4) (holding znv3) (clear wuz1) (clear uub5)"
] |
file_155121
|
GOAL: (on txi1 sbq5) (clear otb2) (on mkp4 txi1) (arm-empty) (on-table sbq5) (clear mkp4) (on otb2 rwf3) (on-table rwf3)
|
GOAL: (on txi1 sbq5) (clear otb2) (on mkp4 txi1) (arm-empty) (on-table sbq5) (clear mkp4) (on otb2 rwf3) (on-table rwf3)
STATE: (on-table sbq5) (on mkp4 sbq5) (on otb2 mkp4) (holding rwf3) (on txi1 otb2) (clear txi1)
|
[
[
"put-down rwf3"
],
[
"unstack txi1 otb2"
],
[
"put-down txi1"
],
[
"unstack otb2 mkp4"
],
[
"stack otb2 rwf3"
],
[
"unstack mkp4 sbq5"
],
[
"stack mkp4 otb2"
],
[
"pick-up txi1"
],
[
"stack txi1 sbq5"
],
[
"unstack mkp4 otb2"
],
[
"stack mkp4 txi1"
]
] |
[
"(arm-empty) (on-table sbq5) (on mkp4 sbq5) (on otb2 mkp4) (on txi1 otb2) (clear rwf3) (clear txi1) (on-table rwf3)",
"(holding txi1) (clear otb2) (on-table sbq5) (on mkp4 sbq5) (on otb2 mkp4) (clear rwf3) (on-table rwf3)",
"(arm-empty) (on-table sbq5) (on mkp4 sbq5) (on otb2 mkp4) (clear otb2) (on-table txi1) (clear rwf3) (clear txi1) (on-table rwf3)",
"(on-table sbq5) (on mkp4 sbq5) (on-table txi1) (clear mkp4) (holding otb2) (clear rwf3) (clear txi1) (on-table rwf3)",
"(clear otb2) (arm-empty) (on-table sbq5) (on mkp4 sbq5) (on-table txi1) (clear mkp4) (on otb2 rwf3) (clear txi1) (on-table rwf3)",
"(clear otb2) (on-table sbq5) (holding mkp4) (on-table txi1) (on otb2 rwf3) (clear txi1) (on-table rwf3) (clear sbq5)",
"(arm-empty) (on-table sbq5) (on-table txi1) (clear mkp4) (on mkp4 otb2) (on otb2 rwf3) (clear txi1) (on-table rwf3) (clear sbq5)",
"(holding txi1) (on-table sbq5) (clear mkp4) (on mkp4 otb2) (on otb2 rwf3) (on-table rwf3) (clear sbq5)",
"(on txi1 sbq5) (arm-empty) (on-table sbq5) (clear mkp4) (on mkp4 otb2) (on otb2 rwf3) (clear txi1) (on-table rwf3)",
"(on txi1 sbq5) (clear otb2) (on-table sbq5) (holding mkp4) (on otb2 rwf3) (clear txi1) (on-table rwf3)",
"(on txi1 sbq5) (clear otb2) (on mkp4 txi1) (arm-empty) (on-table sbq5) (clear mkp4) (on otb2 rwf3) (on-table rwf3)"
] |
file_139087
|
GOAL: (on-table hxo5) (clear jsl4) (on-table jsl4) (on gqs2 hxo5) (on raj1 gqs2) (clear raj1) (holding ovf3)
|
GOAL: (on-table hxo5) (clear jsl4) (on-table jsl4) (on gqs2 hxo5) (on raj1 gqs2) (clear raj1) (holding ovf3)
STATE: (on jsl4 raj1) (on-table hxo5) (clear jsl4) (on gqs2 hxo5) (holding ovf3) (on raj1 gqs2)
|
[
[
"put-down ovf3"
],
[
"unstack jsl4 raj1"
],
[
"put-down jsl4"
],
[
"pick-up ovf3"
]
] |
[
"(on jsl4 raj1) (arm-empty) (on-table hxo5) (on gqs2 hxo5) (clear ovf3) (clear jsl4) (on raj1 gqs2) (on-table ovf3)",
"(on-table hxo5) (holding jsl4) (on gqs2 hxo5) (clear ovf3) (on raj1 gqs2) (clear raj1) (on-table ovf3)",
"(arm-empty) (on-table hxo5) (clear jsl4) (on gqs2 hxo5) (on raj1 gqs2) (on-table jsl4) (clear ovf3) (clear raj1) (on-table ovf3)",
"(on-table hxo5) (clear jsl4) (on-table jsl4) (on gqs2 hxo5) (on raj1 gqs2) (clear raj1) (holding ovf3)"
] |
file_12631
|
GOAL: (on uoi1 sgf5) (arm-empty) (on sgf5 ria2) (on-table axg4) (on ria2 axg4) (clear wbt3) (clear uoi1) (on-table wbt3)
|
GOAL: (on uoi1 sgf5) (arm-empty) (on sgf5 ria2) (on-table axg4) (on ria2 axg4) (clear wbt3) (clear uoi1) (on-table wbt3)
STATE: (on-table uoi1) (clear axg4) (holding sgf5) (on axg4 ria2) (on ria2 wbt3) (clear uoi1) (on-table wbt3)
|
[
[
"put-down sgf5"
],
[
"unstack axg4 ria2"
],
[
"put-down axg4"
],
[
"pick-up sgf5"
],
[
"stack sgf5 uoi1"
],
[
"unstack ria2 wbt3"
],
[
"stack ria2 axg4"
],
[
"unstack sgf5 uoi1"
],
[
"stack sgf5 ria2"
],
[
"pick-up uoi1"
],
[
"stack uoi1 sgf5"
]
] |
[
"(arm-empty) (on-table sgf5) (clear axg4) (clear sgf5) (on-table uoi1) (on axg4 ria2) (on ria2 wbt3) (clear uoi1) (on-table wbt3)",
"(clear ria2) (on-table sgf5) (on-table uoi1) (holding axg4) (on ria2 wbt3) (clear uoi1) (on-table wbt3) (clear sgf5)",
"(clear ria2) (arm-empty) (on-table sgf5) (on-table uoi1) (clear axg4) (on-table axg4) (on ria2 wbt3) (clear uoi1) (on-table wbt3) (clear sgf5)",
"(clear ria2) (on-table uoi1) (clear axg4) (holding sgf5) (on-table axg4) (on ria2 wbt3) (clear uoi1) (on-table wbt3)",
"(clear ria2) (arm-empty) (on-table uoi1) (clear axg4) (on sgf5 uoi1) (on-table axg4) (on ria2 wbt3) (on-table wbt3) (clear sgf5)",
"(on-table uoi1) (clear axg4) (on sgf5 uoi1) (on-table axg4) (holding ria2) (clear wbt3) (on-table wbt3) (clear sgf5)",
"(clear ria2) (arm-empty) (on-table uoi1) (on sgf5 uoi1) (on-table axg4) (on ria2 axg4) (clear wbt3) (on-table wbt3) (clear sgf5)",
"(clear ria2) (on-table uoi1) (holding sgf5) (on-table axg4) (on ria2 axg4) (clear wbt3) (clear uoi1) (on-table wbt3)",
"(arm-empty) (on-table uoi1) (on sgf5 ria2) (on-table axg4) (on ria2 axg4) (clear wbt3) (clear uoi1) (on-table wbt3) (clear sgf5)",
"(holding uoi1) (on sgf5 ria2) (on-table axg4) (on ria2 axg4) (clear wbt3) (on-table wbt3) (clear sgf5)",
"(on uoi1 sgf5) (arm-empty) (on sgf5 ria2) (on-table axg4) (on ria2 axg4) (clear wbt3) (clear uoi1) (on-table wbt3)"
] |
file_226420
|
GOAL: (on fsl1 vcz5) (arm-empty) (on-table vcz5) (clear wel4) (on kvf2 fsl1) (on wel4 kvf2) (clear mlo3) (on-table mlo3)
|
GOAL: (on fsl1 vcz5) (arm-empty) (on-table vcz5) (clear wel4) (on kvf2 fsl1) (on wel4 kvf2) (clear mlo3) (on-table mlo3)
STATE: (on fsl1 vcz5) (clear kvf2) (arm-empty) (on vcz5 wel4) (on wel4 mlo3) (on kvf2 fsl1) (on-table mlo3)
|
[
[
"unstack kvf2 fsl1"
],
[
"put-down kvf2"
],
[
"unstack fsl1 vcz5"
],
[
"stack fsl1 kvf2"
],
[
"unstack vcz5 wel4"
],
[
"put-down vcz5"
],
[
"unstack fsl1 kvf2"
],
[
"stack fsl1 vcz5"
],
[
"pick-up kvf2"
],
[
"stack kvf2 fsl1"
],
[
"unstack wel4 mlo3"
],
[
"stack wel4 kvf2"
]
] |
[
"(on fsl1 vcz5) (on vcz5 wel4) (on wel4 mlo3) (holding kvf2) (clear fsl1) (on-table mlo3)",
"(on fsl1 vcz5) (arm-empty) (on vcz5 wel4) (on-table kvf2) (clear kvf2) (on wel4 mlo3) (clear fsl1) (on-table mlo3)",
"(holding fsl1) (clear kvf2) (on vcz5 wel4) (on-table kvf2) (on wel4 mlo3) (on-table mlo3) (clear vcz5)",
"(arm-empty) (on vcz5 wel4) (on-table kvf2) (on wel4 mlo3) (on fsl1 kvf2) (clear fsl1) (on-table mlo3) (clear vcz5)",
"(on-table kvf2) (clear wel4) (on wel4 mlo3) (holding vcz5) (on fsl1 kvf2) (clear fsl1) (on-table mlo3)",
"(arm-empty) (on-table kvf2) (on-table vcz5) (clear wel4) (on fsl1 kvf2) (clear vcz5) (on wel4 mlo3) (clear fsl1) (on-table mlo3)",
"(holding fsl1) (clear kvf2) (on-table kvf2) (on-table vcz5) (clear wel4) (on wel4 mlo3) (on-table mlo3) (clear vcz5)",
"(on fsl1 vcz5) (clear kvf2) (arm-empty) (on-table kvf2) (on-table vcz5) (clear wel4) (on wel4 mlo3) (clear fsl1) (on-table mlo3)",
"(on fsl1 vcz5) (on-table vcz5) (clear wel4) (on wel4 mlo3) (holding kvf2) (clear fsl1) (on-table mlo3)",
"(on fsl1 vcz5) (clear kvf2) (arm-empty) (on-table vcz5) (clear wel4) (on wel4 mlo3) (on kvf2 fsl1) (on-table mlo3)",
"(on fsl1 vcz5) (clear kvf2) (on-table vcz5) (holding wel4) (on kvf2 fsl1) (clear mlo3) (on-table mlo3)",
"(on fsl1 vcz5) (arm-empty) (on-table vcz5) (clear wel4) (on kvf2 fsl1) (on wel4 kvf2) (clear mlo3) (on-table mlo3)"
] |
file_162722
|
GOAL: (on khz4 exg5) (on-table upd1) (clear khz4) (on exg5 upd1) (holding fxl2) (clear ezq3) (on-table ezq3)
|
GOAL: (on khz4 exg5) (on-table upd1) (clear khz4) (on exg5 upd1) (holding fxl2) (clear ezq3) (on-table ezq3)
STATE: (on-table fxl2) (on-table upd1) (on ezq3 fxl2) (clear khz4) (holding exg5) (on-table khz4) (clear ezq3) (clear upd1)
|
[
[
"put-down exg5"
],
[
"unstack ezq3 fxl2"
],
[
"put-down ezq3"
],
[
"pick-up khz4"
],
[
"stack khz4 fxl2"
],
[
"pick-up exg5"
],
[
"stack exg5 upd1"
],
[
"unstack khz4 fxl2"
],
[
"stack khz4 exg5"
],
[
"pick-up fxl2"
]
] |
[
"(arm-empty) (on-table fxl2) (on-table exg5) (on-table upd1) (on ezq3 fxl2) (clear khz4) (on-table khz4) (clear ezq3) (clear upd1) (clear exg5)",
"(clear fxl2) (on-table fxl2) (on-table exg5) (on-table upd1) (clear khz4) (on-table khz4) (holding ezq3) (clear upd1) (clear exg5)",
"(clear fxl2) (arm-empty) (on-table fxl2) (on-table exg5) (on-table upd1) (clear khz4) (on-table khz4) (clear ezq3) (clear upd1) (on-table ezq3) (clear exg5)",
"(clear fxl2) (on-table fxl2) (on-table exg5) (on-table upd1) (holding khz4) (clear ezq3) (clear upd1) (on-table ezq3) (clear exg5)",
"(arm-empty) (on-table fxl2) (on-table exg5) (on-table upd1) (clear khz4) (on khz4 fxl2) (clear ezq3) (clear upd1) (on-table ezq3) (clear exg5)",
"(on-table fxl2) (on-table upd1) (clear khz4) (holding exg5) (on khz4 fxl2) (clear ezq3) (clear upd1) (on-table ezq3)",
"(arm-empty) (on-table fxl2) (on-table upd1) (clear khz4) (on exg5 upd1) (on khz4 fxl2) (clear ezq3) (on-table ezq3) (clear exg5)",
"(clear fxl2) (on-table fxl2) (on-table upd1) (holding khz4) (on exg5 upd1) (clear ezq3) (on-table ezq3) (clear exg5)",
"(clear fxl2) (arm-empty) (on-table fxl2) (on khz4 exg5) (on-table upd1) (clear khz4) (on exg5 upd1) (clear ezq3) (on-table ezq3)",
"(on khz4 exg5) (on-table upd1) (clear khz4) (on exg5 upd1) (holding fxl2) (clear ezq3) (on-table ezq3)"
] |
file_152293
|
GOAL: (holding vsw5) (on-table ude4) (on vzv2 ude4) (clear imo3) (on lfg1 vzv2) (clear lfg1) (on-table imo3)
|
GOAL: (holding vsw5) (on-table ude4) (on vzv2 ude4) (clear imo3) (on lfg1 vzv2) (clear lfg1) (on-table imo3)
STATE: (on lfg1 vsw5) (clear vzv2) (arm-empty) (clear ude4) (on vsw5 imo3) (on-table ude4) (on vzv2 lfg1) (on-table imo3)
|
[
[
"unstack vzv2 lfg1"
],
[
"stack vzv2 ude4"
],
[
"unstack lfg1 vsw5"
],
[
"stack lfg1 vzv2"
],
[
"unstack vsw5 imo3"
]
] |
[
"(on lfg1 vsw5) (clear ude4) (on vsw5 imo3) (on-table ude4) (holding vzv2) (clear lfg1) (on-table imo3)",
"(on lfg1 vsw5) (clear vzv2) (arm-empty) (on vsw5 imo3) (on-table ude4) (on vzv2 ude4) (clear lfg1) (on-table imo3)",
"(holding lfg1) (clear vzv2) (on vsw5 imo3) (on-table ude4) (on vzv2 ude4) (on-table imo3) (clear vsw5)",
"(arm-empty) (on vsw5 imo3) (on-table ude4) (on vzv2 ude4) (on lfg1 vzv2) (clear lfg1) (on-table imo3) (clear vsw5)",
"(holding vsw5) (on-table ude4) (on vzv2 ude4) (clear imo3) (on lfg1 vzv2) (clear lfg1) (on-table imo3)"
] |
file_150301
|
GOAL: (clear idz2) (arm-empty) (on-table nbh5) (on-table xhj1) (clear msh4) (on msh4 whw3) (on idz2 nbh5) (clear xhj1) (on-table whw3)
|
GOAL: (clear idz2) (arm-empty) (on-table nbh5) (on-table xhj1) (clear msh4) (on msh4 whw3) (on idz2 nbh5) (clear xhj1) (on-table whw3)
STATE: (holding xhj1) (clear idz2) (on-table idz2) (on-table nbh5) (clear msh4) (on-table msh4) (clear whw3) (on-table whw3) (clear nbh5)
|
[
[
"stack xhj1 nbh5"
],
[
"pick-up msh4"
],
[
"stack msh4 whw3"
],
[
"pick-up idz2"
],
[
"stack idz2 msh4"
],
[
"unstack xhj1 nbh5"
],
[
"put-down xhj1"
],
[
"unstack idz2 msh4"
],
[
"stack idz2 nbh5"
]
] |
[
"(on xhj1 nbh5) (clear idz2) (arm-empty) (on-table idz2) (on-table nbh5) (clear msh4) (on-table msh4) (clear whw3) (clear xhj1) (on-table whw3)",
"(on xhj1 nbh5) (clear idz2) (on-table idz2) (on-table nbh5) (holding msh4) (clear whw3) (clear xhj1) (on-table whw3)",
"(on xhj1 nbh5) (clear idz2) (arm-empty) (on-table idz2) (on-table nbh5) (clear msh4) (on msh4 whw3) (clear xhj1) (on-table whw3)",
"(on xhj1 nbh5) (on-table nbh5) (clear msh4) (on msh4 whw3) (holding idz2) (clear xhj1) (on-table whw3)",
"(on xhj1 nbh5) (clear idz2) (arm-empty) (on-table nbh5) (on msh4 whw3) (on idz2 msh4) (clear xhj1) (on-table whw3)",
"(holding xhj1) (clear idz2) (on-table nbh5) (on msh4 whw3) (on idz2 msh4) (on-table whw3) (clear nbh5)",
"(arm-empty) (on-table nbh5) (on idz2 msh4) (clear nbh5) (clear idz2) (on-table xhj1) (on msh4 whw3) (clear xhj1) (on-table whw3)",
"(on-table nbh5) (on-table xhj1) (clear msh4) (on msh4 whw3) (holding idz2) (clear xhj1) (on-table whw3) (clear nbh5)",
"(clear idz2) (arm-empty) (on-table nbh5) (on-table xhj1) (clear msh4) (on msh4 whw3) (on idz2 nbh5) (clear xhj1) (on-table whw3)"
] |
file_25203
|
GOAL: (holding qth1) (clear pzm2) (on-table faj5) (on hib4 faj5) (on pzm2 hib4) (clear cou3) (on-table cou3)
|
GOAL: (holding qth1) (clear pzm2) (on-table faj5) (on hib4 faj5) (on pzm2 hib4) (clear cou3) (on-table cou3)
STATE: (on-table pzm2) (on-table faj5) (holding hib4) (clear cou3) (on qth1 pzm2) (clear qth1) (on-table cou3) (clear faj5)
|
[
[
"stack hib4 faj5"
],
[
"unstack qth1 pzm2"
],
[
"put-down qth1"
],
[
"pick-up pzm2"
],
[
"stack pzm2 hib4"
],
[
"pick-up qth1"
]
] |
[
"(arm-empty) (on-table pzm2) (on-table faj5) (on hib4 faj5) (clear hib4) (clear cou3) (on qth1 pzm2) (clear qth1) (on-table cou3)",
"(holding qth1) (clear pzm2) (on-table pzm2) (on-table faj5) (on hib4 faj5) (clear hib4) (clear cou3) (on-table cou3)",
"(clear pzm2) (arm-empty) (on-table pzm2) (on-table faj5) (on hib4 faj5) (on-table qth1) (clear hib4) (clear cou3) (clear qth1) (on-table cou3)",
"(on-table faj5) (on hib4 faj5) (on-table qth1) (clear hib4) (holding pzm2) (clear cou3) (clear qth1) (on-table cou3)",
"(clear pzm2) (arm-empty) (on-table faj5) (on hib4 faj5) (on-table qth1) (on pzm2 hib4) (clear cou3) (clear qth1) (on-table cou3)",
"(holding qth1) (clear pzm2) (on-table faj5) (on hib4 faj5) (on pzm2 hib4) (clear cou3) (on-table cou3)"
] |
file_117549
|
GOAL: (on pyi3 fes4) (clear fvt2) (arm-empty) (on-table fnd1) (on cil5 fnd1) (on-table fes4) (on fvt2 cil5) (clear pyi3)
|
GOAL: (on pyi3 fes4) (clear fvt2) (arm-empty) (on-table fnd1) (on cil5 fnd1) (on-table fes4) (on fvt2 cil5) (clear pyi3)
STATE: (on pyi3 fes4) (clear fvt2) (arm-empty) (on-table fvt2) (on-table cil5) (on-table fnd1) (on-table fes4) (clear pyi3) (clear fnd1) (clear cil5)
|
[
[
"pick-up cil5"
],
[
"stack cil5 fnd1"
],
[
"pick-up fvt2"
],
[
"stack fvt2 cil5"
]
] |
[
"(on pyi3 fes4) (clear fvt2) (on-table fvt2) (on-table fnd1) (holding cil5) (on-table fes4) (clear pyi3) (clear fnd1)",
"(on pyi3 fes4) (clear fvt2) (arm-empty) (on-table fvt2) (on-table fnd1) (on cil5 fnd1) (on-table fes4) (clear pyi3) (clear cil5)",
"(on pyi3 fes4) (on-table fnd1) (on cil5 fnd1) (on-table fes4) (holding fvt2) (clear pyi3) (clear cil5)",
"(on pyi3 fes4) (clear fvt2) (arm-empty) (on-table fnd1) (on cil5 fnd1) (on-table fes4) (on fvt2 cil5) (clear pyi3)"
] |
file_141726
|
GOAL: (on nvk3 lau4) (on-table hht1) (on jda5 nvk3) (on-table lau4) (holding qdb2) (clear hht1) (clear jda5)
|
GOAL: (on nvk3 lau4) (on-table hht1) (on jda5 nvk3) (on-table lau4) (holding qdb2) (clear hht1) (clear jda5)
STATE: (on nvk3 lau4) (arm-empty) (on lau4 jda5) (on-table hht1) (on jda5 qdb2) (on qdb2 hht1) (clear nvk3)
|
[
[
"unstack nvk3 lau4"
],
[
"put-down nvk3"
],
[
"unstack lau4 jda5"
],
[
"put-down lau4"
],
[
"pick-up nvk3"
],
[
"stack nvk3 lau4"
],
[
"unstack jda5 qdb2"
],
[
"stack jda5 nvk3"
],
[
"unstack qdb2 hht1"
]
] |
[
"(on lau4 jda5) (on jda5 qdb2) (clear lau4) (on qdb2 hht1) (on-table hht1) (holding nvk3)",
"(arm-empty) (on lau4 jda5) (on-table hht1) (on jda5 qdb2) (clear nvk3) (clear lau4) (on qdb2 hht1) (on-table nvk3)",
"(on-table hht1) (holding lau4) (on jda5 qdb2) (on qdb2 hht1) (clear nvk3) (on-table nvk3) (clear jda5)",
"(arm-empty) (on jda5 qdb2) (clear lau4) (on qdb2 hht1) (clear jda5) (on-table hht1) (on-table lau4) (clear nvk3) (on-table nvk3)",
"(on-table hht1) (on jda5 qdb2) (clear lau4) (on-table lau4) (on qdb2 hht1) (holding nvk3) (clear jda5)",
"(on nvk3 lau4) (arm-empty) (on-table hht1) (on jda5 qdb2) (on-table lau4) (on qdb2 hht1) (clear nvk3) (clear jda5)",
"(on nvk3 lau4) (clear qdb2) (on-table hht1) (holding jda5) (on-table lau4) (on qdb2 hht1) (clear nvk3)",
"(on nvk3 lau4) (clear qdb2) (arm-empty) (on-table hht1) (on jda5 nvk3) (on-table lau4) (on qdb2 hht1) (clear jda5)",
"(on nvk3 lau4) (on-table hht1) (on jda5 nvk3) (on-table lau4) (holding qdb2) (clear hht1) (clear jda5)"
] |
file_64856
|
GOAL: (on mct1 ztd5) (arm-empty) (on-table gjz2) (on-table ztd5) (on nym3 gjz2) (clear ain4) (on ain4 nym3) (clear mct1)
|
GOAL: (on mct1 ztd5) (arm-empty) (on-table gjz2) (on-table ztd5) (on nym3 gjz2) (clear ain4) (on ain4 nym3) (clear mct1)
STATE: (holding mct1) (on nym3 ain4) (clear gjz2) (on-table gjz2) (on-table ztd5) (on-table ain4) (clear nym3) (clear ztd5)
|
[
[
"stack mct1 gjz2"
],
[
"unstack nym3 ain4"
],
[
"put-down nym3"
],
[
"unstack mct1 gjz2"
],
[
"stack mct1 ztd5"
],
[
"pick-up nym3"
],
[
"stack nym3 gjz2"
],
[
"pick-up ain4"
],
[
"stack ain4 nym3"
]
] |
[
"(on nym3 ain4) (arm-empty) (on-table gjz2) (on-table ztd5) (on-table ain4) (clear nym3) (on mct1 gjz2) (clear mct1) (clear ztd5)",
"(on-table gjz2) (on-table ztd5) (clear ain4) (on-table ain4) (on mct1 gjz2) (clear mct1) (holding nym3) (clear ztd5)",
"(arm-empty) (on-table gjz2) (on-table ztd5) (clear ain4) (on-table ain4) (clear nym3) (on mct1 gjz2) (clear mct1) (on-table nym3) (clear ztd5)",
"(holding mct1) (clear gjz2) (on-table gjz2) (on-table ztd5) (clear ain4) (on-table ain4) (clear nym3) (on-table nym3) (clear ztd5)",
"(on mct1 ztd5) (clear gjz2) (arm-empty) (on-table gjz2) (on-table ztd5) (clear ain4) (on-table ain4) (clear nym3) (clear mct1) (on-table nym3)",
"(on mct1 ztd5) (clear gjz2) (on-table gjz2) (on-table ztd5) (clear ain4) (on-table ain4) (holding nym3) (clear mct1)",
"(on mct1 ztd5) (arm-empty) (on-table gjz2) (on-table ztd5) (on nym3 gjz2) (clear ain4) (on-table ain4) (clear nym3) (clear mct1)",
"(on mct1 ztd5) (on-table gjz2) (on-table ztd5) (holding ain4) (on nym3 gjz2) (clear nym3) (clear mct1)",
"(on mct1 ztd5) (arm-empty) (on-table gjz2) (on-table ztd5) (on nym3 gjz2) (clear ain4) (on ain4 nym3) (clear mct1)"
] |
file_94858
|
GOAL: (on cno1 pra3) (on xuw4 cno1) (on-table tfu2) (on wqs5 xuw4) (arm-empty) (on pra3 tfu2) (clear wqs5)
|
GOAL: (on cno1 pra3) (on xuw4 cno1) (on-table tfu2) (on wqs5 xuw4) (arm-empty) (on pra3 tfu2) (clear wqs5)
STATE: (on pra3 wqs5) (arm-empty) (on wqs5 tfu2) (on-table xuw4) (on cno1 xuw4) (on tfu2 cno1) (clear pra3)
|
[
[
"unstack pra3 wqs5"
],
[
"put-down pra3"
],
[
"unstack wqs5 tfu2"
],
[
"put-down wqs5"
],
[
"unstack tfu2 cno1"
],
[
"put-down tfu2"
],
[
"pick-up pra3"
],
[
"stack pra3 tfu2"
],
[
"unstack cno1 xuw4"
],
[
"stack cno1 pra3"
],
[
"pick-up xuw4"
],
[
"stack xuw4 cno1"
],
[
"pick-up wqs5"
],
[
"stack wqs5 xuw4"
]
] |
[
"(on wqs5 tfu2) (on tfu2 cno1) (clear wqs5) (on-table xuw4) (on cno1 xuw4) (holding pra3)",
"(arm-empty) (on wqs5 tfu2) (on tfu2 cno1) (clear wqs5) (on-table xuw4) (on cno1 xuw4) (clear pra3) (on-table pra3)",
"(clear tfu2) (holding wqs5) (on-table xuw4) (on cno1 xuw4) (on tfu2 cno1) (clear pra3) (on-table pra3)",
"(arm-empty) (on-table wqs5) (on tfu2 cno1) (clear wqs5) (clear tfu2) (on-table xuw4) (on cno1 xuw4) (clear pra3) (on-table pra3)",
"(on-table wqs5) (holding tfu2) (on-table xuw4) (on cno1 xuw4) (clear pra3) (clear cno1) (on-table pra3) (clear wqs5)",
"(clear tfu2) (arm-empty) (on-table tfu2) (on-table wqs5) (clear wqs5) (on-table xuw4) (clear pra3) (on cno1 xuw4) (on-table pra3) (clear cno1)",
"(clear tfu2) (on-table tfu2) (on-table wqs5) (on-table xuw4) (on cno1 xuw4) (holding pra3) (clear cno1) (clear wqs5)",
"(arm-empty) (on-table tfu2) (on-table wqs5) (on pra3 tfu2) (on-table xuw4) (on cno1 xuw4) (clear pra3) (clear cno1) (clear wqs5)",
"(holding cno1) (on-table tfu2) (on-table wqs5) (on pra3 tfu2) (clear xuw4) (on-table xuw4) (clear pra3) (clear wqs5)",
"(on cno1 pra3) (arm-empty) (on-table tfu2) (on-table wqs5) (on pra3 tfu2) (clear xuw4) (on-table xuw4) (clear cno1) (clear wqs5)",
"(on cno1 pra3) (on-table tfu2) (on-table wqs5) (holding xuw4) (on pra3 tfu2) (clear cno1) (clear wqs5)",
"(on cno1 pra3) (on xuw4 cno1) (on-table tfu2) (on-table wqs5) (arm-empty) (on pra3 tfu2) (clear xuw4) (clear wqs5)",
"(on cno1 pra3) (on xuw4 cno1) (on-table tfu2) (on pra3 tfu2) (clear xuw4) (holding wqs5)",
"(on cno1 pra3) (on xuw4 cno1) (on-table tfu2) (on wqs5 xuw4) (arm-empty) (on pra3 tfu2) (clear wqs5)"
] |
file_66403
|
GOAL: (on cwx3 dni5) (arm-empty) (on-table dni5) (on-table lej4) (on wrm2 lej4) (clear cwx3) (on xfa1 wrm2) (clear xfa1)
|
GOAL: (on cwx3 dni5) (arm-empty) (on-table dni5) (on-table lej4) (on wrm2 lej4) (clear cwx3) (on xfa1 wrm2) (clear xfa1)
STATE: (holding xfa1) (clear wrm2) (on cwx3 dni5) (on-table wrm2) (on-table dni5) (clear lej4) (on-table lej4) (clear cwx3)
|
[
[
"stack xfa1 cwx3"
],
[
"pick-up wrm2"
],
[
"stack wrm2 lej4"
],
[
"unstack xfa1 cwx3"
],
[
"stack xfa1 wrm2"
]
] |
[
"(clear wrm2) (on cwx3 dni5) (on xfa1 cwx3) (on-table wrm2) (on-table dni5) (arm-empty) (clear lej4) (on-table lej4) (clear xfa1)",
"(on cwx3 dni5) (on xfa1 cwx3) (on-table dni5) (clear lej4) (on-table lej4) (holding wrm2) (clear xfa1)",
"(on cwx3 dni5) (on xfa1 cwx3) (clear wrm2) (arm-empty) (on-table dni5) (on-table lej4) (on wrm2 lej4) (clear xfa1)",
"(holding xfa1) (on cwx3 dni5) (clear wrm2) (on-table dni5) (on-table lej4) (on wrm2 lej4) (clear cwx3)",
"(on cwx3 dni5) (arm-empty) (on-table dni5) (on-table lej4) (on wrm2 lej4) (clear cwx3) (on xfa1 wrm2) (clear xfa1)"
] |
file_45445
|
GOAL: (holding kur1) (on ntv2 dsr3) (on kyb4 ntv2) (clear kyb4) (on-table dsr3)
|
GOAL: (holding kur1) (on ntv2 dsr3) (on kyb4 ntv2) (clear kyb4) (on-table dsr3)
STATE: (clear ntv2) (on-table ntv2) (holding kyb4) (on-table kur1) (clear dsr3) (clear kur1) (on-table dsr3)
|
[
[
"stack kyb4 kur1"
],
[
"pick-up ntv2"
],
[
"stack ntv2 dsr3"
],
[
"unstack kyb4 kur1"
],
[
"stack kyb4 ntv2"
],
[
"pick-up kur1"
]
] |
[
"(clear ntv2) (on kyb4 kur1) (arm-empty) (on-table ntv2) (on-table kur1) (clear kyb4) (clear dsr3) (on-table dsr3)",
"(on kyb4 kur1) (on-table kur1) (clear kyb4) (holding ntv2) (clear dsr3) (on-table dsr3)",
"(clear ntv2) (on kyb4 kur1) (arm-empty) (on-table kur1) (clear kyb4) (on ntv2 dsr3) (on-table dsr3)",
"(holding kyb4) (clear ntv2) (on-table kur1) (on ntv2 dsr3) (clear kur1) (on-table dsr3)",
"(arm-empty) (clear kyb4) (on ntv2 dsr3) (on kyb4 ntv2) (on-table kur1) (clear kur1) (on-table dsr3)",
"(holding kur1) (on ntv2 dsr3) (on kyb4 ntv2) (clear kyb4) (on-table dsr3)"
] |
file_223588
|
GOAL: (holding wyd1) (clear moq2) (on-table evh5) (on-table mbz4) (on moq2 mbz4) (clear mxx3) (on-table mxx3) (clear evh5)
|
GOAL: (holding wyd1) (clear moq2) (on-table evh5) (on-table mbz4) (on moq2 mbz4) (clear mxx3) (on-table mxx3) (clear evh5)
STATE: (holding wyd1) (clear moq2) (on evh5 mbz4) (on-table moq2) (on-table mbz4) (clear mxx3) (on-table mxx3) (clear evh5)
|
[
[
"stack wyd1 mxx3"
],
[
"pick-up moq2"
],
[
"stack moq2 wyd1"
],
[
"unstack evh5 mbz4"
],
[
"put-down evh5"
],
[
"unstack moq2 wyd1"
],
[
"stack moq2 mbz4"
],
[
"unstack wyd1 mxx3"
]
] |
[
"(clear moq2) (on wyd1 mxx3) (on evh5 mbz4) (on-table moq2) (arm-empty) (on-table mbz4) (clear wyd1) (on-table mxx3) (clear evh5)",
"(on wyd1 mxx3) (on evh5 mbz4) (on-table mbz4) (holding moq2) (clear wyd1) (on-table mxx3) (clear evh5)",
"(clear moq2) (on wyd1 mxx3) (on evh5 mbz4) (arm-empty) (on-table mbz4) (on moq2 wyd1) (on-table mxx3) (clear evh5)",
"(clear moq2) (on wyd1 mxx3) (clear mbz4) (holding evh5) (on-table mbz4) (on moq2 wyd1) (on-table mxx3)",
"(on wyd1 mxx3) (arm-empty) (on-table evh5) (clear mbz4) (on moq2 wyd1) (clear evh5) (clear moq2) (on-table mbz4) (on-table mxx3)",
"(on wyd1 mxx3) (on-table evh5) (clear mbz4) (on-table mbz4) (holding moq2) (clear wyd1) (on-table mxx3) (clear evh5)",
"(clear moq2) (on wyd1 mxx3) (arm-empty) (on-table evh5) (on-table mbz4) (on moq2 mbz4) (clear wyd1) (on-table mxx3) (clear evh5)",
"(holding wyd1) (clear moq2) (on-table evh5) (on-table mbz4) (on moq2 mbz4) (clear mxx3) (on-table mxx3) (clear evh5)"
] |
file_76367
|
GOAL: (on obh3 iwb4) (arm-empty) (on-table oeh5) (on-table iwb4) (on qtx2 oeh5) (clear obh3) (on aag1 qtx2) (clear aag1)
|
GOAL: (on obh3 iwb4) (arm-empty) (on-table oeh5) (on-table iwb4) (on qtx2 oeh5) (clear obh3) (on aag1 qtx2) (clear aag1)
STATE: (on obh3 iwb4) (clear qtx2) (on aag1 obh3) (arm-empty) (on-table oeh5) (on-table iwb4) (on qtx2 aag1) (clear oeh5)
|
[
[
"unstack qtx2 aag1"
],
[
"stack qtx2 oeh5"
],
[
"unstack aag1 obh3"
],
[
"stack aag1 qtx2"
]
] |
[
"(on obh3 iwb4) (on aag1 obh3) (on-table oeh5) (on-table iwb4) (holding qtx2) (clear aag1) (clear oeh5)",
"(on obh3 iwb4) (clear qtx2) (on aag1 obh3) (arm-empty) (on-table oeh5) (on-table iwb4) (on qtx2 oeh5) (clear aag1)",
"(holding aag1) (on obh3 iwb4) (clear qtx2) (on-table oeh5) (on-table iwb4) (on qtx2 oeh5) (clear obh3)",
"(on obh3 iwb4) (arm-empty) (on-table oeh5) (on-table iwb4) (on qtx2 oeh5) (clear obh3) (on aag1 qtx2) (clear aag1)"
] |
file_131452
|
GOAL: (on nhu1 txr5) (arm-empty) (on-table txr5) (on aav2 fpf4) (clear aav2) (on-table fpf4) (clear zgt3) (clear nhu1) (on-table zgt3)
|
GOAL: (on nhu1 txr5) (arm-empty) (on-table txr5) (on aav2 fpf4) (clear aav2) (on-table fpf4) (clear zgt3) (clear nhu1) (on-table zgt3)
STATE: (on nhu1 zgt3) (arm-empty) (on-table txr5) (on zgt3 aav2) (on-table fpf4) (on aav2 fpf4) (clear nhu1) (clear txr5)
|
[
[
"unstack nhu1 zgt3"
],
[
"stack nhu1 txr5"
],
[
"unstack zgt3 aav2"
],
[
"put-down zgt3"
]
] |
[
"(holding nhu1) (on-table txr5) (on zgt3 aav2) (on-table fpf4) (on aav2 fpf4) (clear zgt3) (clear txr5)",
"(on nhu1 txr5) (arm-empty) (on-table txr5) (on zgt3 aav2) (on-table fpf4) (on aav2 fpf4) (clear zgt3) (clear nhu1)",
"(on nhu1 txr5) (clear aav2) (on-table txr5) (on-table fpf4) (on aav2 fpf4) (holding zgt3) (clear nhu1)",
"(on nhu1 txr5) (arm-empty) (on-table txr5) (on aav2 fpf4) (clear aav2) (on-table fpf4) (clear zgt3) (clear nhu1) (on-table zgt3)"
] |
file_81325
|
GOAL: (on qui3 cnb4) (clear mic2) (on-table mic2) (on-table dia1) (holding hqe5) (on-table cnb4) (clear qui3) (clear dia1)
|
GOAL: (on qui3 cnb4) (clear mic2) (on-table mic2) (on-table dia1) (holding hqe5) (on-table cnb4) (clear qui3) (clear dia1)
STATE: (on dia1 hqe5) (on-table hqe5) (clear cnb4) (on cnb4 qui3) (holding mic2) (on qui3 dia1)
|
[
[
"put-down mic2"
],
[
"unstack cnb4 qui3"
],
[
"stack cnb4 mic2"
],
[
"unstack qui3 dia1"
],
[
"put-down qui3"
],
[
"unstack dia1 hqe5"
],
[
"put-down dia1"
],
[
"unstack cnb4 mic2"
],
[
"put-down cnb4"
],
[
"pick-up qui3"
],
[
"stack qui3 cnb4"
],
[
"pick-up hqe5"
]
] |
[
"(on dia1 hqe5) (arm-empty) (on-table mic2) (on-table hqe5) (clear cnb4) (on qui3 dia1) (clear mic2) (on cnb4 qui3)",
"(on dia1 hqe5) (clear mic2) (on-table mic2) (on-table hqe5) (holding cnb4) (on qui3 dia1) (clear qui3)",
"(on dia1 hqe5) (arm-empty) (on-table mic2) (on-table hqe5) (clear cnb4) (on qui3 dia1) (on cnb4 mic2) (clear qui3)",
"(on dia1 hqe5) (on-table mic2) (on-table hqe5) (on cnb4 mic2) (clear cnb4) (holding qui3) (clear dia1)",
"(on dia1 hqe5) (arm-empty) (on-table mic2) (on-table hqe5) (clear cnb4) (on cnb4 mic2) (clear qui3) (clear dia1) (on-table qui3)",
"(holding dia1) (on-table mic2) (on-table hqe5) (clear cnb4) (on cnb4 mic2) (clear qui3) (on-table qui3) (clear hqe5)",
"(arm-empty) (on-table mic2) (on-table hqe5) (on-table dia1) (clear cnb4) (on cnb4 mic2) (clear qui3) (clear dia1) (on-table qui3) (clear hqe5)",
"(clear mic2) (on-table mic2) (on-table hqe5) (on-table dia1) (holding cnb4) (clear qui3) (clear dia1) (on-table qui3) (clear hqe5)",
"(clear mic2) (arm-empty) (on-table mic2) (on-table hqe5) (on-table dia1) (clear cnb4) (on-table cnb4) (clear qui3) (clear dia1) (on-table qui3) (clear hqe5)",
"(clear mic2) (on-table mic2) (on-table hqe5) (on-table dia1) (clear cnb4) (on-table cnb4) (holding qui3) (clear dia1) (clear hqe5)",
"(on qui3 cnb4) (clear mic2) (arm-empty) (on-table mic2) (on-table hqe5) (on-table dia1) (on-table cnb4) (clear qui3) (clear dia1) (clear hqe5)",
"(on qui3 cnb4) (clear mic2) (on-table mic2) (on-table dia1) (holding hqe5) (on-table cnb4) (clear qui3) (clear dia1)"
] |
file_110679
|
GOAL: (holding fun1) (on-table htv2) (on-table nmx5) (clear bfo4) (on bfo4 htv2) (clear fgm3) (on-table fgm3) (clear nmx5)
|
GOAL: (holding fun1) (on-table htv2) (on-table nmx5) (clear bfo4) (on bfo4 htv2) (clear fgm3) (on-table fgm3) (clear nmx5)
STATE: (on fgm3 bfo4) (arm-empty) (on-table htv2) (on-table fun1) (on nmx5 fgm3) (on bfo4 htv2) (clear fun1) (clear nmx5)
|
[
[
"unstack nmx5 fgm3"
],
[
"put-down nmx5"
],
[
"unstack fgm3 bfo4"
],
[
"put-down fgm3"
],
[
"pick-up fun1"
]
] |
[
"(on fgm3 bfo4) (on-table htv2) (on-table fun1) (holding nmx5) (on bfo4 htv2) (clear fgm3) (clear fun1)",
"(arm-empty) (on-table htv2) (on-table nmx5) (clear nmx5) (on fgm3 bfo4) (on-table fun1) (on bfo4 htv2) (clear fgm3) (clear fun1)",
"(on-table htv2) (on-table nmx5) (on-table fun1) (clear bfo4) (on bfo4 htv2) (holding fgm3) (clear fun1) (clear nmx5)",
"(arm-empty) (on-table htv2) (on-table nmx5) (on-table fun1) (clear bfo4) (on bfo4 htv2) (clear fgm3) (clear fun1) (on-table fgm3) (clear nmx5)",
"(holding fun1) (on-table htv2) (on-table nmx5) (clear bfo4) (on bfo4 htv2) (clear fgm3) (on-table fgm3) (clear nmx5)"
] |
file_36510
|
GOAL: (clear grv2) (arm-empty) (on-table ggo5) (on-table vcv1) (clear vhc4) (on vhc4 voj3) (on grv2 ggo5) (clear vcv1) (on-table voj3)
|
GOAL: (clear grv2) (arm-empty) (on-table ggo5) (on-table vcv1) (clear vhc4) (on vhc4 voj3) (on grv2 ggo5) (clear vcv1) (on-table voj3)
STATE: (on voj3 vhc4) (on vcv1 voj3) (arm-empty) (on-table ggo5) (on vhc4 grv2) (on grv2 ggo5) (clear vcv1)
|
[
[
"unstack vcv1 voj3"
],
[
"put-down vcv1"
],
[
"unstack voj3 vhc4"
],
[
"put-down voj3"
],
[
"pick-up vcv1"
],
[
"stack vcv1 voj3"
],
[
"unstack vhc4 grv2"
],
[
"put-down vhc4"
],
[
"unstack vcv1 voj3"
],
[
"put-down vcv1"
],
[
"pick-up vhc4"
],
[
"stack vhc4 voj3"
]
] |
[
"(on-table ggo5) (on grv2 ggo5) (holding vcv1) (on voj3 vhc4) (on vhc4 grv2) (clear voj3)",
"(arm-empty) (on-table ggo5) (on grv2 ggo5) (on voj3 vhc4) (on-table vcv1) (on vhc4 grv2) (clear voj3) (clear vcv1)",
"(on-table ggo5) (on-table vcv1) (clear vhc4) (on vhc4 grv2) (on grv2 ggo5) (holding voj3) (clear vcv1)",
"(arm-empty) (on-table ggo5) (clear vhc4) (on grv2 ggo5) (on-table vcv1) (on vhc4 grv2) (clear voj3) (clear vcv1) (on-table voj3)",
"(holding vcv1) (on-table ggo5) (clear vhc4) (on vhc4 grv2) (on grv2 ggo5) (clear voj3) (on-table voj3)",
"(on vcv1 voj3) (arm-empty) (on-table ggo5) (clear vhc4) (on vhc4 grv2) (on grv2 ggo5) (clear vcv1) (on-table voj3)",
"(clear grv2) (on vcv1 voj3) (on-table ggo5) (holding vhc4) (on grv2 ggo5) (clear vcv1) (on-table voj3)",
"(on vcv1 voj3) (arm-empty) (on-table ggo5) (clear vhc4) (on grv2 ggo5) (clear grv2) (on-table vhc4) (clear vcv1) (on-table voj3)",
"(holding vcv1) (clear grv2) (on-table ggo5) (clear vhc4) (on-table vhc4) (on grv2 ggo5) (clear voj3) (on-table voj3)",
"(clear grv2) (arm-empty) (on-table ggo5) (on-table vcv1) (clear vhc4) (on-table vhc4) (on grv2 ggo5) (clear voj3) (clear vcv1) (on-table voj3)",
"(clear grv2) (on-table ggo5) (on-table vcv1) (holding vhc4) (on grv2 ggo5) (clear voj3) (clear vcv1) (on-table voj3)",
"(clear grv2) (arm-empty) (on-table ggo5) (on-table vcv1) (clear vhc4) (on vhc4 voj3) (on grv2 ggo5) (clear vcv1) (on-table voj3)"
] |
file_75969
|
GOAL: (on-table aoy2) (on-table fgt1) (clear kzm4) (on jyk5 fgt1) (on kzm4 aoy2) (holding msp3) (clear jyk5)
|
GOAL: (on-table aoy2) (on-table fgt1) (clear kzm4) (on jyk5 fgt1) (on kzm4 aoy2) (holding msp3) (clear jyk5)
STATE: (clear aoy2) (holding kzm4) (on-table fgt1) (on jyk5 fgt1) (on aoy2 jyk5) (clear msp3) (on-table msp3)
|
[
[
"stack kzm4 msp3"
],
[
"unstack aoy2 jyk5"
],
[
"put-down aoy2"
],
[
"unstack kzm4 msp3"
],
[
"stack kzm4 aoy2"
],
[
"pick-up msp3"
]
] |
[
"(clear aoy2) (arm-empty) (on-table fgt1) (clear kzm4) (on jyk5 fgt1) (on kzm4 msp3) (on aoy2 jyk5) (on-table msp3)",
"(on-table fgt1) (clear kzm4) (on jyk5 fgt1) (on kzm4 msp3) (holding aoy2) (on-table msp3) (clear jyk5)",
"(arm-empty) (on-table aoy2) (clear kzm4) (clear jyk5) (clear aoy2) (on-table fgt1) (on jyk5 fgt1) (on kzm4 msp3) (on-table msp3)",
"(clear aoy2) (on-table aoy2) (on-table fgt1) (holding kzm4) (on jyk5 fgt1) (clear msp3) (on-table msp3) (clear jyk5)",
"(arm-empty) (on-table aoy2) (on-table fgt1) (clear kzm4) (on jyk5 fgt1) (on kzm4 aoy2) (clear msp3) (on-table msp3) (clear jyk5)",
"(on-table aoy2) (on-table fgt1) (clear kzm4) (on jyk5 fgt1) (on kzm4 aoy2) (holding msp3) (clear jyk5)"
] |
file_109876
|
GOAL: (clear rsy2) (arm-empty) (on-table rsy2) (on-table tpv1) (clear muu4) (on uqn5 tpv1) (on muu4 uus3) (on-table uus3) (clear uqn5)
|
GOAL: (clear rsy2) (arm-empty) (on-table rsy2) (on-table tpv1) (clear muu4) (on uqn5 tpv1) (on muu4 uus3) (on-table uus3) (clear uqn5)
STATE: (arm-empty) (on muu4 uqn5) (on-table tpv1) (on uus3 rsy2) (on uqn5 tpv1) (on rsy2 muu4) (clear uus3)
|
[
[
"unstack uus3 rsy2"
],
[
"put-down uus3"
],
[
"unstack rsy2 muu4"
],
[
"put-down rsy2"
],
[
"unstack muu4 uqn5"
],
[
"stack muu4 uus3"
]
] |
[
"(on muu4 uqn5) (on rsy2 muu4) (clear rsy2) (on-table tpv1) (on uqn5 tpv1) (holding uus3)",
"(on uqn5 tpv1) (clear rsy2) (arm-empty) (on muu4 uqn5) (on rsy2 muu4) (clear uus3) (on-table tpv1) (on-table uus3)",
"(on muu4 uqn5) (on-table tpv1) (clear muu4) (on uqn5 tpv1) (holding rsy2) (clear uus3) (on-table uus3)",
"(arm-empty) (on-table rsy2) (on muu4 uqn5) (clear muu4) (clear rsy2) (on-table tpv1) (on uqn5 tpv1) (clear uus3) (on-table uus3)",
"(clear rsy2) (on-table rsy2) (on-table tpv1) (holding muu4) (on uqn5 tpv1) (clear uus3) (on-table uus3) (clear uqn5)",
"(clear rsy2) (arm-empty) (on-table rsy2) (on-table tpv1) (clear muu4) (on uqn5 tpv1) (on muu4 uus3) (on-table uus3) (clear uqn5)"
] |
file_118901
|
GOAL: (holding mpc1) (on hcg3 igo5) (on-table ndu2) (on igo5 ndu2) (clear mjc4) (on-table mjc4) (clear hcg3)
|
GOAL: (holding mpc1) (on hcg3 igo5) (on-table ndu2) (on igo5 ndu2) (clear mjc4) (on-table mjc4) (clear hcg3)
STATE: (clear ndu2) (arm-empty) (on-table ndu2) (on-table igo5) (on-table mjc4) (on mpc1 mjc4) (on hcg3 mpc1) (clear hcg3) (clear igo5)
|
[
[
"pick-up igo5"
],
[
"stack igo5 ndu2"
],
[
"unstack hcg3 mpc1"
],
[
"stack hcg3 igo5"
],
[
"unstack mpc1 mjc4"
]
] |
[
"(clear ndu2) (on-table ndu2) (holding igo5) (on-table mjc4) (on mpc1 mjc4) (on hcg3 mpc1) (clear hcg3)",
"(arm-empty) (on-table ndu2) (on igo5 ndu2) (on-table mjc4) (on mpc1 mjc4) (on hcg3 mpc1) (clear hcg3) (clear igo5)",
"(on-table ndu2) (on igo5 ndu2) (on-table mjc4) (on mpc1 mjc4) (holding hcg3) (clear mpc1) (clear igo5)",
"(on hcg3 igo5) (arm-empty) (on-table ndu2) (on igo5 ndu2) (on-table mjc4) (on mpc1 mjc4) (clear hcg3) (clear mpc1)",
"(holding mpc1) (on hcg3 igo5) (on-table ndu2) (on igo5 ndu2) (clear mjc4) (on-table mjc4) (clear hcg3)"
] |
file_65145
|
GOAL: (on olt3 pst4) (arm-empty) (on-table lrn2) (on-table dxi1) (on vyg5 olt3) (on pst4 lrn2) (clear dxi1) (clear vyg5)
|
GOAL: (on olt3 pst4) (arm-empty) (on-table lrn2) (on-table dxi1) (on vyg5 olt3) (on pst4 lrn2) (clear dxi1) (clear vyg5)
STATE: (clear lrn2) (arm-empty) (on pst4 vyg5) (on-table dxi1) (on vyg5 olt3) (on olt3 dxi1) (on lrn2 pst4)
|
[
[
"unstack lrn2 pst4"
],
[
"put-down lrn2"
],
[
"unstack pst4 vyg5"
],
[
"stack pst4 lrn2"
],
[
"unstack vyg5 olt3"
],
[
"put-down vyg5"
],
[
"unstack olt3 dxi1"
],
[
"stack olt3 pst4"
],
[
"pick-up vyg5"
],
[
"stack vyg5 olt3"
]
] |
[
"(on olt3 dxi1) (on pst4 vyg5) (on-table dxi1) (clear pst4) (holding lrn2) (on vyg5 olt3)",
"(arm-empty) (on-table lrn2) (on pst4 vyg5) (clear pst4) (on vyg5 olt3) (on olt3 dxi1) (clear lrn2) (on-table dxi1)",
"(clear lrn2) (on-table lrn2) (on-table dxi1) (holding pst4) (on vyg5 olt3) (on olt3 dxi1) (clear vyg5)",
"(arm-empty) (on-table lrn2) (on-table dxi1) (clear pst4) (on vyg5 olt3) (on olt3 dxi1) (on pst4 lrn2) (clear vyg5)",
"(on-table lrn2) (on-table dxi1) (clear pst4) (on olt3 dxi1) (holding vyg5) (on pst4 lrn2) (clear olt3)",
"(arm-empty) (on-table lrn2) (on-table vyg5) (clear pst4) (on olt3 dxi1) (clear vyg5) (on-table dxi1) (on pst4 lrn2) (clear olt3)",
"(on-table lrn2) (on-table vyg5) (on-table dxi1) (on pst4 lrn2) (clear pst4) (holding olt3) (clear dxi1) (clear vyg5)",
"(on olt3 pst4) (arm-empty) (on-table lrn2) (on-table vyg5) (on-table dxi1) (on pst4 lrn2) (clear olt3) (clear dxi1) (clear vyg5)",
"(on olt3 pst4) (on-table lrn2) (on-table dxi1) (holding vyg5) (on pst4 lrn2) (clear olt3) (clear dxi1)",
"(on olt3 pst4) (arm-empty) (on-table lrn2) (on-table dxi1) (on vyg5 olt3) (on pst4 lrn2) (clear dxi1) (clear vyg5)"
] |
file_220360
|
GOAL: (arm-empty) (on yil5 ged4) (on-table ged4) (on mkg2 yil5) (clear zpd3) (on dvp1 mkg2) (clear dvp1) (on-table zpd3)
|
GOAL: (arm-empty) (on yil5 ged4) (on-table ged4) (on mkg2 yil5) (clear zpd3) (on dvp1 mkg2) (clear dvp1) (on-table zpd3)
STATE: (on dvp1 zpd3) (arm-empty) (on ged4 yil5) (on yil5 mkg2) (clear ged4) (on mkg2 dvp1) (on-table zpd3)
|
[
[
"unstack ged4 yil5"
],
[
"put-down ged4"
],
[
"unstack yil5 mkg2"
],
[
"stack yil5 ged4"
],
[
"unstack mkg2 dvp1"
],
[
"stack mkg2 yil5"
],
[
"unstack dvp1 zpd3"
],
[
"stack dvp1 mkg2"
]
] |
[
"(on dvp1 zpd3) (holding ged4) (on yil5 mkg2) (on mkg2 dvp1) (clear yil5) (on-table zpd3)",
"(on dvp1 zpd3) (arm-empty) (on yil5 mkg2) (clear ged4) (on mkg2 dvp1) (clear yil5) (on-table ged4) (on-table zpd3)",
"(clear mkg2) (on dvp1 zpd3) (clear ged4) (holding yil5) (on-table ged4) (on mkg2 dvp1) (on-table zpd3)",
"(clear mkg2) (on dvp1 zpd3) (on yil5 ged4) (arm-empty) (on-table ged4) (on mkg2 dvp1) (on-table zpd3) (clear yil5)",
"(on dvp1 zpd3) (on yil5 ged4) (on-table ged4) (holding mkg2) (clear dvp1) (on-table zpd3) (clear yil5)",
"(clear mkg2) (on dvp1 zpd3) (on yil5 ged4) (arm-empty) (on-table ged4) (on mkg2 yil5) (clear dvp1) (on-table zpd3)",
"(holding dvp1) (clear mkg2) (on yil5 ged4) (on-table ged4) (on mkg2 yil5) (clear zpd3) (on-table zpd3)",
"(arm-empty) (on yil5 ged4) (on-table ged4) (on mkg2 yil5) (clear zpd3) (on dvp1 mkg2) (clear dvp1) (on-table zpd3)"
] |
file_184978
|
GOAL: (clear kls2) (arm-empty) (on-table kls2) (on-table wqo5) (on-table yao1) (clear pgf4) (on pgf4 njc3) (clear yao1) (on-table njc3) (clear wqo5)
|
GOAL: (clear kls2) (arm-empty) (on-table kls2) (on-table wqo5) (on-table yao1) (clear pgf4) (on pgf4 njc3) (clear yao1) (on-table njc3) (clear wqo5)
STATE: (on-table wqo5) (on-table yao1) (clear pgf4) (on pgf4 njc3) (holding kls2) (clear yao1) (on-table njc3) (clear wqo5)
|
[
[
"put-down kls2"
]
] |
[
"(clear kls2) (arm-empty) (on-table kls2) (on-table wqo5) (on-table yao1) (clear pgf4) (on pgf4 njc3) (clear yao1) (on-table njc3) (clear wqo5)"
] |
file_104724
|
GOAL: (on rmo1 ivm5) (on ivm5 zxb4) (on-table elt2) (on zxb4 elt2) (holding kmf3) (clear rmo1)
|
GOAL: (on rmo1 ivm5) (on ivm5 zxb4) (on-table elt2) (on zxb4 elt2) (holding kmf3) (clear rmo1)
STATE: (on rmo1 ivm5) (arm-empty) (on ivm5 zxb4) (on-table elt2) (on zxb4 elt2) (clear kmf3) (clear rmo1) (on-table kmf3)
|
[
[
"pick-up kmf3"
]
] |
[
"(on rmo1 ivm5) (on ivm5 zxb4) (on-table elt2) (on zxb4 elt2) (holding kmf3) (clear rmo1)"
] |
file_136237
|
GOAL: (arm-empty) (on-table zcm2) (on-table ljn5) (clear qby4) (on-table qby4) (clear kdr3) (on oje1 zcm2) (clear oje1) (on-table kdr3) (clear ljn5)
|
GOAL: (arm-empty) (on-table zcm2) (on-table ljn5) (clear qby4) (on-table qby4) (clear kdr3) (on oje1 zcm2) (clear oje1) (on-table kdr3) (clear ljn5)
STATE: (on oje1 kdr3) (on-table zcm2) (holding qby4) (on kdr3 zcm2) (on ljn5 oje1) (clear ljn5)
|
[
[
"put-down qby4"
],
[
"unstack ljn5 oje1"
],
[
"stack ljn5 qby4"
],
[
"unstack oje1 kdr3"
],
[
"stack oje1 ljn5"
],
[
"unstack kdr3 zcm2"
],
[
"put-down kdr3"
],
[
"unstack oje1 ljn5"
],
[
"stack oje1 zcm2"
],
[
"unstack ljn5 qby4"
],
[
"put-down ljn5"
]
] |
[
"(on oje1 kdr3) (arm-empty) (on-table zcm2) (clear qby4) (clear ljn5) (on kdr3 zcm2) (on ljn5 oje1) (on-table qby4)",
"(on oje1 kdr3) (on-table zcm2) (on kdr3 zcm2) (clear qby4) (holding ljn5) (on-table qby4) (clear oje1)",
"(on oje1 kdr3) (on ljn5 qby4) (on-table zcm2) (arm-empty) (on kdr3 zcm2) (on-table qby4) (clear oje1) (clear ljn5)",
"(holding oje1) (on ljn5 qby4) (on-table zcm2) (on kdr3 zcm2) (on-table qby4) (clear kdr3) (clear ljn5)",
"(on oje1 ljn5) (arm-empty) (on ljn5 qby4) (on-table zcm2) (on kdr3 zcm2) (on-table qby4) (clear kdr3) (clear oje1)",
"(on oje1 ljn5) (clear zcm2) (on ljn5 qby4) (on-table zcm2) (on-table qby4) (holding kdr3) (clear oje1)",
"(on oje1 ljn5) (arm-empty) (on ljn5 qby4) (on-table zcm2) (clear zcm2) (on-table qby4) (clear kdr3) (clear oje1) (on-table kdr3)",
"(holding oje1) (clear zcm2) (on ljn5 qby4) (on-table zcm2) (on-table qby4) (clear kdr3) (on-table kdr3) (clear ljn5)",
"(arm-empty) (on ljn5 qby4) (on-table zcm2) (on-table qby4) (clear kdr3) (on oje1 zcm2) (clear oje1) (on-table kdr3) (clear ljn5)",
"(on-table zcm2) (clear qby4) (holding ljn5) (on-table qby4) (clear kdr3) (on oje1 zcm2) (clear oje1) (on-table kdr3)",
"(arm-empty) (on-table zcm2) (on-table ljn5) (clear qby4) (on-table qby4) (clear kdr3) (on oje1 zcm2) (clear oje1) (on-table kdr3) (clear ljn5)"
] |
file_43783
|
GOAL: (on fhf1 mvi5) (on ezz3 khv4) (on khv4 fhf1) (arm-empty) (on-table vdv2) (on mvi5 vdv2) (clear ezz3)
|
GOAL: (on fhf1 mvi5) (on ezz3 khv4) (on khv4 fhf1) (arm-empty) (on-table vdv2) (on mvi5 vdv2) (clear ezz3)
STATE: (on fhf1 mvi5) (arm-empty) (on mvi5 vdv2) (on khv4 ezz3) (on vdv2 khv4) (clear fhf1) (on-table ezz3)
|
[
[
"unstack fhf1 mvi5"
],
[
"put-down fhf1"
],
[
"unstack mvi5 vdv2"
],
[
"put-down mvi5"
],
[
"unstack vdv2 khv4"
],
[
"put-down vdv2"
],
[
"pick-up mvi5"
],
[
"stack mvi5 vdv2"
],
[
"pick-up fhf1"
],
[
"stack fhf1 mvi5"
],
[
"unstack khv4 ezz3"
],
[
"stack khv4 fhf1"
],
[
"pick-up ezz3"
],
[
"stack ezz3 khv4"
]
] |
[
"(on mvi5 vdv2) (on vdv2 khv4) (clear mvi5) (holding fhf1) (on khv4 ezz3) (on-table ezz3)",
"(arm-empty) (on mvi5 vdv2) (on vdv2 khv4) (clear mvi5) (on-table fhf1) (on khv4 ezz3) (clear fhf1) (on-table ezz3)",
"(clear vdv2) (on-table fhf1) (on khv4 ezz3) (holding mvi5) (on vdv2 khv4) (clear fhf1) (on-table ezz3)",
"(arm-empty) (on-table mvi5) (on vdv2 khv4) (clear mvi5) (clear vdv2) (on-table fhf1) (on khv4 ezz3) (clear fhf1) (on-table ezz3)",
"(on-table mvi5) (on-table fhf1) (clear khv4) (on khv4 ezz3) (holding vdv2) (clear fhf1) (on-table ezz3) (clear mvi5)",
"(clear vdv2) (arm-empty) (on-table vdv2) (on-table mvi5) (on-table fhf1) (clear khv4) (on khv4 ezz3) (clear fhf1) (on-table ezz3) (clear mvi5)",
"(clear vdv2) (on-table vdv2) (on-table fhf1) (clear khv4) (on khv4 ezz3) (holding mvi5) (clear fhf1) (on-table ezz3)",
"(arm-empty) (on-table vdv2) (on-table fhf1) (on mvi5 vdv2) (clear khv4) (on khv4 ezz3) (clear fhf1) (on-table ezz3) (clear mvi5)",
"(holding fhf1) (on-table vdv2) (on mvi5 vdv2) (clear khv4) (on khv4 ezz3) (on-table ezz3) (clear mvi5)",
"(on fhf1 mvi5) (arm-empty) (on-table vdv2) (on mvi5 vdv2) (clear khv4) (on khv4 ezz3) (clear fhf1) (on-table ezz3)",
"(on fhf1 mvi5) (on-table vdv2) (holding khv4) (on mvi5 vdv2) (clear ezz3) (clear fhf1) (on-table ezz3)",
"(on fhf1 mvi5) (on khv4 fhf1) (arm-empty) (on-table vdv2) (on mvi5 vdv2) (clear khv4) (clear ezz3) (on-table ezz3)",
"(on fhf1 mvi5) (on khv4 fhf1) (on-table vdv2) (on mvi5 vdv2) (clear khv4) (holding ezz3)",
"(on fhf1 mvi5) (on ezz3 khv4) (on khv4 fhf1) (arm-empty) (on-table vdv2) (on mvi5 vdv2) (clear ezz3)"
] |
file_78731
|
GOAL: (holding ovc1) (clear jak2) (on jbt3 syh5) (on-table jak2) (on-table syh5) (clear tio4) (on-table tio4) (clear jbt3)
|
GOAL: (holding ovc1) (clear jak2) (on jbt3 syh5) (on-table jak2) (on-table syh5) (clear tio4) (on-table tio4) (clear jbt3)
STATE: (clear jak2) (arm-empty) (on-table jak2) (on-table syh5) (on-table tio4) (on ovc1 tio4) (on jbt3 ovc1) (clear jbt3) (clear syh5)
|
[
[
"unstack jbt3 ovc1"
],
[
"stack jbt3 syh5"
],
[
"unstack ovc1 tio4"
]
] |
[
"(clear jak2) (on-table jak2) (on-table syh5) (on-table tio4) (on ovc1 tio4) (holding jbt3) (clear ovc1) (clear syh5)",
"(clear jak2) (on jbt3 syh5) (arm-empty) (on-table jak2) (on-table syh5) (on-table tio4) (on ovc1 tio4) (clear jbt3) (clear ovc1)",
"(holding ovc1) (clear jak2) (on jbt3 syh5) (on-table jak2) (on-table syh5) (clear tio4) (on-table tio4) (clear jbt3)"
] |
file_65176
|
GOAL: (arm-empty) (on-table akg5) (on bcs3 jir2) (on-table aze4) (on lev1 aze4) (on jir2 lev1) (clear bcs3) (clear akg5)
|
GOAL: (arm-empty) (on-table akg5) (on bcs3 jir2) (on-table aze4) (on lev1 aze4) (on jir2 lev1) (clear bcs3) (clear akg5)
STATE: (on-table lev1) (clear aze4) (on akg5 bcs3) (on-table aze4) (holding jir2) (clear lev1) (on-table bcs3) (clear akg5)
|
[
[
"stack jir2 akg5"
],
[
"pick-up lev1"
],
[
"stack lev1 aze4"
],
[
"unstack jir2 akg5"
],
[
"stack jir2 lev1"
],
[
"unstack akg5 bcs3"
],
[
"put-down akg5"
],
[
"pick-up bcs3"
],
[
"stack bcs3 jir2"
]
] |
[
"(clear jir2) (arm-empty) (on-table lev1) (clear aze4) (on akg5 bcs3) (on-table aze4) (on jir2 akg5) (clear lev1) (on-table bcs3)",
"(holding lev1) (clear jir2) (clear aze4) (on akg5 bcs3) (on-table aze4) (on jir2 akg5) (on-table bcs3)",
"(clear jir2) (arm-empty) (on akg5 bcs3) (on-table aze4) (on lev1 aze4) (on jir2 akg5) (clear lev1) (on-table bcs3)",
"(holding jir2) (on akg5 bcs3) (on-table aze4) (on lev1 aze4) (clear lev1) (on-table bcs3) (clear akg5)",
"(clear jir2) (arm-empty) (on akg5 bcs3) (on-table aze4) (on lev1 aze4) (on jir2 lev1) (on-table bcs3) (clear akg5)",
"(clear jir2) (holding akg5) (on-table aze4) (on lev1 aze4) (on jir2 lev1) (clear bcs3) (on-table bcs3)",
"(arm-empty) (on-table akg5) (on jir2 lev1) (clear akg5) (clear jir2) (on-table aze4) (on lev1 aze4) (clear bcs3) (on-table bcs3)",
"(clear jir2) (on-table akg5) (on-table aze4) (on lev1 aze4) (on jir2 lev1) (holding bcs3) (clear akg5)",
"(arm-empty) (on-table akg5) (on bcs3 jir2) (on-table aze4) (on lev1 aze4) (on jir2 lev1) (clear bcs3) (clear akg5)"
] |
file_178818
|
GOAL: (clear iua2) (on-table rdk5) (on-table prw1) (on-table uol4) (on iua2 uol4) (holding mdu3) (clear prw1) (clear rdk5)
|
GOAL: (clear iua2) (on-table rdk5) (on-table prw1) (on-table uol4) (on iua2 uol4) (holding mdu3) (clear prw1) (clear rdk5)
STATE: (clear iua2) (holding uol4) (on-table prw1) (on rdk5 mdu3) (on mdu3 prw1) (on iua2 rdk5)
|
[
[
"put-down uol4"
],
[
"unstack iua2 rdk5"
],
[
"stack iua2 uol4"
],
[
"unstack rdk5 mdu3"
],
[
"stack rdk5 iua2"
],
[
"unstack mdu3 prw1"
],
[
"put-down mdu3"
],
[
"pick-up prw1"
],
[
"stack prw1 mdu3"
],
[
"unstack rdk5 iua2"
],
[
"put-down rdk5"
],
[
"unstack prw1 mdu3"
],
[
"put-down prw1"
],
[
"pick-up mdu3"
]
] |
[
"(arm-empty) (clear uol4) (on rdk5 mdu3) (on mdu3 prw1) (on iua2 rdk5) (clear iua2) (on-table prw1) (on-table uol4)",
"(on-table prw1) (clear uol4) (on rdk5 mdu3) (on-table uol4) (holding iua2) (on mdu3 prw1) (clear rdk5)",
"(clear iua2) (arm-empty) (on-table prw1) (on iua2 uol4) (on rdk5 mdu3) (on-table uol4) (on mdu3 prw1) (clear rdk5)",
"(clear iua2) (on-table prw1) (on iua2 uol4) (holding rdk5) (on-table uol4) (on mdu3 prw1) (clear mdu3)",
"(arm-empty) (on-table prw1) (on rdk5 iua2) (on iua2 uol4) (on-table uol4) (on mdu3 prw1) (clear mdu3) (clear rdk5)",
"(on-table prw1) (on rdk5 iua2) (on iua2 uol4) (on-table uol4) (holding mdu3) (clear prw1) (clear rdk5)",
"(arm-empty) (on rdk5 iua2) (on iua2 uol4) (clear rdk5) (on-table prw1) (on-table uol4) (clear mdu3) (clear prw1) (on-table mdu3)",
"(holding prw1) (on rdk5 iua2) (on-table uol4) (on iua2 uol4) (clear mdu3) (on-table mdu3) (clear rdk5)",
"(on prw1 mdu3) (arm-empty) (on rdk5 iua2) (on-table uol4) (on iua2 uol4) (clear prw1) (on-table mdu3) (clear rdk5)",
"(clear iua2) (on prw1 mdu3) (holding rdk5) (on-table uol4) (on iua2 uol4) (clear prw1) (on-table mdu3)",
"(on prw1 mdu3) (arm-empty) (on-table rdk5) (on iua2 uol4) (clear rdk5) (clear iua2) (on-table uol4) (clear prw1) (on-table mdu3)",
"(holding prw1) (clear iua2) (on-table rdk5) (on-table uol4) (on iua2 uol4) (clear mdu3) (on-table mdu3) (clear rdk5)",
"(clear iua2) (arm-empty) (on-table rdk5) (on-table prw1) (on-table uol4) (on iua2 uol4) (clear mdu3) (clear prw1) (on-table mdu3) (clear rdk5)",
"(clear iua2) (on-table rdk5) (on-table prw1) (on-table uol4) (on iua2 uol4) (holding mdu3) (clear prw1) (clear rdk5)"
] |
file_124596
|
GOAL: (holding pda1) (on-table pfn5) (clear xmb4) (on xmb4 zjk2) (on zjk2 pfn5) (clear acr3) (on-table acr3)
|
GOAL: (holding pda1) (on-table pfn5) (clear xmb4) (on xmb4 zjk2) (on zjk2 pfn5) (clear acr3) (on-table acr3)
STATE: (on pda1 acr3) (on xmb4 pda1) (on-table pfn5) (clear xmb4) (holding zjk2) (on-table acr3) (clear pfn5)
|
[
[
"stack zjk2 pfn5"
],
[
"unstack xmb4 pda1"
],
[
"stack xmb4 zjk2"
],
[
"unstack pda1 acr3"
]
] |
[
"(clear zjk2) (on pda1 acr3) (on xmb4 pda1) (arm-empty) (on-table pfn5) (clear xmb4) (on zjk2 pfn5) (on-table acr3)",
"(clear zjk2) (on pda1 acr3) (on-table pfn5) (holding xmb4) (on zjk2 pfn5) (clear pda1) (on-table acr3)",
"(on pda1 acr3) (arm-empty) (on-table pfn5) (clear xmb4) (on zjk2 pfn5) (on xmb4 zjk2) (clear pda1) (on-table acr3)",
"(holding pda1) (on-table pfn5) (clear xmb4) (on xmb4 zjk2) (on zjk2 pfn5) (clear acr3) (on-table acr3)"
] |
file_57306
|
GOAL: (clear saw2) (arm-empty) (on-table saw2) (on-table lns4) (on adt1 lns4) (on ptf3 adt1) (clear ptf3)
|
GOAL: (clear saw2) (arm-empty) (on-table saw2) (on-table lns4) (on adt1 lns4) (on ptf3 adt1) (clear ptf3)
STATE: (on-table adt1) (clear lns4) (on lns4 ptf3) (holding saw2) (clear adt1) (on-table ptf3)
|
[
[
"put-down saw2"
],
[
"unstack lns4 ptf3"
],
[
"put-down lns4"
],
[
"pick-up adt1"
],
[
"stack adt1 lns4"
],
[
"pick-up ptf3"
],
[
"stack ptf3 adt1"
]
] |
[
"(arm-empty) (on-table saw2) (clear lns4) (clear saw2) (on-table adt1) (on lns4 ptf3) (clear adt1) (on-table ptf3)",
"(clear saw2) (on-table saw2) (on-table adt1) (holding lns4) (clear ptf3) (clear adt1) (on-table ptf3)",
"(arm-empty) (on-table saw2) (clear lns4) (clear saw2) (on-table adt1) (on-table lns4) (clear ptf3) (clear adt1) (on-table ptf3)",
"(holding adt1) (clear saw2) (on-table saw2) (clear lns4) (on-table lns4) (clear ptf3) (on-table ptf3)",
"(clear saw2) (arm-empty) (on-table saw2) (on-table lns4) (on adt1 lns4) (clear ptf3) (clear adt1) (on-table ptf3)",
"(clear saw2) (on-table saw2) (on-table lns4) (on adt1 lns4) (holding ptf3) (clear adt1)",
"(clear saw2) (arm-empty) (on-table saw2) (on-table lns4) (on adt1 lns4) (on ptf3 adt1) (clear ptf3)"
] |
file_191168
|
GOAL: (clear dth2) (arm-empty) (on-table dth2) (on-table nnr1) (clear uud4) (on bww5 nnr1) (on-table uud4) (clear rgn3) (on-table rgn3) (clear bww5)
|
GOAL: (clear dth2) (arm-empty) (on-table dth2) (on-table nnr1) (clear uud4) (on bww5 nnr1) (on-table uud4) (clear rgn3) (on-table rgn3) (clear bww5)
STATE: (holding nnr1) (on bww5 uud4) (on-table dth2) (on rgn3 dth2) (on uud4 rgn3) (clear bww5)
|
[
[
"put-down nnr1"
],
[
"unstack bww5 uud4"
],
[
"stack bww5 nnr1"
],
[
"unstack uud4 rgn3"
],
[
"stack uud4 bww5"
],
[
"unstack rgn3 dth2"
],
[
"put-down rgn3"
],
[
"unstack uud4 bww5"
],
[
"put-down uud4"
]
] |
[
"(arm-empty) (on bww5 uud4) (on-table dth2) (clear bww5) (on-table nnr1) (on rgn3 dth2) (on uud4 rgn3) (clear nnr1)",
"(on-table dth2) (on-table nnr1) (on rgn3 dth2) (clear uud4) (on uud4 rgn3) (holding bww5) (clear nnr1)",
"(arm-empty) (on-table dth2) (clear uud4) (clear bww5) (on-table nnr1) (on rgn3 dth2) (on uud4 rgn3) (on bww5 nnr1)",
"(on-table dth2) (on-table nnr1) (holding uud4) (on rgn3 dth2) (on bww5 nnr1) (clear rgn3) (clear bww5)",
"(arm-empty) (on-table dth2) (on uud4 bww5) (on-table nnr1) (on rgn3 dth2) (clear uud4) (on bww5 nnr1) (clear rgn3)",
"(clear dth2) (on-table dth2) (on uud4 bww5) (on-table nnr1) (clear uud4) (on bww5 nnr1) (holding rgn3)",
"(arm-empty) (on-table dth2) (on uud4 bww5) (clear uud4) (clear dth2) (on-table nnr1) (on bww5 nnr1) (clear rgn3) (on-table rgn3)",
"(clear dth2) (on-table dth2) (on-table nnr1) (holding uud4) (on bww5 nnr1) (clear rgn3) (on-table rgn3) (clear bww5)",
"(clear dth2) (arm-empty) (on-table dth2) (on-table nnr1) (clear uud4) (on bww5 nnr1) (on-table uud4) (clear rgn3) (on-table rgn3) (clear bww5)"
] |
file_55105
|
GOAL: (arm-empty) (on-table hhy2) (on xzm5 hhy2) (on hqw4 xum3) (on tru1 hqw4) (clear tru1) (on-table xum3) (clear xzm5)
|
GOAL: (arm-empty) (on-table hhy2) (on xzm5 hhy2) (on hqw4 xum3) (on tru1 hqw4) (clear tru1) (on-table xum3) (clear xzm5)
STATE: (clear hhy2) (on-table hhy2) (on-table tru1) (clear hqw4) (on hqw4 xum3) (holding xzm5) (clear tru1) (on-table xum3)
|
[
[
"stack xzm5 hhy2"
],
[
"pick-up tru1"
],
[
"stack tru1 hqw4"
]
] |
[
"(arm-empty) (on-table hhy2) (on-table tru1) (on xzm5 hhy2) (clear hqw4) (on hqw4 xum3) (clear tru1) (on-table xum3) (clear xzm5)",
"(holding tru1) (on-table hhy2) (on xzm5 hhy2) (clear hqw4) (on hqw4 xum3) (on-table xum3) (clear xzm5)",
"(arm-empty) (on-table hhy2) (on xzm5 hhy2) (on hqw4 xum3) (on tru1 hqw4) (clear tru1) (on-table xum3) (clear xzm5)"
] |
file_142601
|
GOAL: (holding tlw1) (on-table rkt2) (on ved5 rkt2) (clear cup4) (on cup4 uyq3) (on-table uyq3) (clear ved5)
|
GOAL: (holding tlw1) (on-table rkt2) (on ved5 rkt2) (clear cup4) (on cup4 uyq3) (on-table uyq3) (clear ved5)
STATE: (clear rkt2) (on uyq3 ved5) (arm-empty) (on-table rkt2) (on-table tlw1) (clear cup4) (on ved5 tlw1) (on-table cup4) (clear uyq3)
|
[
[
"unstack uyq3 ved5"
],
[
"put-down uyq3"
],
[
"unstack ved5 tlw1"
],
[
"put-down ved5"
],
[
"pick-up cup4"
],
[
"stack cup4 uyq3"
],
[
"pick-up ved5"
],
[
"stack ved5 rkt2"
],
[
"pick-up tlw1"
]
] |
[
"(clear rkt2) (on-table rkt2) (on-table tlw1) (clear cup4) (on ved5 tlw1) (on-table cup4) (holding uyq3) (clear ved5)",
"(clear rkt2) (arm-empty) (on-table rkt2) (on-table tlw1) (clear cup4) (on ved5 tlw1) (on-table cup4) (clear uyq3) (on-table uyq3) (clear ved5)",
"(clear rkt2) (on-table rkt2) (on-table tlw1) (clear cup4) (holding ved5) (on-table cup4) (clear uyq3) (clear tlw1) (on-table uyq3)",
"(clear rkt2) (arm-empty) (on-table rkt2) (on-table ved5) (on-table tlw1) (clear cup4) (on-table cup4) (clear uyq3) (clear tlw1) (on-table uyq3) (clear ved5)",
"(clear rkt2) (on-table rkt2) (on-table ved5) (on-table tlw1) (holding cup4) (clear uyq3) (clear tlw1) (on-table uyq3) (clear ved5)",
"(clear rkt2) (arm-empty) (on-table rkt2) (on-table ved5) (on-table tlw1) (clear cup4) (on cup4 uyq3) (clear tlw1) (on-table uyq3) (clear ved5)",
"(clear rkt2) (on-table rkt2) (on-table tlw1) (clear cup4) (on cup4 uyq3) (holding ved5) (clear tlw1) (on-table uyq3)",
"(arm-empty) (on-table rkt2) (on-table tlw1) (on ved5 rkt2) (clear cup4) (on cup4 uyq3) (clear tlw1) (on-table uyq3) (clear ved5)",
"(holding tlw1) (on-table rkt2) (on ved5 rkt2) (clear cup4) (on cup4 uyq3) (on-table uyq3) (clear ved5)"
] |
file_102340
|
GOAL: (arm-empty) (on-table sxi2) (clear jsp4) (on mei5 gbx3) (on-table jsp4) (on gbx3 apn1) (on apn1 sxi2) (clear mei5)
|
GOAL: (arm-empty) (on-table sxi2) (clear jsp4) (on mei5 gbx3) (on-table jsp4) (on gbx3 apn1) (on apn1 sxi2) (clear mei5)
STATE: (on apn1 mei5) (arm-empty) (clear jsp4) (on mei5 gbx3) (on jsp4 sxi2) (on sxi2 apn1) (on-table gbx3)
|
[
[
"unstack jsp4 sxi2"
],
[
"put-down jsp4"
],
[
"unstack sxi2 apn1"
],
[
"put-down sxi2"
],
[
"unstack apn1 mei5"
],
[
"stack apn1 sxi2"
],
[
"unstack mei5 gbx3"
],
[
"put-down mei5"
],
[
"pick-up gbx3"
],
[
"stack gbx3 apn1"
],
[
"pick-up mei5"
],
[
"stack mei5 gbx3"
]
] |
[
"(on apn1 mei5) (clear sxi2) (on-table gbx3) (holding jsp4) (on sxi2 apn1) (on mei5 gbx3)",
"(on apn1 mei5) (arm-empty) (clear jsp4) (on mei5 gbx3) (on sxi2 apn1) (clear sxi2) (on-table jsp4) (on-table gbx3)",
"(on apn1 mei5) (clear jsp4) (on mei5 gbx3) (on-table jsp4) (holding sxi2) (clear apn1) (on-table gbx3)",
"(on apn1 mei5) (arm-empty) (on-table sxi2) (clear jsp4) (on mei5 gbx3) (clear sxi2) (on-table jsp4) (clear apn1) (on-table gbx3)",
"(holding apn1) (clear sxi2) (on-table sxi2) (clear jsp4) (on mei5 gbx3) (on-table jsp4) (on-table gbx3) (clear mei5)",
"(arm-empty) (on-table sxi2) (clear jsp4) (on mei5 gbx3) (on-table jsp4) (on apn1 sxi2) (clear apn1) (on-table gbx3) (clear mei5)",
"(on-table sxi2) (clear jsp4) (holding mei5) (on-table jsp4) (clear gbx3) (on apn1 sxi2) (clear apn1) (on-table gbx3)",
"(arm-empty) (on-table sxi2) (on-table mei5) (clear jsp4) (on-table jsp4) (clear gbx3) (on apn1 sxi2) (clear apn1) (on-table gbx3) (clear mei5)",
"(on-table sxi2) (on-table mei5) (clear jsp4) (on-table jsp4) (on apn1 sxi2) (clear apn1) (holding gbx3) (clear mei5)",
"(arm-empty) (on-table sxi2) (on-table mei5) (clear jsp4) (on-table jsp4) (on gbx3 apn1) (clear gbx3) (on apn1 sxi2) (clear mei5)",
"(on-table sxi2) (clear jsp4) (holding mei5) (on-table jsp4) (on gbx3 apn1) (clear gbx3) (on apn1 sxi2)",
"(arm-empty) (on-table sxi2) (clear jsp4) (on mei5 gbx3) (on-table jsp4) (on gbx3 apn1) (on apn1 sxi2) (clear mei5)"
] |
file_205578
|
GOAL: (on chd1 bnb5) (on yci3 ivs4) (arm-empty) (on-table hvt2) (on bnb5 hvt2) (on-table ivs4) (clear yci3) (clear chd1)
|
GOAL: (on chd1 bnb5) (on yci3 ivs4) (arm-empty) (on-table hvt2) (on bnb5 hvt2) (on-table ivs4) (clear yci3) (clear chd1)
STATE: (on yci3 ivs4) (arm-empty) (on-table hvt2) (on ivs4 bnb5) (on-table chd1) (on bnb5 hvt2) (clear yci3) (clear chd1)
|
[
[
"unstack yci3 ivs4"
],
[
"put-down yci3"
],
[
"unstack ivs4 bnb5"
],
[
"put-down ivs4"
],
[
"pick-up chd1"
],
[
"stack chd1 bnb5"
],
[
"pick-up yci3"
],
[
"stack yci3 ivs4"
]
] |
[
"(on-table hvt2) (on ivs4 bnb5) (on-table chd1) (on bnb5 hvt2) (clear ivs4) (holding yci3) (clear chd1)",
"(arm-empty) (on-table hvt2) (on ivs4 bnb5) (on bnb5 hvt2) (clear ivs4) (on-table chd1) (clear yci3) (clear chd1) (on-table yci3)",
"(on-table hvt2) (on-table chd1) (holding ivs4) (on bnb5 hvt2) (clear yci3) (clear chd1) (on-table yci3) (clear bnb5)",
"(arm-empty) (on-table hvt2) (on-table chd1) (on bnb5 hvt2) (clear ivs4) (on-table ivs4) (clear yci3) (clear chd1) (on-table yci3) (clear bnb5)",
"(holding chd1) (on-table hvt2) (on bnb5 hvt2) (clear ivs4) (on-table ivs4) (clear yci3) (on-table yci3) (clear bnb5)",
"(on chd1 bnb5) (arm-empty) (on-table hvt2) (on bnb5 hvt2) (clear ivs4) (on-table ivs4) (clear yci3) (clear chd1) (on-table yci3)",
"(on chd1 bnb5) (on-table hvt2) (on bnb5 hvt2) (clear ivs4) (on-table ivs4) (holding yci3) (clear chd1)",
"(on chd1 bnb5) (on yci3 ivs4) (arm-empty) (on-table hvt2) (on bnb5 hvt2) (on-table ivs4) (clear yci3) (clear chd1)"
] |
file_188620
|
GOAL: (arm-empty) (on nem5 esd4) (on-table xbo1) (on ogz3 nep2) (on-table esd4) (on nep2 xbo1) (clear ogz3) (clear nem5)
|
GOAL: (arm-empty) (on nem5 esd4) (on-table xbo1) (on ogz3 nep2) (on-table esd4) (on nep2 xbo1) (clear ogz3) (clear nem5)
STATE: (arm-empty) (on nem5 esd4) (on-table esd4) (on ogz3 xbo1) (on nep2 nem5) (clear ogz3) (on xbo1 nep2)
|
[
[
"unstack ogz3 xbo1"
],
[
"put-down ogz3"
],
[
"unstack xbo1 nep2"
],
[
"put-down xbo1"
],
[
"unstack nep2 nem5"
],
[
"stack nep2 xbo1"
],
[
"pick-up ogz3"
],
[
"stack ogz3 nep2"
]
] |
[
"(on nem5 esd4) (on nep2 nem5) (on xbo1 nep2) (on-table esd4) (holding ogz3) (clear xbo1)",
"(on-table esd4) (arm-empty) (on nem5 esd4) (on nep2 nem5) (clear ogz3) (on xbo1 nep2) (clear xbo1) (on-table ogz3)",
"(holding xbo1) (clear nep2) (on nem5 esd4) (on-table esd4) (on nep2 nem5) (clear ogz3) (on-table ogz3)",
"(arm-empty) (on nem5 esd4) (on nep2 nem5) (clear nep2) (on-table xbo1) (on-table esd4) (clear ogz3) (clear xbo1) (on-table ogz3)",
"(on nem5 esd4) (on-table xbo1) (on-table esd4) (holding nep2) (clear ogz3) (clear xbo1) (on-table ogz3) (clear nem5)",
"(clear nep2) (arm-empty) (on nem5 esd4) (on-table xbo1) (on-table esd4) (on nep2 xbo1) (clear ogz3) (on-table ogz3) (clear nem5)",
"(clear nep2) (on nem5 esd4) (on-table xbo1) (on-table esd4) (on nep2 xbo1) (holding ogz3) (clear nem5)",
"(arm-empty) (on nem5 esd4) (on-table xbo1) (on ogz3 nep2) (on-table esd4) (on nep2 xbo1) (clear ogz3) (clear nem5)"
] |
file_176115
|
GOAL: (on egs1 plt5) (arm-empty) (on-table uoo2) (on plt5 uoo2) (clear tla4) (on tla4 hng3) (clear egs1) (on-table hng3)
|
GOAL: (on egs1 plt5) (arm-empty) (on-table uoo2) (on plt5 uoo2) (clear tla4) (on tla4 hng3) (clear egs1) (on-table hng3)
STATE: (clear uoo2) (arm-empty) (on-table uoo2) (on-table plt5) (on-table egs1) (clear tla4) (on tla4 hng3) (clear egs1) (on-table hng3) (clear plt5)
|
[
[
"pick-up plt5"
],
[
"stack plt5 uoo2"
],
[
"pick-up egs1"
],
[
"stack egs1 plt5"
]
] |
[
"(clear uoo2) (on-table uoo2) (on-table egs1) (clear tla4) (on tla4 hng3) (holding plt5) (clear egs1) (on-table hng3)",
"(arm-empty) (on-table uoo2) (on-table egs1) (on plt5 uoo2) (clear tla4) (on tla4 hng3) (clear egs1) (on-table hng3) (clear plt5)",
"(holding egs1) (on-table uoo2) (on plt5 uoo2) (clear tla4) (on tla4 hng3) (on-table hng3) (clear plt5)",
"(on egs1 plt5) (arm-empty) (on-table uoo2) (on plt5 uoo2) (clear tla4) (on tla4 hng3) (clear egs1) (on-table hng3)"
] |
file_194123
|
GOAL: (on pdl1 nqz5) (clear rcw2) (arm-empty) (on-table nqz5) (on-table lls4) (on rcw2 lls4) (clear syy3) (clear pdl1) (on-table syy3)
|
GOAL: (on pdl1 nqz5) (clear rcw2) (arm-empty) (on-table nqz5) (on-table lls4) (on rcw2 lls4) (clear syy3) (clear pdl1) (on-table syy3)
STATE: (on syy3 rcw2) (holding nqz5) (on-table lls4) (on pdl1 lls4) (on rcw2 pdl1) (clear syy3)
|
[
[
"put-down nqz5"
],
[
"unstack syy3 rcw2"
],
[
"stack syy3 nqz5"
],
[
"unstack rcw2 pdl1"
],
[
"put-down rcw2"
],
[
"unstack pdl1 lls4"
],
[
"stack pdl1 syy3"
],
[
"pick-up rcw2"
],
[
"stack rcw2 lls4"
],
[
"unstack pdl1 syy3"
],
[
"stack pdl1 rcw2"
],
[
"unstack syy3 nqz5"
],
[
"put-down syy3"
],
[
"unstack pdl1 rcw2"
],
[
"stack pdl1 nqz5"
]
] |
[
"(arm-empty) (on-table nqz5) (on rcw2 pdl1) (clear nqz5) (on syy3 rcw2) (on-table lls4) (on pdl1 lls4) (clear syy3)",
"(clear rcw2) (on-table nqz5) (on-table lls4) (on pdl1 lls4) (on rcw2 pdl1) (holding syy3) (clear nqz5)",
"(clear rcw2) (on syy3 nqz5) (arm-empty) (on-table nqz5) (on-table lls4) (on pdl1 lls4) (on rcw2 pdl1) (clear syy3)",
"(on syy3 nqz5) (on-table nqz5) (holding rcw2) (on-table lls4) (on pdl1 lls4) (clear syy3) (clear pdl1)",
"(on syy3 nqz5) (arm-empty) (on-table rcw2) (on-table nqz5) (clear rcw2) (on-table lls4) (on pdl1 lls4) (clear syy3) (clear pdl1)",
"(holding pdl1) (on syy3 nqz5) (clear rcw2) (on-table rcw2) (on-table nqz5) (clear lls4) (on-table lls4) (clear syy3)",
"(on syy3 nqz5) (clear rcw2) (on pdl1 syy3) (on-table rcw2) (on-table nqz5) (arm-empty) (clear lls4) (on-table lls4) (clear pdl1)",
"(on syy3 nqz5) (on pdl1 syy3) (on-table nqz5) (clear lls4) (on-table lls4) (holding rcw2) (clear pdl1)",
"(on syy3 nqz5) (on pdl1 syy3) (clear rcw2) (arm-empty) (on-table nqz5) (on-table lls4) (on rcw2 lls4) (clear pdl1)",
"(holding pdl1) (on syy3 nqz5) (clear rcw2) (on-table nqz5) (on-table lls4) (on rcw2 lls4) (clear syy3)",
"(on syy3 nqz5) (arm-empty) (on-table nqz5) (on-table lls4) (on rcw2 lls4) (clear syy3) (on pdl1 rcw2) (clear pdl1)",
"(on-table nqz5) (on-table lls4) (on rcw2 lls4) (on pdl1 rcw2) (clear pdl1) (holding syy3) (clear nqz5)",
"(arm-empty) (on-table nqz5) (on rcw2 lls4) (on pdl1 rcw2) (clear nqz5) (on-table lls4) (clear syy3) (clear pdl1) (on-table syy3)",
"(holding pdl1) (clear rcw2) (on-table nqz5) (on-table lls4) (on rcw2 lls4) (clear syy3) (on-table syy3) (clear nqz5)",
"(on pdl1 nqz5) (clear rcw2) (arm-empty) (on-table nqz5) (on-table lls4) (on rcw2 lls4) (clear syy3) (clear pdl1) (on-table syy3)"
] |
file_193785
|
GOAL: (arm-empty) (on-table wwz1) (on kdy5 osc2) (on wht4 imo3) (on osc2 wht4) (clear wwz1) (on-table imo3) (clear kdy5)
|
GOAL: (arm-empty) (on-table wwz1) (on kdy5 osc2) (on wht4 imo3) (on osc2 wht4) (clear wwz1) (on-table imo3) (clear kdy5)
STATE: (on-table wwz1) (clear wht4) (on kdy5 wwz1) (on-table wht4) (holding osc2) (clear imo3) (on-table imo3) (clear kdy5)
|
[
[
"stack osc2 kdy5"
],
[
"pick-up wht4"
],
[
"stack wht4 imo3"
],
[
"unstack osc2 kdy5"
],
[
"stack osc2 wht4"
],
[
"unstack kdy5 wwz1"
],
[
"stack kdy5 osc2"
]
] |
[
"(clear osc2) (arm-empty) (on-table wwz1) (clear wht4) (on kdy5 wwz1) (on-table wht4) (on osc2 kdy5) (clear imo3) (on-table imo3)",
"(clear osc2) (on-table wwz1) (holding wht4) (on kdy5 wwz1) (on osc2 kdy5) (clear imo3) (on-table imo3)",
"(arm-empty) (clear wht4) (on osc2 kdy5) (clear osc2) (on-table wwz1) (on wht4 imo3) (on kdy5 wwz1) (on-table imo3)",
"(on-table wwz1) (clear wht4) (on wht4 imo3) (on kdy5 wwz1) (holding osc2) (on-table imo3) (clear kdy5)",
"(clear osc2) (arm-empty) (on-table wwz1) (on wht4 imo3) (on kdy5 wwz1) (on osc2 wht4) (on-table imo3) (clear kdy5)",
"(clear osc2) (on-table wwz1) (on wht4 imo3) (holding kdy5) (on osc2 wht4) (clear wwz1) (on-table imo3)",
"(arm-empty) (on-table wwz1) (on kdy5 osc2) (on wht4 imo3) (on osc2 wht4) (clear wwz1) (on-table imo3) (clear kdy5)"
] |
file_210448
|
GOAL: (arm-empty) (on-table fop2) (on-table mfo1) (on mkz5 fop2) (clear csw4) (on-table csw4) (clear ldi3) (clear mfo1) (on-table ldi3) (clear mkz5)
|
GOAL: (arm-empty) (on-table fop2) (on-table mfo1) (on mkz5 fop2) (clear csw4) (on-table csw4) (clear ldi3) (clear mfo1) (on-table ldi3) (clear mkz5)
STATE: (arm-empty) (on-table mkz5) (on-table mfo1) (clear csw4) (on csw4 fop2) (on fop2 mkz5) (clear ldi3) (clear mfo1) (on-table ldi3)
|
[
[
"pick-up ldi3"
],
[
"stack ldi3 mfo1"
],
[
"unstack csw4 fop2"
],
[
"put-down csw4"
],
[
"unstack ldi3 mfo1"
],
[
"put-down ldi3"
],
[
"unstack fop2 mkz5"
],
[
"put-down fop2"
],
[
"pick-up mkz5"
],
[
"stack mkz5 fop2"
]
] |
[
"(on-table mkz5) (on-table mfo1) (clear csw4) (on csw4 fop2) (on fop2 mkz5) (holding ldi3) (clear mfo1)",
"(arm-empty) (on-table mkz5) (on-table mfo1) (clear csw4) (on ldi3 mfo1) (on csw4 fop2) (on fop2 mkz5) (clear ldi3)",
"(clear fop2) (on-table mkz5) (on-table mfo1) (holding csw4) (on ldi3 mfo1) (on fop2 mkz5) (clear ldi3)",
"(arm-empty) (on-table mkz5) (clear csw4) (on ldi3 mfo1) (on fop2 mkz5) (clear fop2) (on-table mfo1) (on-table csw4) (clear ldi3)",
"(clear fop2) (on-table mkz5) (on-table mfo1) (clear csw4) (on-table csw4) (on fop2 mkz5) (holding ldi3) (clear mfo1)",
"(clear fop2) (arm-empty) (on-table mkz5) (on-table mfo1) (clear csw4) (on-table csw4) (on fop2 mkz5) (clear ldi3) (clear mfo1) (on-table ldi3)",
"(on-table mkz5) (on-table mfo1) (clear csw4) (on-table csw4) (holding fop2) (clear ldi3) (clear mfo1) (on-table ldi3) (clear mkz5)",
"(clear fop2) (arm-empty) (on-table fop2) (on-table mkz5) (on-table mfo1) (clear csw4) (on-table csw4) (clear ldi3) (clear mfo1) (on-table ldi3) (clear mkz5)",
"(clear fop2) (on-table fop2) (on-table mfo1) (clear csw4) (holding mkz5) (on-table csw4) (clear ldi3) (clear mfo1) (on-table ldi3)",
"(arm-empty) (on-table fop2) (on-table mfo1) (on mkz5 fop2) (clear csw4) (on-table csw4) (clear ldi3) (clear mfo1) (on-table ldi3) (clear mkz5)"
] |
file_147780
|
GOAL: (holding viz1) (on onc3 fjt4) (clear peo2) (on-table vjt5) (on-table fjt4) (on peo2 vjt5) (clear onc3)
|
GOAL: (holding viz1) (on onc3 fjt4) (clear peo2) (on-table vjt5) (on-table fjt4) (on peo2 vjt5) (clear onc3)
STATE: (clear peo2) (on-table vjt5) (on-table viz1) (clear fjt4) (on-table fjt4) (on peo2 viz1) (holding onc3) (clear vjt5)
|
[
[
"stack onc3 fjt4"
],
[
"unstack peo2 viz1"
],
[
"stack peo2 vjt5"
],
[
"pick-up viz1"
]
] |
[
"(on onc3 fjt4) (clear peo2) (arm-empty) (on-table vjt5) (on-table viz1) (on-table fjt4) (on peo2 viz1) (clear onc3) (clear vjt5)",
"(on onc3 fjt4) (on-table vjt5) (on-table viz1) (on-table fjt4) (holding peo2) (clear onc3) (clear viz1) (clear vjt5)",
"(on onc3 fjt4) (clear peo2) (arm-empty) (on-table vjt5) (on-table viz1) (on-table fjt4) (on peo2 vjt5) (clear onc3) (clear viz1)",
"(holding viz1) (on onc3 fjt4) (clear peo2) (on-table vjt5) (on-table fjt4) (on peo2 vjt5) (clear onc3)"
] |
file_71744
|
GOAL: (on-table kol1) (on stk5 dsf2) (on-table oxo4) (on dsf2 oxo4) (holding jtv3) (clear kol1) (clear stk5)
|
GOAL: (on-table kol1) (on stk5 dsf2) (on-table oxo4) (on dsf2 oxo4) (holding jtv3) (clear kol1) (clear stk5)
STATE: (clear dsf2) (arm-empty) (on-table stk5) (on-table kol1) (on-table oxo4) (on dsf2 oxo4) (clear jtv3) (clear kol1) (on-table jtv3) (clear stk5)
|
[
[
"pick-up stk5"
],
[
"stack stk5 dsf2"
],
[
"pick-up jtv3"
]
] |
[
"(clear dsf2) (on-table kol1) (holding stk5) (on-table oxo4) (on dsf2 oxo4) (clear jtv3) (clear kol1) (on-table jtv3)",
"(arm-empty) (on-table kol1) (on stk5 dsf2) (on-table oxo4) (on dsf2 oxo4) (clear jtv3) (clear kol1) (on-table jtv3) (clear stk5)",
"(on-table kol1) (on stk5 dsf2) (on-table oxo4) (on dsf2 oxo4) (holding jtv3) (clear kol1) (clear stk5)"
] |
file_113507
|
GOAL: (on lbr3 tmk4) (arm-empty) (on-table syk2) (on-table itp5) (on-table tmk4) (clear lbr3) (on qgl1 syk2) (clear qgl1) (clear itp5)
|
GOAL: (on lbr3 tmk4) (arm-empty) (on-table syk2) (on-table itp5) (on-table tmk4) (clear lbr3) (on qgl1 syk2) (clear qgl1) (clear itp5)
STATE: (arm-empty) (clear tmk4) (on itp5 lbr3) (on-table tmk4) (on syk2 itp5) (on qgl1 syk2) (clear qgl1) (on-table lbr3)
|
[
[
"unstack qgl1 syk2"
],
[
"stack qgl1 tmk4"
],
[
"unstack syk2 itp5"
],
[
"put-down syk2"
],
[
"unstack qgl1 tmk4"
],
[
"stack qgl1 syk2"
],
[
"unstack itp5 lbr3"
],
[
"put-down itp5"
],
[
"pick-up lbr3"
],
[
"stack lbr3 tmk4"
]
] |
[
"(holding qgl1) (clear syk2) (clear tmk4) (on itp5 lbr3) (on-table tmk4) (on syk2 itp5) (on-table lbr3)",
"(clear syk2) (arm-empty) (on itp5 lbr3) (on-table tmk4) (on qgl1 tmk4) (on syk2 itp5) (clear qgl1) (on-table lbr3)",
"(holding syk2) (on itp5 lbr3) (on-table tmk4) (on qgl1 tmk4) (clear qgl1) (on-table lbr3) (clear itp5)",
"(arm-empty) (on-table syk2) (on itp5 lbr3) (clear itp5) (clear syk2) (on-table tmk4) (on qgl1 tmk4) (clear qgl1) (on-table lbr3)",
"(holding qgl1) (clear syk2) (on-table syk2) (clear tmk4) (on itp5 lbr3) (on-table tmk4) (on-table lbr3) (clear itp5)",
"(arm-empty) (on-table syk2) (clear tmk4) (on itp5 lbr3) (on-table tmk4) (on qgl1 syk2) (clear qgl1) (on-table lbr3) (clear itp5)",
"(on-table syk2) (clear tmk4) (holding itp5) (on-table tmk4) (clear lbr3) (on qgl1 syk2) (clear qgl1) (on-table lbr3)",
"(arm-empty) (on-table syk2) (on-table itp5) (clear tmk4) (on-table tmk4) (clear lbr3) (on qgl1 syk2) (clear qgl1) (on-table lbr3) (clear itp5)",
"(on-table syk2) (on-table itp5) (clear tmk4) (on-table tmk4) (on qgl1 syk2) (clear qgl1) (holding lbr3) (clear itp5)",
"(on lbr3 tmk4) (arm-empty) (on-table syk2) (on-table itp5) (on-table tmk4) (clear lbr3) (on qgl1 syk2) (clear qgl1) (clear itp5)"
] |
file_130334
|
GOAL: (on pgb3 qcq4) (clear vta2) (on qcq4 yyb1) (arm-empty) (on-table vta2) (on-table yyb1) (on uny5 pgb3) (clear uny5)
|
GOAL: (on pgb3 qcq4) (clear vta2) (on qcq4 yyb1) (arm-empty) (on-table vta2) (on-table yyb1) (on uny5 pgb3) (clear uny5)
STATE: (on-table vta2) (on-table uny5) (holding qcq4) (on-table yyb1) (on pgb3 vta2) (clear pgb3) (clear yyb1) (clear uny5)
|
[
[
"stack qcq4 yyb1"
],
[
"unstack pgb3 vta2"
],
[
"stack pgb3 qcq4"
],
[
"pick-up uny5"
],
[
"stack uny5 pgb3"
]
] |
[
"(on qcq4 yyb1) (arm-empty) (on-table vta2) (on-table uny5) (on-table yyb1) (on pgb3 vta2) (clear qcq4) (clear pgb3) (clear uny5)",
"(clear vta2) (on qcq4 yyb1) (on-table vta2) (on-table uny5) (on-table yyb1) (clear qcq4) (holding pgb3) (clear uny5)",
"(on pgb3 qcq4) (clear vta2) (on qcq4 yyb1) (arm-empty) (on-table vta2) (on-table uny5) (on-table yyb1) (clear pgb3) (clear uny5)",
"(on pgb3 qcq4) (clear vta2) (on qcq4 yyb1) (on-table vta2) (on-table yyb1) (holding uny5) (clear pgb3)",
"(on pgb3 qcq4) (clear vta2) (on qcq4 yyb1) (arm-empty) (on-table vta2) (on-table yyb1) (on uny5 pgb3) (clear uny5)"
] |
file_174736
|
GOAL: (on-table siy1) (on szd3 uto2) (holding ikj5) (on-table qvp4) (on uto2 qvp4) (clear szd3) (clear siy1)
|
GOAL: (on-table siy1) (on szd3 uto2) (holding ikj5) (on-table qvp4) (on uto2 qvp4) (clear szd3) (clear siy1)
STATE: (on qvp4 siy1) (arm-empty) (clear qvp4) (on ikj5 szd3) (on uto2 ikj5) (on siy1 uto2) (on-table szd3)
|
[
[
"unstack qvp4 siy1"
],
[
"put-down qvp4"
],
[
"unstack siy1 uto2"
],
[
"put-down siy1"
],
[
"unstack uto2 ikj5"
],
[
"stack uto2 qvp4"
],
[
"unstack ikj5 szd3"
],
[
"stack ikj5 siy1"
],
[
"pick-up szd3"
],
[
"stack szd3 uto2"
],
[
"unstack ikj5 siy1"
]
] |
[
"(holding qvp4) (on ikj5 szd3) (on uto2 ikj5) (on siy1 uto2) (clear siy1) (on-table szd3)",
"(arm-empty) (clear qvp4) (on ikj5 szd3) (on uto2 ikj5) (on siy1 uto2) (on-table qvp4) (clear siy1) (on-table szd3)",
"(holding siy1) (clear uto2) (clear qvp4) (on ikj5 szd3) (on-table qvp4) (on uto2 ikj5) (on-table szd3)",
"(arm-empty) (clear qvp4) (on ikj5 szd3) (on uto2 ikj5) (clear uto2) (on-table siy1) (on-table qvp4) (clear siy1) (on-table szd3)",
"(on-table siy1) (clear qvp4) (on ikj5 szd3) (on-table qvp4) (holding uto2) (clear siy1) (on-table szd3) (clear ikj5)",
"(clear uto2) (arm-empty) (on-table siy1) (on ikj5 szd3) (on-table qvp4) (on uto2 qvp4) (clear siy1) (on-table szd3) (clear ikj5)",
"(clear uto2) (on-table siy1) (holding ikj5) (on-table qvp4) (on uto2 qvp4) (clear szd3) (clear siy1) (on-table szd3)",
"(clear uto2) (arm-empty) (on-table siy1) (on ikj5 siy1) (on-table qvp4) (on uto2 qvp4) (clear szd3) (on-table szd3) (clear ikj5)",
"(clear uto2) (on-table siy1) (on ikj5 siy1) (on-table qvp4) (on uto2 qvp4) (holding szd3) (clear ikj5)",
"(arm-empty) (on-table siy1) (on szd3 uto2) (on ikj5 siy1) (on-table qvp4) (on uto2 qvp4) (clear szd3) (clear ikj5)",
"(on-table siy1) (on szd3 uto2) (holding ikj5) (on-table qvp4) (on uto2 qvp4) (clear szd3) (clear siy1)"
] |
file_206405
|
GOAL: (on ncc1 qry5) (clear ima2) (arm-empty) (on-table ima2) (on-table qry5) (clear thz4) (on thz4 bex3) (clear ncc1) (on-table bex3)
|
GOAL: (on ncc1 qry5) (clear ima2) (arm-empty) (on-table ima2) (on-table qry5) (clear thz4) (on thz4 bex3) (clear ncc1) (on-table bex3)
STATE: (holding ncc1) (clear ima2) (on-table ima2) (on-table qry5) (on thz4 qry5) (clear thz4) (clear bex3) (on-table bex3)
|
[
[
"stack ncc1 ima2"
],
[
"unstack thz4 qry5"
],
[
"stack thz4 bex3"
],
[
"unstack ncc1 ima2"
],
[
"stack ncc1 qry5"
]
] |
[
"(arm-empty) (on-table ima2) (on-table qry5) (on thz4 qry5) (clear thz4) (clear bex3) (on ncc1 ima2) (clear ncc1) (on-table bex3)",
"(on-table ima2) (on-table qry5) (holding thz4) (clear bex3) (on ncc1 ima2) (clear ncc1) (on-table bex3) (clear qry5)",
"(arm-empty) (on-table ima2) (on-table qry5) (clear thz4) (on thz4 bex3) (on ncc1 ima2) (clear ncc1) (on-table bex3) (clear qry5)",
"(holding ncc1) (clear ima2) (on-table ima2) (on-table qry5) (clear thz4) (on thz4 bex3) (on-table bex3) (clear qry5)",
"(on ncc1 qry5) (clear ima2) (arm-empty) (on-table ima2) (on-table qry5) (clear thz4) (on thz4 bex3) (clear ncc1) (on-table bex3)"
] |
file_87405
|
GOAL: (clear tmh2) (on whc1 kfj3) (arm-empty) (on-table wwn5) (clear lsq4) (on-table lsq4) (on tmh2 wwn5) (clear whc1) (on-table kfj3)
|
GOAL: (clear tmh2) (on whc1 kfj3) (arm-empty) (on-table wwn5) (clear lsq4) (on-table lsq4) (on tmh2 wwn5) (clear whc1) (on-table kfj3)
STATE: (on whc1 kfj3) (clear lsq4) (on wwn5 whc1) (on-table lsq4) (holding tmh2) (on-table kfj3) (clear wwn5)
|
[
[
"put-down tmh2"
],
[
"unstack wwn5 whc1"
],
[
"put-down wwn5"
],
[
"pick-up tmh2"
],
[
"stack tmh2 wwn5"
]
] |
[
"(on whc1 kfj3) (arm-empty) (on-table tmh2) (clear lsq4) (clear wwn5) (clear tmh2) (on wwn5 whc1) (on-table lsq4) (on-table kfj3)",
"(clear tmh2) (on whc1 kfj3) (on-table tmh2) (clear lsq4) (holding wwn5) (on-table lsq4) (clear whc1) (on-table kfj3)",
"(clear tmh2) (on whc1 kfj3) (arm-empty) (on-table tmh2) (on-table wwn5) (clear lsq4) (on-table lsq4) (clear whc1) (on-table kfj3) (clear wwn5)",
"(on whc1 kfj3) (on-table wwn5) (clear lsq4) (on-table lsq4) (holding tmh2) (clear whc1) (on-table kfj3) (clear wwn5)",
"(clear tmh2) (on whc1 kfj3) (arm-empty) (on-table wwn5) (clear lsq4) (on-table lsq4) (on tmh2 wwn5) (clear whc1) (on-table kfj3)"
] |
file_213063
|
GOAL: (arm-empty) (on-table icf2) (clear eks4) (clear icf2) (on-table vdf1) (on eks4 uos3) (clear vdf1) (on-table uos3)
|
GOAL: (arm-empty) (on-table icf2) (clear eks4) (clear icf2) (on-table vdf1) (on eks4 uos3) (clear vdf1) (on-table uos3)
STATE: (clear icf2) (arm-empty) (on-table eks4) (on vdf1 eks4) (on uos3 vdf1) (on icf2 uos3)
|
[
[
"unstack icf2 uos3"
],
[
"put-down icf2"
],
[
"unstack uos3 vdf1"
],
[
"put-down uos3"
],
[
"unstack vdf1 eks4"
],
[
"stack vdf1 icf2"
],
[
"pick-up eks4"
],
[
"stack eks4 uos3"
],
[
"unstack vdf1 icf2"
],
[
"put-down vdf1"
]
] |
[
"(on-table eks4) (on vdf1 eks4) (on uos3 vdf1) (clear uos3) (holding icf2)",
"(on-table eks4) (clear icf2) (arm-empty) (on-table icf2) (on vdf1 eks4) (on uos3 vdf1) (clear uos3)",
"(on-table icf2) (clear icf2) (on-table eks4) (on vdf1 eks4) (holding uos3) (clear vdf1)",
"(arm-empty) (on-table icf2) (clear icf2) (on-table eks4) (on vdf1 eks4) (clear uos3) (clear vdf1) (on-table uos3)",
"(holding vdf1) (clear icf2) (on-table icf2) (clear eks4) (on-table eks4) (clear uos3) (on-table uos3)",
"(arm-empty) (on-table icf2) (clear eks4) (on-table eks4) (clear uos3) (on vdf1 icf2) (clear vdf1) (on-table uos3)",
"(on-table icf2) (holding eks4) (clear uos3) (on vdf1 icf2) (clear vdf1) (on-table uos3)",
"(arm-empty) (on-table icf2) (clear eks4) (on eks4 uos3) (on vdf1 icf2) (clear vdf1) (on-table uos3)",
"(on-table icf2) (clear eks4) (holding vdf1) (clear icf2) (on eks4 uos3) (on-table uos3)",
"(arm-empty) (on-table icf2) (clear eks4) (clear icf2) (on-table vdf1) (on eks4 uos3) (clear vdf1) (on-table uos3)"
] |
file_47498
|
GOAL: (on-table tst2) (on-table jhs5) (on-table zkj1) (clear ovw4) (on ovw4 tst2) (holding wrb3) (clear zkj1) (clear jhs5)
|
GOAL: (on-table tst2) (on-table jhs5) (on-table zkj1) (clear ovw4) (on ovw4 tst2) (holding wrb3) (clear zkj1) (clear jhs5)
STATE: (on zkj1 wrb3) (on ovw4 jhs5) (clear ovw4) (on jhs5 zkj1) (holding tst2) (on-table wrb3)
|
[
[
"put-down tst2"
],
[
"unstack ovw4 jhs5"
],
[
"stack ovw4 tst2"
],
[
"unstack jhs5 zkj1"
],
[
"stack jhs5 ovw4"
],
[
"unstack zkj1 wrb3"
],
[
"put-down zkj1"
],
[
"unstack jhs5 ovw4"
],
[
"stack jhs5 zkj1"
],
[
"pick-up wrb3"
],
[
"stack wrb3 ovw4"
],
[
"unstack jhs5 zkj1"
],
[
"put-down jhs5"
],
[
"unstack wrb3 ovw4"
]
] |
[
"(on zkj1 wrb3) (arm-empty) (on-table tst2) (on ovw4 jhs5) (clear ovw4) (clear tst2) (on jhs5 zkj1) (on-table wrb3)",
"(clear tst2) (on zkj1 wrb3) (on-table tst2) (holding ovw4) (on jhs5 zkj1) (on-table wrb3) (clear jhs5)",
"(on zkj1 wrb3) (arm-empty) (on-table tst2) (clear ovw4) (clear jhs5) (on jhs5 zkj1) (on ovw4 tst2) (on-table wrb3)",
"(on zkj1 wrb3) (on-table tst2) (clear ovw4) (holding jhs5) (on ovw4 tst2) (clear zkj1) (on-table wrb3)",
"(on zkj1 wrb3) (on jhs5 ovw4) (on-table tst2) (arm-empty) (on ovw4 tst2) (clear zkj1) (on-table wrb3) (clear jhs5)",
"(holding zkj1) (on jhs5 ovw4) (on-table tst2) (on ovw4 tst2) (clear wrb3) (on-table wrb3) (clear jhs5)",
"(arm-empty) (on jhs5 ovw4) (on-table tst2) (clear jhs5) (on-table zkj1) (on ovw4 tst2) (clear wrb3) (clear zkj1) (on-table wrb3)",
"(on-table tst2) (on-table zkj1) (clear ovw4) (holding jhs5) (on ovw4 tst2) (clear wrb3) (clear zkj1) (on-table wrb3)",
"(arm-empty) (on-table tst2) (on-table zkj1) (clear ovw4) (on jhs5 zkj1) (on ovw4 tst2) (clear wrb3) (on-table wrb3) (clear jhs5)",
"(on-table tst2) (on-table zkj1) (clear ovw4) (on jhs5 zkj1) (on ovw4 tst2) (holding wrb3) (clear jhs5)",
"(on wrb3 ovw4) (arm-empty) (on-table tst2) (on-table zkj1) (on jhs5 zkj1) (on ovw4 tst2) (clear wrb3) (clear jhs5)",
"(on wrb3 ovw4) (on-table tst2) (on-table zkj1) (holding jhs5) (on ovw4 tst2) (clear wrb3) (clear zkj1)",
"(arm-empty) (on-table tst2) (on-table jhs5) (clear jhs5) (on wrb3 ovw4) (on-table zkj1) (on ovw4 tst2) (clear wrb3) (clear zkj1)",
"(on-table tst2) (on-table jhs5) (on-table zkj1) (clear ovw4) (on ovw4 tst2) (holding wrb3) (clear zkj1) (clear jhs5)"
] |
file_160344
|
GOAL: (holding lqh1) (on mxb5 mnt4) (on-table dur2) (on iye3 dur2) (on-table mnt4) (clear iye3) (clear mxb5)
|
GOAL: (holding lqh1) (on mxb5 mnt4) (on-table dur2) (on iye3 dur2) (on-table mnt4) (clear iye3) (clear mxb5)
STATE: (clear dur2) (arm-empty) (on-table dur2) (on-table mxb5) (on-table lqh1) (clear mnt4) (on-table mnt4) (on iye3 lqh1) (clear iye3) (clear mxb5)
|
[
[
"pick-up mxb5"
],
[
"stack mxb5 mnt4"
],
[
"unstack iye3 lqh1"
],
[
"stack iye3 dur2"
],
[
"pick-up lqh1"
]
] |
[
"(clear dur2) (on-table dur2) (on-table lqh1) (clear mnt4) (holding mxb5) (on-table mnt4) (on iye3 lqh1) (clear iye3)",
"(clear dur2) (arm-empty) (on mxb5 mnt4) (on-table dur2) (on-table lqh1) (on-table mnt4) (on iye3 lqh1) (clear iye3) (clear mxb5)",
"(clear dur2) (on mxb5 mnt4) (on-table dur2) (on-table lqh1) (on-table mnt4) (holding iye3) (clear lqh1) (clear mxb5)",
"(arm-empty) (on mxb5 mnt4) (on-table dur2) (on-table lqh1) (on iye3 dur2) (on-table mnt4) (clear iye3) (clear lqh1) (clear mxb5)",
"(holding lqh1) (on mxb5 mnt4) (on-table dur2) (on iye3 dur2) (on-table mnt4) (clear iye3) (clear mxb5)"
] |
file_98298
|
GOAL: (clear xnl2) (on fzs1 ryo3) (arm-empty) (on hjr4 jkc5) (on jkc5 fzs1) (on xnl2 hjr4) (on-table ryo3)
|
GOAL: (clear xnl2) (on fzs1 ryo3) (arm-empty) (on hjr4 jkc5) (on jkc5 fzs1) (on xnl2 hjr4) (on-table ryo3)
STATE: (arm-empty) (on-table xnl2) (on hjr4 jkc5) (on jkc5 xnl2) (on fzs1 hjr4) (on ryo3 fzs1) (clear ryo3)
|
[
[
"unstack ryo3 fzs1"
],
[
"put-down ryo3"
],
[
"unstack fzs1 hjr4"
],
[
"stack fzs1 ryo3"
],
[
"unstack hjr4 jkc5"
],
[
"put-down hjr4"
],
[
"unstack jkc5 xnl2"
],
[
"stack jkc5 fzs1"
],
[
"pick-up hjr4"
],
[
"stack hjr4 jkc5"
],
[
"pick-up xnl2"
],
[
"stack xnl2 hjr4"
]
] |
[
"(on-table xnl2) (on hjr4 jkc5) (on jkc5 xnl2) (on fzs1 hjr4) (holding ryo3) (clear fzs1)",
"(arm-empty) (on-table xnl2) (on hjr4 jkc5) (on jkc5 xnl2) (on fzs1 hjr4) (clear ryo3) (clear fzs1) (on-table ryo3)",
"(holding fzs1) (on-table xnl2) (on hjr4 jkc5) (on jkc5 xnl2) (clear hjr4) (clear ryo3) (on-table ryo3)",
"(on fzs1 ryo3) (arm-empty) (on-table xnl2) (on hjr4 jkc5) (on jkc5 xnl2) (clear hjr4) (clear fzs1) (on-table ryo3)",
"(on fzs1 ryo3) (on-table xnl2) (holding hjr4) (on jkc5 xnl2) (clear fzs1) (on-table ryo3) (clear jkc5)",
"(on fzs1 ryo3) (arm-empty) (on-table xnl2) (on jkc5 xnl2) (clear hjr4) (clear jkc5) (on-table hjr4) (clear fzs1) (on-table ryo3)",
"(clear xnl2) (on fzs1 ryo3) (on-table xnl2) (clear hjr4) (holding jkc5) (on-table hjr4) (clear fzs1) (on-table ryo3)",
"(clear xnl2) (on fzs1 ryo3) (arm-empty) (on-table xnl2) (clear hjr4) (on jkc5 fzs1) (on-table hjr4) (on-table ryo3) (clear jkc5)",
"(clear xnl2) (on fzs1 ryo3) (on-table xnl2) (holding hjr4) (on jkc5 fzs1) (on-table ryo3) (clear jkc5)",
"(clear xnl2) (on fzs1 ryo3) (arm-empty) (on-table xnl2) (on hjr4 jkc5) (clear hjr4) (on jkc5 fzs1) (on-table ryo3)",
"(on fzs1 ryo3) (on hjr4 jkc5) (clear hjr4) (on jkc5 fzs1) (holding xnl2) (on-table ryo3)",
"(clear xnl2) (on fzs1 ryo3) (arm-empty) (on hjr4 jkc5) (on jkc5 fzs1) (on xnl2 hjr4) (on-table ryo3)"
] |
file_180680
|
GOAL: (on aky4 ebs1) (clear aky4) (arm-empty) (on ryy2 qvl3) (on ebs1 ryy2) (on-table qvl3)
|
GOAL: (on aky4 ebs1) (clear aky4) (arm-empty) (on ryy2 qvl3) (on ebs1 ryy2) (on-table qvl3)
STATE: (clear ryy2) (arm-empty) (on-table aky4) (on ebs1 aky4) (on ryy2 ebs1) (clear qvl3) (on-table qvl3)
|
[
[
"unstack ryy2 ebs1"
],
[
"stack ryy2 qvl3"
],
[
"unstack ebs1 aky4"
],
[
"stack ebs1 ryy2"
],
[
"pick-up aky4"
],
[
"stack aky4 ebs1"
]
] |
[
"(on ebs1 aky4) (on-table aky4) (holding ryy2) (clear qvl3) (clear ebs1) (on-table qvl3)",
"(clear ryy2) (arm-empty) (on-table aky4) (on ebs1 aky4) (on ryy2 qvl3) (clear ebs1) (on-table qvl3)",
"(clear aky4) (holding ebs1) (clear ryy2) (on-table aky4) (on ryy2 qvl3) (on-table qvl3)",
"(arm-empty) (clear aky4) (on-table aky4) (on ryy2 qvl3) (on ebs1 ryy2) (on-table qvl3) (clear ebs1)",
"(on ryy2 qvl3) (holding aky4) (on ebs1 ryy2) (on-table qvl3) (clear ebs1)",
"(on aky4 ebs1) (clear aky4) (arm-empty) (on ryy2 qvl3) (on ebs1 ryy2) (on-table qvl3)"
] |
file_18016
|
GOAL: (clear ims2) (on cqj1 jha3) (arm-empty) (on-table ims2) (on-table zhn5) (on ivt4 zhn5) (clear ivt4) (clear cqj1) (on-table jha3)
|
GOAL: (clear ims2) (on cqj1 jha3) (arm-empty) (on-table ims2) (on-table zhn5) (on ivt4 zhn5) (clear ivt4) (clear cqj1) (on-table jha3)
STATE: (holding cqj1) (clear ims2) (on-table ims2) (on-table zhn5) (clear ivt4) (on-table ivt4) (clear jha3) (on-table jha3) (clear zhn5)
|
[
[
"stack cqj1 jha3"
],
[
"pick-up ivt4"
],
[
"stack ivt4 zhn5"
]
] |
[
"(clear ims2) (on cqj1 jha3) (arm-empty) (on-table ims2) (on-table zhn5) (clear ivt4) (on-table ivt4) (clear cqj1) (on-table jha3) (clear zhn5)",
"(clear ims2) (on cqj1 jha3) (on-table ims2) (on-table zhn5) (holding ivt4) (clear cqj1) (on-table jha3) (clear zhn5)",
"(clear ims2) (on cqj1 jha3) (arm-empty) (on-table ims2) (on-table zhn5) (on ivt4 zhn5) (clear ivt4) (clear cqj1) (on-table jha3)"
] |
file_25316
|
GOAL: (on jkx3 vzx4) (on bbn1 xps5) (arm-empty) (on-table hkc2) (on xps5 hkc2) (on-table vzx4) (clear jkx3) (clear bbn1)
|
GOAL: (on jkx3 vzx4) (on bbn1 xps5) (arm-empty) (on-table hkc2) (on xps5 hkc2) (on-table vzx4) (clear jkx3) (clear bbn1)
STATE: (on jkx3 vzx4) (clear hkc2) (on-table hkc2) (on-table bbn1) (holding xps5) (on-table vzx4) (clear jkx3) (clear bbn1)
|
[
[
"stack xps5 hkc2"
],
[
"pick-up bbn1"
],
[
"stack bbn1 xps5"
]
] |
[
"(on jkx3 vzx4) (arm-empty) (on-table hkc2) (on-table bbn1) (on xps5 hkc2) (on-table vzx4) (clear jkx3) (clear bbn1) (clear xps5)",
"(holding bbn1) (on jkx3 vzx4) (on-table hkc2) (on xps5 hkc2) (on-table vzx4) (clear jkx3) (clear xps5)",
"(on jkx3 vzx4) (on bbn1 xps5) (arm-empty) (on-table hkc2) (on xps5 hkc2) (on-table vzx4) (clear jkx3) (clear bbn1)"
] |
file_8174
|
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