goal
stringlengths 64
162
| input
stringlengths 130
312
| actions
listlengths 1
18
| next_states
listlengths 1
18
| source_file
stringlengths 6
11
|
|---|---|---|---|---|
GOAL: (on qfn1 tpt5) (on dij4 qfn1) (clear dij4) (on tpt5 gym3) (holding xju2) (on-table gym3)
|
GOAL: (on qfn1 tpt5) (on dij4 qfn1) (clear dij4) (on tpt5 gym3) (holding xju2) (on-table gym3)
STATE: (arm-empty) (on-table xju2) (on-table tpt5) (on-table qfn1) (clear dij4) (on dij4 xju2) (clear gym3) (clear qfn1) (on-table gym3) (clear tpt5)
|
[
[
"pick-up tpt5"
],
[
"stack tpt5 gym3"
],
[
"pick-up qfn1"
],
[
"stack qfn1 tpt5"
],
[
"unstack dij4 xju2"
],
[
"stack dij4 qfn1"
],
[
"pick-up xju2"
]
] |
[
"(on-table xju2) (on-table qfn1) (clear dij4) (holding tpt5) (on dij4 xju2) (clear gym3) (clear qfn1) (on-table gym3)",
"(arm-empty) (on-table xju2) (on-table qfn1) (clear dij4) (on tpt5 gym3) (on dij4 xju2) (clear qfn1) (on-table gym3) (clear tpt5)",
"(holding qfn1) (on-table xju2) (clear dij4) (on tpt5 gym3) (on dij4 xju2) (on-table gym3) (clear tpt5)",
"(on qfn1 tpt5) (arm-empty) (on-table xju2) (clear dij4) (on tpt5 gym3) (on dij4 xju2) (clear qfn1) (on-table gym3)",
"(on qfn1 tpt5) (clear xju2) (on-table xju2) (holding dij4) (on tpt5 gym3) (clear qfn1) (on-table gym3)",
"(on qfn1 tpt5) (clear xju2) (on dij4 qfn1) (arm-empty) (on-table xju2) (clear dij4) (on tpt5 gym3) (on-table gym3)",
"(on qfn1 tpt5) (on dij4 qfn1) (clear dij4) (on tpt5 gym3) (holding xju2) (on-table gym3)"
] |
file_17901
|
GOAL: (clear miy2) (on ikk1 dbi3) (on xqw4 ikk1) (on-table miy2) (on vxy5 xqw4) (arm-empty) (on-table dbi3) (clear vxy5)
|
GOAL: (clear miy2) (on ikk1 dbi3) (on xqw4 ikk1) (on-table miy2) (on vxy5 xqw4) (arm-empty) (on-table dbi3) (clear vxy5)
STATE: (on ikk1 vxy5) (arm-empty) (on-table miy2) (on vxy5 miy2) (clear xqw4) (on xqw4 dbi3) (on dbi3 ikk1)
|
[
[
"unstack xqw4 dbi3"
],
[
"put-down xqw4"
],
[
"unstack dbi3 ikk1"
],
[
"put-down dbi3"
],
[
"unstack ikk1 vxy5"
],
[
"stack ikk1 dbi3"
],
[
"pick-up xqw4"
],
[
"stack xqw4 ikk1"
],
[
"unstack vxy5 miy2"
],
[
"stack vxy5 xqw4"
]
] |
[
"(holding xqw4) (on ikk1 vxy5) (on-table miy2) (on dbi3 ikk1) (on vxy5 miy2) (clear dbi3)",
"(on ikk1 vxy5) (arm-empty) (on-table miy2) (on vxy5 miy2) (clear xqw4) (on dbi3 ikk1) (on-table xqw4) (clear dbi3)",
"(on ikk1 vxy5) (on-table miy2) (on vxy5 miy2) (clear xqw4) (on-table xqw4) (holding dbi3) (clear ikk1)",
"(on ikk1 vxy5) (arm-empty) (on-table miy2) (on vxy5 miy2) (clear xqw4) (on-table xqw4) (clear dbi3) (clear ikk1) (on-table dbi3)",
"(holding ikk1) (on-table miy2) (on vxy5 miy2) (clear xqw4) (on-table xqw4) (clear dbi3) (on-table dbi3) (clear vxy5)",
"(on ikk1 dbi3) (arm-empty) (on-table miy2) (on vxy5 miy2) (clear xqw4) (on-table xqw4) (clear ikk1) (on-table dbi3) (clear vxy5)",
"(on ikk1 dbi3) (on-table miy2) (holding xqw4) (on vxy5 miy2) (clear ikk1) (on-table dbi3) (clear vxy5)",
"(on ikk1 dbi3) (on xqw4 ikk1) (on-table miy2) (arm-empty) (on vxy5 miy2) (clear xqw4) (on-table dbi3) (clear vxy5)",
"(clear miy2) (on ikk1 dbi3) (on xqw4 ikk1) (on-table miy2) (clear xqw4) (holding vxy5) (on-table dbi3)",
"(clear miy2) (on ikk1 dbi3) (on xqw4 ikk1) (on-table miy2) (on vxy5 xqw4) (arm-empty) (on-table dbi3) (clear vxy5)"
] |
file_7845
|
GOAL: (arm-empty) (on-table lku5) (clear rsi4) (on rsi4 xli3) (on xli3 ube1) (on dvd2 lku5) (on ube1 dvd2)
|
GOAL: (arm-empty) (on-table lku5) (clear rsi4) (on rsi4 xli3) (on xli3 ube1) (on dvd2 lku5) (on ube1 dvd2)
STATE: (arm-empty) (on-table lku5) (on-table ube1) (clear rsi4) (on xli3 ube1) (on rsi4 dvd2) (on dvd2 xli3) (clear lku5)
|
[
[
"unstack rsi4 dvd2"
],
[
"put-down rsi4"
],
[
"unstack dvd2 xli3"
],
[
"stack dvd2 lku5"
],
[
"unstack xli3 ube1"
],
[
"stack xli3 rsi4"
],
[
"pick-up ube1"
],
[
"stack ube1 dvd2"
],
[
"unstack xli3 rsi4"
],
[
"stack xli3 ube1"
],
[
"pick-up rsi4"
],
[
"stack rsi4 xli3"
]
] |
[
"(clear dvd2) (on-table lku5) (on-table ube1) (holding rsi4) (on xli3 ube1) (on dvd2 xli3) (clear lku5)",
"(arm-empty) (on-table lku5) (clear rsi4) (on xli3 ube1) (clear lku5) (clear dvd2) (on-table ube1) (on-table rsi4) (on dvd2 xli3)",
"(on-table lku5) (on-table ube1) (clear rsi4) (on-table rsi4) (holding dvd2) (on xli3 ube1) (clear xli3) (clear lku5)",
"(clear dvd2) (arm-empty) (on-table lku5) (on-table ube1) (clear rsi4) (on-table rsi4) (on xli3 ube1) (on dvd2 lku5) (clear xli3)",
"(clear dvd2) (on-table lku5) (on-table ube1) (clear rsi4) (on-table rsi4) (on dvd2 lku5) (holding xli3) (clear ube1)",
"(on xli3 rsi4) (clear dvd2) (arm-empty) (on-table lku5) (on-table ube1) (on-table rsi4) (on dvd2 lku5) (clear xli3) (clear ube1)",
"(holding ube1) (on xli3 rsi4) (clear dvd2) (on-table lku5) (on-table rsi4) (on dvd2 lku5) (clear xli3)",
"(on xli3 rsi4) (arm-empty) (on-table lku5) (on-table rsi4) (on dvd2 lku5) (clear xli3) (on ube1 dvd2) (clear ube1)",
"(on-table lku5) (clear rsi4) (on-table rsi4) (on dvd2 lku5) (on ube1 dvd2) (clear ube1) (holding xli3)",
"(arm-empty) (on-table lku5) (clear rsi4) (on-table rsi4) (on xli3 ube1) (on dvd2 lku5) (clear xli3) (on ube1 dvd2)",
"(on-table lku5) (holding rsi4) (on xli3 ube1) (on dvd2 lku5) (clear xli3) (on ube1 dvd2)",
"(arm-empty) (on-table lku5) (clear rsi4) (on rsi4 xli3) (on xli3 ube1) (on dvd2 lku5) (on ube1 dvd2)"
] |
file_16877
|
GOAL: (clear eig2) (arm-empty) (on-table wby5) (on-table qoc4) (on zng1 qoc4) (on eig2 qqk3) (clear zng1) (on-table qqk3) (clear wby5)
|
GOAL: (clear eig2) (arm-empty) (on-table wby5) (on-table qoc4) (on zng1 qoc4) (on eig2 qqk3) (clear zng1) (on-table qqk3) (clear wby5)
STATE: (arm-empty) (on-table wby5) (on-table zng1) (clear qoc4) (on qoc4 eig2) (on eig2 qqk3) (clear zng1) (on-table qqk3) (clear wby5)
|
[
[
"pick-up zng1"
],
[
"stack zng1 wby5"
],
[
"unstack qoc4 eig2"
],
[
"put-down qoc4"
],
[
"unstack zng1 wby5"
],
[
"stack zng1 qoc4"
]
] |
[
"(holding zng1) (on-table wby5) (clear qoc4) (on qoc4 eig2) (on eig2 qqk3) (on-table qqk3) (clear wby5)",
"(on zng1 wby5) (arm-empty) (on-table wby5) (clear qoc4) (on qoc4 eig2) (on eig2 qqk3) (clear zng1) (on-table qqk3)",
"(on zng1 wby5) (clear eig2) (on-table wby5) (holding qoc4) (on eig2 qqk3) (clear zng1) (on-table qqk3)",
"(on zng1 wby5) (arm-empty) (on-table wby5) (clear qoc4) (clear eig2) (on-table qoc4) (on eig2 qqk3) (clear zng1) (on-table qqk3)",
"(holding zng1) (clear eig2) (on-table wby5) (clear qoc4) (on-table qoc4) (on eig2 qqk3) (on-table qqk3) (clear wby5)",
"(clear eig2) (arm-empty) (on-table wby5) (on-table qoc4) (on zng1 qoc4) (on eig2 qqk3) (clear zng1) (on-table qqk3) (clear wby5)"
] |
file_31106
|
GOAL: (on mer1 gyf3) (on-table zjw5) (on fbf4 zjw5) (clear fbf4) (holding jgk2) (clear mer1) (on-table gyf3)
|
GOAL: (on mer1 gyf3) (on-table zjw5) (on fbf4 zjw5) (clear fbf4) (holding jgk2) (clear mer1) (on-table gyf3)
STATE: (arm-empty) (on zjw5 fbf4) (on fbf4 gyf3) (on jgk2 zjw5) (on mer1 jgk2) (clear mer1) (on-table gyf3)
|
[
[
"unstack mer1 jgk2"
],
[
"put-down mer1"
],
[
"unstack jgk2 zjw5"
],
[
"stack jgk2 mer1"
],
[
"unstack zjw5 fbf4"
],
[
"put-down zjw5"
],
[
"unstack fbf4 gyf3"
],
[
"stack fbf4 zjw5"
],
[
"unstack jgk2 mer1"
],
[
"stack jgk2 fbf4"
],
[
"pick-up mer1"
],
[
"stack mer1 gyf3"
],
[
"unstack jgk2 fbf4"
]
] |
[
"(on zjw5 fbf4) (on jgk2 zjw5) (holding mer1) (clear jgk2) (on fbf4 gyf3) (on-table gyf3)",
"(arm-empty) (on zjw5 fbf4) (on jgk2 zjw5) (clear jgk2) (on-table mer1) (on fbf4 gyf3) (clear mer1) (on-table gyf3)",
"(on zjw5 fbf4) (on-table mer1) (on fbf4 gyf3) (holding jgk2) (clear mer1) (on-table gyf3) (clear zjw5)",
"(clear jgk2) (arm-empty) (on zjw5 fbf4) (on-table mer1) (on fbf4 gyf3) (on jgk2 mer1) (on-table gyf3) (clear zjw5)",
"(clear jgk2) (on-table mer1) (clear fbf4) (on fbf4 gyf3) (holding zjw5) (on jgk2 mer1) (on-table gyf3)",
"(arm-empty) (on-table zjw5) (clear fbf4) (on jgk2 mer1) (clear zjw5) (clear jgk2) (on-table mer1) (on fbf4 gyf3) (on-table gyf3)",
"(clear jgk2) (on-table zjw5) (on-table mer1) (holding fbf4) (on jgk2 mer1) (clear gyf3) (on-table gyf3) (clear zjw5)",
"(clear jgk2) (arm-empty) (on-table zjw5) (on-table mer1) (on fbf4 zjw5) (clear fbf4) (on jgk2 mer1) (clear gyf3) (on-table gyf3)",
"(on-table zjw5) (on-table mer1) (on fbf4 zjw5) (clear fbf4) (holding jgk2) (clear gyf3) (clear mer1) (on-table gyf3)",
"(clear jgk2) (arm-empty) (on-table zjw5) (on-table mer1) (on fbf4 zjw5) (on jgk2 fbf4) (clear gyf3) (clear mer1) (on-table gyf3)",
"(holding mer1) (clear jgk2) (on-table zjw5) (on fbf4 zjw5) (on jgk2 fbf4) (clear gyf3) (on-table gyf3)",
"(clear jgk2) (on mer1 gyf3) (arm-empty) (on-table zjw5) (on fbf4 zjw5) (on jgk2 fbf4) (clear mer1) (on-table gyf3)",
"(on mer1 gyf3) (on-table zjw5) (on fbf4 zjw5) (clear fbf4) (holding jgk2) (clear mer1) (on-table gyf3)"
] |
file_128371
|
GOAL: (on fna3 zfs5) (clear jwl2) (arm-empty) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (on jwl2 fna3)
|
GOAL: (on fna3 zfs5) (clear jwl2) (arm-empty) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (on jwl2 fna3)
STATE: (arm-empty) (on-table mih1) (on zfs5 jwl2) (clear vxu4) (on-table vxu4) (on jwl2 fna3) (clear mih1) (on-table fna3) (clear zfs5)
|
[
[
"pick-up mih1"
],
[
"stack mih1 vxu4"
],
[
"unstack zfs5 jwl2"
],
[
"stack zfs5 mih1"
],
[
"unstack jwl2 fna3"
],
[
"put-down jwl2"
],
[
"pick-up fna3"
],
[
"stack fna3 zfs5"
],
[
"pick-up jwl2"
],
[
"stack jwl2 fna3"
]
] |
[
"(holding mih1) (on zfs5 jwl2) (clear vxu4) (on-table vxu4) (on jwl2 fna3) (on-table fna3) (clear zfs5)",
"(arm-empty) (on zfs5 jwl2) (on-table vxu4) (on mih1 vxu4) (on jwl2 fna3) (clear mih1) (on-table fna3) (clear zfs5)",
"(clear jwl2) (holding zfs5) (on-table vxu4) (on mih1 vxu4) (on jwl2 fna3) (clear mih1) (on-table fna3)",
"(clear jwl2) (arm-empty) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (on jwl2 fna3) (on-table fna3) (clear zfs5)",
"(holding jwl2) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (clear fna3) (on-table fna3) (clear zfs5)",
"(arm-empty) (on-table jwl2) (clear zfs5) (clear jwl2) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (clear fna3) (on-table fna3)",
"(clear jwl2) (on-table jwl2) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (holding fna3) (clear zfs5)",
"(clear jwl2) (on fna3 zfs5) (arm-empty) (on-table jwl2) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (clear fna3)",
"(on fna3 zfs5) (holding jwl2) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (clear fna3)",
"(on fna3 zfs5) (clear jwl2) (arm-empty) (on zfs5 mih1) (on-table vxu4) (on mih1 vxu4) (on jwl2 fna3)"
] |
file_223924
|
GOAL: (clear qkr2) (on wmr1 tdj3) (on ohi4 wmr1) (on-table qkr2) (on tdt5 ohi4) (arm-empty) (on-table tdj3) (clear tdt5)
|
GOAL: (clear qkr2) (on wmr1 tdj3) (on ohi4 wmr1) (on-table qkr2) (on tdt5 ohi4) (arm-empty) (on-table tdj3) (clear tdt5)
STATE: (holding wmr1) (clear qkr2) (clear ohi4) (on tdt5 tdj3) (on-table ohi4) (on qkr2 tdt5) (on-table tdj3)
|
[
[
"put-down wmr1"
],
[
"pick-up ohi4"
],
[
"stack ohi4 wmr1"
],
[
"unstack qkr2 tdt5"
],
[
"put-down qkr2"
],
[
"unstack ohi4 wmr1"
],
[
"put-down ohi4"
],
[
"unstack tdt5 tdj3"
],
[
"stack tdt5 qkr2"
],
[
"pick-up wmr1"
],
[
"stack wmr1 tdj3"
],
[
"pick-up ohi4"
],
[
"stack ohi4 wmr1"
],
[
"unstack tdt5 qkr2"
],
[
"stack tdt5 ohi4"
]
] |
[
"(arm-empty) (clear ohi4) (on tdt5 tdj3) (on qkr2 tdt5) (clear qkr2) (on-table wmr1) (on-table ohi4) (clear wmr1) (on-table tdj3)",
"(clear qkr2) (on-table wmr1) (holding ohi4) (on tdt5 tdj3) (on qkr2 tdt5) (clear wmr1) (on-table tdj3)",
"(clear qkr2) (on ohi4 wmr1) (arm-empty) (on-table wmr1) (clear ohi4) (on tdt5 tdj3) (on qkr2 tdt5) (on-table tdj3)",
"(on ohi4 wmr1) (on-table wmr1) (clear ohi4) (on tdt5 tdj3) (holding qkr2) (on-table tdj3) (clear tdt5)",
"(on ohi4 wmr1) (arm-empty) (on-table qkr2) (clear ohi4) (on tdt5 tdj3) (clear tdt5) (clear qkr2) (on-table wmr1) (on-table tdj3)",
"(clear qkr2) (on-table qkr2) (on-table wmr1) (holding ohi4) (on tdt5 tdj3) (clear wmr1) (on-table tdj3) (clear tdt5)",
"(clear qkr2) (arm-empty) (on-table qkr2) (on-table wmr1) (clear ohi4) (on tdt5 tdj3) (on-table ohi4) (clear wmr1) (on-table tdj3) (clear tdt5)",
"(clear qkr2) (on-table qkr2) (on-table wmr1) (clear ohi4) (holding tdt5) (on-table ohi4) (clear tdj3) (clear wmr1) (on-table tdj3)",
"(arm-empty) (on-table qkr2) (on-table wmr1) (on tdt5 qkr2) (clear ohi4) (on-table ohi4) (clear tdj3) (clear wmr1) (on-table tdj3) (clear tdt5)",
"(holding wmr1) (on-table qkr2) (on tdt5 qkr2) (clear ohi4) (on-table ohi4) (clear tdj3) (on-table tdj3) (clear tdt5)",
"(on wmr1 tdj3) (arm-empty) (on-table qkr2) (on tdt5 qkr2) (clear ohi4) (on-table ohi4) (clear wmr1) (on-table tdj3) (clear tdt5)",
"(on wmr1 tdj3) (on-table qkr2) (holding ohi4) (on tdt5 qkr2) (clear wmr1) (on-table tdj3) (clear tdt5)",
"(on wmr1 tdj3) (on ohi4 wmr1) (on-table qkr2) (arm-empty) (on tdt5 qkr2) (clear ohi4) (on-table tdj3) (clear tdt5)",
"(clear qkr2) (on wmr1 tdj3) (on ohi4 wmr1) (on-table qkr2) (clear ohi4) (holding tdt5) (on-table tdj3)",
"(clear qkr2) (on wmr1 tdj3) (on ohi4 wmr1) (on-table qkr2) (on tdt5 ohi4) (arm-empty) (on-table tdj3) (clear tdt5)"
] |
file_90014
|
GOAL: (holding dqz1) (clear fcm2) (on-table ahq5) (clear wej4) (on wej4 tfj3) (on fcm2 ahq5) (on-table tfj3)
|
GOAL: (holding dqz1) (clear fcm2) (on-table ahq5) (clear wej4) (on wej4 tfj3) (on fcm2 ahq5) (on-table tfj3)
STATE: (clear fcm2) (arm-empty) (on-table fcm2) (on-table ahq5) (on-table dqz1) (clear wej4) (on wej4 tfj3) (clear dqz1) (on-table tfj3) (clear ahq5)
|
[
[
"pick-up fcm2"
],
[
"stack fcm2 ahq5"
],
[
"pick-up dqz1"
]
] |
[
"(on-table ahq5) (on-table dqz1) (clear wej4) (on wej4 tfj3) (holding fcm2) (clear dqz1) (on-table tfj3) (clear ahq5)",
"(clear fcm2) (arm-empty) (on-table ahq5) (on-table dqz1) (clear wej4) (on wej4 tfj3) (on fcm2 ahq5) (clear dqz1) (on-table tfj3)",
"(holding dqz1) (clear fcm2) (on-table ahq5) (clear wej4) (on wej4 tfj3) (on fcm2 ahq5) (on-table tfj3)"
] |
file_194107
|
GOAL: (on tai1 apf3) (on iwl5 ahr4) (on-table qne2) (arm-empty) (on ahr4 qne2) (clear tai1) (on-table apf3) (clear iwl5)
|
GOAL: (on tai1 apf3) (on iwl5 ahr4) (on-table qne2) (arm-empty) (on ahr4 qne2) (clear tai1) (on-table apf3) (clear iwl5)
STATE: (clear qne2) (on tai1 apf3) (arm-empty) (on-table qne2) (on ahr4 iwl5) (clear ahr4) (on iwl5 tai1) (on-table apf3)
|
[
[
"unstack ahr4 iwl5"
],
[
"stack ahr4 qne2"
],
[
"unstack iwl5 tai1"
],
[
"stack iwl5 ahr4"
]
] |
[
"(clear qne2) (on tai1 apf3) (on-table qne2) (holding ahr4) (on iwl5 tai1) (on-table apf3) (clear iwl5)",
"(on tai1 apf3) (arm-empty) (on-table qne2) (clear ahr4) (clear iwl5) (on iwl5 tai1) (on ahr4 qne2) (on-table apf3)",
"(on tai1 apf3) (on-table qne2) (clear ahr4) (holding iwl5) (on ahr4 qne2) (clear tai1) (on-table apf3)",
"(on tai1 apf3) (on iwl5 ahr4) (on-table qne2) (arm-empty) (on ahr4 qne2) (clear tai1) (on-table apf3) (clear iwl5)"
] |
file_53417
|
GOAL: (clear lgb2) (on-table lgb2) (on-table yhj1) (holding ghz4) (on orw5 zsy3) (on zsy3 yhj1) (clear orw5)
|
GOAL: (clear lgb2) (on-table lgb2) (on-table yhj1) (holding ghz4) (on orw5 zsy3) (on zsy3 yhj1) (clear orw5)
STATE: (on zsy3 ghz4) (clear lgb2) (arm-empty) (on-table lgb2) (on ghz4 orw5) (on-table orw5) (on-table yhj1) (clear zsy3) (clear yhj1)
|
[
[
"unstack zsy3 ghz4"
],
[
"stack zsy3 yhj1"
],
[
"unstack ghz4 orw5"
],
[
"stack ghz4 lgb2"
],
[
"pick-up orw5"
],
[
"stack orw5 zsy3"
],
[
"unstack ghz4 lgb2"
]
] |
[
"(clear lgb2) (on-table lgb2) (on ghz4 orw5) (on-table orw5) (on-table yhj1) (clear ghz4) (holding zsy3) (clear yhj1)",
"(clear lgb2) (arm-empty) (on-table lgb2) (on ghz4 orw5) (on-table orw5) (on-table yhj1) (clear ghz4) (on zsy3 yhj1) (clear zsy3)",
"(clear lgb2) (on-table lgb2) (on-table orw5) (on-table yhj1) (holding ghz4) (on zsy3 yhj1) (clear zsy3) (clear orw5)",
"(arm-empty) (on-table lgb2) (on-table orw5) (on-table yhj1) (on ghz4 lgb2) (clear ghz4) (on zsy3 yhj1) (clear zsy3) (clear orw5)",
"(on-table lgb2) (on-table yhj1) (clear ghz4) (on zsy3 yhj1) (holding orw5) (on ghz4 lgb2) (clear zsy3)",
"(arm-empty) (on-table lgb2) (on-table yhj1) (clear ghz4) (on orw5 zsy3) (on zsy3 yhj1) (on ghz4 lgb2) (clear orw5)",
"(clear lgb2) (on-table lgb2) (on-table yhj1) (holding ghz4) (on orw5 zsy3) (on zsy3 yhj1) (clear orw5)"
] |
file_176447
|
GOAL: (on dds3 axp4) (on-table qea1) (on ykw5 dds3) (on-table axp4) (holding gjx2) (clear qea1) (clear ykw5)
|
GOAL: (on dds3 axp4) (on-table qea1) (on ykw5 dds3) (on-table axp4) (holding gjx2) (clear qea1) (clear ykw5)
STATE: (arm-empty) (on-table qea1) (on ykw5 gjx2) (clear axp4) (on-table axp4) (on gjx2 qea1) (clear dds3) (on-table dds3) (clear ykw5)
|
[
[
"pick-up dds3"
],
[
"stack dds3 axp4"
],
[
"unstack ykw5 gjx2"
],
[
"stack ykw5 dds3"
],
[
"unstack gjx2 qea1"
]
] |
[
"(on-table qea1) (on ykw5 gjx2) (clear axp4) (on-table axp4) (on gjx2 qea1) (holding dds3) (clear ykw5)",
"(on dds3 axp4) (arm-empty) (on-table qea1) (on ykw5 gjx2) (on-table axp4) (on gjx2 qea1) (clear dds3) (clear ykw5)",
"(on dds3 axp4) (clear gjx2) (on-table qea1) (holding ykw5) (on-table axp4) (on gjx2 qea1) (clear dds3)",
"(on dds3 axp4) (clear gjx2) (arm-empty) (on-table qea1) (on ykw5 dds3) (on-table axp4) (on gjx2 qea1) (clear ykw5)",
"(on dds3 axp4) (on-table qea1) (on ykw5 dds3) (on-table axp4) (holding gjx2) (clear qea1) (clear ykw5)"
] |
file_196156
|
GOAL: (clear pvl2) (arm-empty) (on-table oxm1) (on pvl2 oxm1) (clear ztu3) (on-table ztu3)
|
GOAL: (clear pvl2) (arm-empty) (on-table oxm1) (on pvl2 oxm1) (clear ztu3) (on-table ztu3)
STATE: (holding oxm1) (clear pvl2) (on-table pvl2) (clear ztu3) (on-table ztu3)
|
[
[
"put-down oxm1"
],
[
"pick-up pvl2"
],
[
"stack pvl2 oxm1"
]
] |
[
"(clear pvl2) (arm-empty) (on-table pvl2) (on-table oxm1) (clear ztu3) (clear oxm1) (on-table ztu3)",
"(holding pvl2) (on-table oxm1) (clear ztu3) (clear oxm1) (on-table ztu3)",
"(clear pvl2) (arm-empty) (on-table oxm1) (on pvl2 oxm1) (clear ztu3) (on-table ztu3)"
] |
file_57071
|
GOAL: (holding zpg1) (on-table ofy2) (on-table mwo5) (on tfp3 ofy2) (clear tqd4) (on-table tqd4) (clear tfp3) (clear mwo5)
|
GOAL: (holding zpg1) (on-table ofy2) (on-table mwo5) (on tfp3 ofy2) (clear tqd4) (on-table tqd4) (clear tfp3) (clear mwo5)
STATE: (clear ofy2) (arm-empty) (on mwo5 tqd4) (on-table zpg1) (on-table tqd4) (on ofy2 mwo5) (clear tfp3) (clear zpg1) (on-table tfp3)
|
[
[
"unstack ofy2 mwo5"
],
[
"stack ofy2 tfp3"
],
[
"unstack mwo5 tqd4"
],
[
"stack mwo5 zpg1"
],
[
"unstack ofy2 tfp3"
],
[
"put-down ofy2"
],
[
"pick-up tfp3"
],
[
"stack tfp3 ofy2"
],
[
"unstack mwo5 zpg1"
],
[
"put-down mwo5"
],
[
"pick-up tqd4"
],
[
"stack tqd4 tfp3"
],
[
"pick-up zpg1"
],
[
"stack zpg1 mwo5"
],
[
"unstack tqd4 tfp3"
],
[
"put-down tqd4"
],
[
"unstack zpg1 mwo5"
]
] |
[
"(on mwo5 tqd4) (on-table zpg1) (on-table tqd4) (holding ofy2) (clear tfp3) (clear zpg1) (on-table tfp3) (clear mwo5)",
"(clear ofy2) (arm-empty) (on mwo5 tqd4) (on-table zpg1) (on-table tqd4) (on ofy2 tfp3) (clear zpg1) (on-table tfp3) (clear mwo5)",
"(clear ofy2) (on-table zpg1) (clear tqd4) (holding mwo5) (on-table tqd4) (on ofy2 tfp3) (clear zpg1) (on-table tfp3)",
"(clear ofy2) (arm-empty) (on-table zpg1) (clear tqd4) (on mwo5 zpg1) (on-table tqd4) (on ofy2 tfp3) (on-table tfp3) (clear mwo5)",
"(on-table zpg1) (clear tqd4) (on mwo5 zpg1) (on-table tqd4) (holding ofy2) (clear tfp3) (on-table tfp3) (clear mwo5)",
"(clear ofy2) (arm-empty) (on-table ofy2) (on-table zpg1) (clear tqd4) (on mwo5 zpg1) (on-table tqd4) (clear tfp3) (on-table tfp3) (clear mwo5)",
"(clear ofy2) (on-table ofy2) (on-table zpg1) (clear tqd4) (on mwo5 zpg1) (on-table tqd4) (holding tfp3) (clear mwo5)",
"(arm-empty) (on-table ofy2) (on-table zpg1) (on tfp3 ofy2) (clear tqd4) (on mwo5 zpg1) (on-table tqd4) (clear tfp3) (clear mwo5)",
"(on-table ofy2) (on-table zpg1) (on tfp3 ofy2) (clear tqd4) (holding mwo5) (on-table tqd4) (clear tfp3) (clear zpg1)",
"(arm-empty) (on-table ofy2) (on-table mwo5) (on-table zpg1) (on tfp3 ofy2) (clear tqd4) (on-table tqd4) (clear tfp3) (clear zpg1) (clear mwo5)",
"(on-table ofy2) (on-table mwo5) (on-table zpg1) (holding tqd4) (on tfp3 ofy2) (clear tfp3) (clear zpg1) (clear mwo5)",
"(arm-empty) (on-table ofy2) (on-table mwo5) (on-table zpg1) (on tfp3 ofy2) (clear tqd4) (on tqd4 tfp3) (clear zpg1) (clear mwo5)",
"(holding zpg1) (on-table ofy2) (on-table mwo5) (on tfp3 ofy2) (clear tqd4) (on tqd4 tfp3) (clear mwo5)",
"(on zpg1 mwo5) (arm-empty) (on-table ofy2) (on-table mwo5) (on tfp3 ofy2) (clear tqd4) (on tqd4 tfp3) (clear zpg1)",
"(on zpg1 mwo5) (on-table ofy2) (on-table mwo5) (holding tqd4) (on tfp3 ofy2) (clear tfp3) (clear zpg1)",
"(on zpg1 mwo5) (arm-empty) (on-table ofy2) (on-table mwo5) (clear tqd4) (on tfp3 ofy2) (on-table tqd4) (clear tfp3) (clear zpg1)",
"(holding zpg1) (on-table ofy2) (on-table mwo5) (on tfp3 ofy2) (clear tqd4) (on-table tqd4) (clear tfp3) (clear mwo5)"
] |
file_128812
|
GOAL: (on-table goh5) (on-table hsp1) (clear gsp4) (on gsp4 zzr3) (holding mnt2) (clear hsp1) (on-table zzr3) (clear goh5)
|
GOAL: (on-table goh5) (on-table hsp1) (clear gsp4) (on gsp4 zzr3) (holding mnt2) (clear hsp1) (on-table zzr3) (clear goh5)
STATE: (arm-empty) (on gsp4 goh5) (on-table hsp1) (on zzr3 mnt2) (on goh5 hsp1) (on mnt2 gsp4) (clear zzr3)
|
[
[
"unstack zzr3 mnt2"
],
[
"put-down zzr3"
],
[
"unstack mnt2 gsp4"
],
[
"stack mnt2 zzr3"
],
[
"unstack gsp4 goh5"
],
[
"put-down gsp4"
],
[
"unstack mnt2 zzr3"
],
[
"stack mnt2 goh5"
],
[
"pick-up gsp4"
],
[
"stack gsp4 zzr3"
],
[
"unstack mnt2 goh5"
],
[
"stack mnt2 gsp4"
],
[
"unstack goh5 hsp1"
],
[
"put-down goh5"
],
[
"unstack mnt2 gsp4"
]
] |
[
"(on gsp4 goh5) (on mnt2 gsp4) (clear mnt2) (on-table hsp1) (on goh5 hsp1) (holding zzr3)",
"(on goh5 hsp1) (clear mnt2) (arm-empty) (on gsp4 goh5) (on mnt2 gsp4) (clear zzr3) (on-table hsp1) (on-table zzr3)",
"(on gsp4 goh5) (on-table hsp1) (clear gsp4) (on goh5 hsp1) (holding mnt2) (clear zzr3) (on-table zzr3)",
"(clear mnt2) (arm-empty) (on gsp4 goh5) (on-table hsp1) (clear gsp4) (on goh5 hsp1) (on mnt2 zzr3) (on-table zzr3)",
"(clear mnt2) (on-table hsp1) (holding gsp4) (on goh5 hsp1) (on mnt2 zzr3) (on-table zzr3) (clear goh5)",
"(arm-empty) (clear gsp4) (clear goh5) (clear mnt2) (on-table hsp1) (on goh5 hsp1) (on-table gsp4) (on mnt2 zzr3) (on-table zzr3)",
"(on-table hsp1) (clear gsp4) (on goh5 hsp1) (on-table gsp4) (holding mnt2) (clear zzr3) (on-table zzr3) (clear goh5)",
"(clear mnt2) (arm-empty) (on-table hsp1) (clear gsp4) (on goh5 hsp1) (on-table gsp4) (on mnt2 goh5) (clear zzr3) (on-table zzr3)",
"(clear mnt2) (on-table hsp1) (holding gsp4) (on goh5 hsp1) (on mnt2 goh5) (clear zzr3) (on-table zzr3)",
"(arm-empty) (clear gsp4) (on mnt2 goh5) (clear mnt2) (on-table hsp1) (on gsp4 zzr3) (on goh5 hsp1) (on-table zzr3)",
"(on-table hsp1) (clear gsp4) (on gsp4 zzr3) (on goh5 hsp1) (holding mnt2) (on-table zzr3) (clear goh5)",
"(clear mnt2) (arm-empty) (on-table hsp1) (on gsp4 zzr3) (on goh5 hsp1) (on mnt2 gsp4) (on-table zzr3) (clear goh5)",
"(clear mnt2) (on-table hsp1) (on gsp4 zzr3) (holding goh5) (on mnt2 gsp4) (clear hsp1) (on-table zzr3)",
"(arm-empty) (on-table goh5) (on mnt2 gsp4) (clear goh5) (clear mnt2) (on-table hsp1) (on gsp4 zzr3) (clear hsp1) (on-table zzr3)",
"(on-table goh5) (on-table hsp1) (clear gsp4) (on gsp4 zzr3) (holding mnt2) (clear hsp1) (on-table zzr3) (clear goh5)"
] |
file_118902
|
GOAL: (on hwa3 wkc2) (on-table ulx4) (on tzc1 hwa3) (arm-empty) (on wkc2 ulx4) (clear tzc1)
|
GOAL: (on hwa3 wkc2) (on-table ulx4) (on tzc1 hwa3) (arm-empty) (on wkc2 ulx4) (clear tzc1)
STATE: (arm-empty) (clear ulx4) (on-table ulx4) (on wkc2 hwa3) (on tzc1 wkc2) (clear tzc1) (on-table hwa3)
|
[
[
"unstack tzc1 wkc2"
],
[
"put-down tzc1"
],
[
"unstack wkc2 hwa3"
],
[
"stack wkc2 ulx4"
],
[
"pick-up hwa3"
],
[
"stack hwa3 wkc2"
],
[
"pick-up tzc1"
],
[
"stack tzc1 hwa3"
]
] |
[
"(clear ulx4) (holding tzc1) (clear wkc2) (on-table ulx4) (on wkc2 hwa3) (on-table hwa3)",
"(arm-empty) (clear ulx4) (clear wkc2) (on-table tzc1) (on-table ulx4) (on wkc2 hwa3) (clear tzc1) (on-table hwa3)",
"(on-table tzc1) (clear ulx4) (on-table ulx4) (holding wkc2) (clear hwa3) (clear tzc1) (on-table hwa3)",
"(clear wkc2) (arm-empty) (on-table tzc1) (on-table ulx4) (on wkc2 ulx4) (clear hwa3) (clear tzc1) (on-table hwa3)",
"(clear wkc2) (on-table tzc1) (on-table ulx4) (on wkc2 ulx4) (holding hwa3) (clear tzc1)",
"(arm-empty) (on-table tzc1) (on hwa3 wkc2) (on-table ulx4) (on wkc2 ulx4) (clear hwa3) (clear tzc1)",
"(holding tzc1) (on-table ulx4) (clear hwa3) (on hwa3 wkc2) (on wkc2 ulx4)",
"(on hwa3 wkc2) (on-table ulx4) (on tzc1 hwa3) (arm-empty) (on wkc2 ulx4) (clear tzc1)"
] |
file_106696
|
GOAL: (clear qms2) (on-table pjv5) (on-table raj4) (on sgh1 raj4) (on qms2 pjv5) (holding fwq3) (clear sgh1)
|
GOAL: (clear qms2) (on-table pjv5) (on-table raj4) (on sgh1 raj4) (on qms2 pjv5) (holding fwq3) (clear sgh1)
STATE: (on-table qms2) (on-table pjv5) (holding raj4) (clear fwq3) (on sgh1 qms2) (clear sgh1) (on-table fwq3) (clear pjv5)
|
[
[
"stack raj4 pjv5"
],
[
"unstack sgh1 qms2"
],
[
"put-down sgh1"
],
[
"pick-up qms2"
],
[
"stack qms2 fwq3"
],
[
"unstack raj4 pjv5"
],
[
"put-down raj4"
],
[
"pick-up sgh1"
],
[
"stack sgh1 raj4"
],
[
"unstack qms2 fwq3"
],
[
"stack qms2 pjv5"
],
[
"pick-up fwq3"
]
] |
[
"(arm-empty) (on-table qms2) (on-table pjv5) (on raj4 pjv5) (clear raj4) (clear fwq3) (on sgh1 qms2) (clear sgh1) (on-table fwq3)",
"(holding sgh1) (clear qms2) (on-table qms2) (on-table pjv5) (on raj4 pjv5) (clear raj4) (clear fwq3) (on-table fwq3)",
"(clear qms2) (arm-empty) (on-table qms2) (on-table pjv5) (on raj4 pjv5) (on-table sgh1) (clear raj4) (clear fwq3) (clear sgh1) (on-table fwq3)",
"(on-table pjv5) (on raj4 pjv5) (on-table sgh1) (clear raj4) (holding qms2) (clear fwq3) (clear sgh1) (on-table fwq3)",
"(clear qms2) (arm-empty) (on-table pjv5) (on raj4 pjv5) (on-table sgh1) (clear raj4) (on qms2 fwq3) (clear sgh1) (on-table fwq3)",
"(clear qms2) (on-table pjv5) (holding raj4) (on-table sgh1) (on qms2 fwq3) (clear sgh1) (on-table fwq3) (clear pjv5)",
"(clear qms2) (arm-empty) (on-table pjv5) (on-table sgh1) (clear raj4) (on-table raj4) (on qms2 fwq3) (clear sgh1) (on-table fwq3) (clear pjv5)",
"(holding sgh1) (clear qms2) (on-table pjv5) (clear raj4) (on-table raj4) (on qms2 fwq3) (on-table fwq3) (clear pjv5)",
"(clear qms2) (arm-empty) (on-table pjv5) (on-table raj4) (on sgh1 raj4) (on qms2 fwq3) (clear sgh1) (on-table fwq3) (clear pjv5)",
"(on-table pjv5) (holding qms2) (on-table raj4) (on sgh1 raj4) (clear fwq3) (clear sgh1) (on-table fwq3) (clear pjv5)",
"(clear qms2) (arm-empty) (on-table pjv5) (on-table raj4) (on qms2 pjv5) (clear fwq3) (on sgh1 raj4) (on-table fwq3) (clear sgh1)",
"(clear qms2) (on-table pjv5) (on-table raj4) (on sgh1 raj4) (on qms2 pjv5) (holding fwq3) (clear sgh1)"
] |
file_117362
|
GOAL: (on vzo3 uxw5) (arm-empty) (on-table vgv2) (clear nvr4) (clear vgv2) (on-table fsz1) (on nvr4 vzo3) (on uxw5 fsz1)
|
GOAL: (on vzo3 uxw5) (arm-empty) (on-table vgv2) (clear nvr4) (clear vgv2) (on-table fsz1) (on nvr4 vzo3) (on uxw5 fsz1)
STATE: (on vzo3 nvr4) (clear vgv2) (arm-empty) (on-table vgv2) (on-table fsz1) (on uxw5 vzo3) (on-table nvr4) (clear fsz1) (clear uxw5)
|
[
[
"unstack uxw5 vzo3"
],
[
"stack uxw5 fsz1"
],
[
"unstack vzo3 nvr4"
],
[
"stack vzo3 uxw5"
],
[
"pick-up nvr4"
],
[
"stack nvr4 vzo3"
]
] |
[
"(on vzo3 nvr4) (clear vgv2) (on-table vgv2) (on-table fsz1) (holding uxw5) (on-table nvr4) (clear vzo3) (clear fsz1)",
"(on vzo3 nvr4) (clear vgv2) (arm-empty) (on-table vgv2) (on-table fsz1) (on uxw5 fsz1) (on-table nvr4) (clear vzo3) (clear uxw5)",
"(clear vgv2) (on-table vgv2) (on-table fsz1) (clear nvr4) (on uxw5 fsz1) (on-table nvr4) (holding vzo3) (clear uxw5)",
"(clear vgv2) (on vzo3 uxw5) (arm-empty) (on-table vgv2) (on-table fsz1) (clear nvr4) (on uxw5 fsz1) (on-table nvr4) (clear vzo3)",
"(clear vgv2) (on vzo3 uxw5) (on-table vgv2) (on-table fsz1) (holding nvr4) (on uxw5 fsz1) (clear vzo3)",
"(on vzo3 uxw5) (arm-empty) (on-table vgv2) (clear nvr4) (clear vgv2) (on-table fsz1) (on nvr4 vzo3) (on uxw5 fsz1)"
] |
file_32337
|
GOAL: (clear wcu2) (on-table wcu2) (on-table tcc5) (on-table zko1) (holding sjv4) (on ppc3 zko1) (clear ppc3) (clear tcc5)
|
GOAL: (clear wcu2) (on-table wcu2) (on-table tcc5) (on-table zko1) (holding sjv4) (on ppc3 zko1) (clear ppc3) (clear tcc5)
STATE: (on zko1 tcc5) (clear wcu2) (on sjv4 zko1) (on-table wcu2) (on-table tcc5) (clear sjv4) (holding ppc3)
|
[
[
"stack ppc3 wcu2"
],
[
"unstack sjv4 zko1"
],
[
"put-down sjv4"
],
[
"unstack ppc3 wcu2"
],
[
"stack ppc3 sjv4"
],
[
"unstack zko1 tcc5"
],
[
"put-down zko1"
],
[
"unstack ppc3 sjv4"
],
[
"stack ppc3 zko1"
],
[
"pick-up sjv4"
]
] |
[
"(on zko1 tcc5) (on sjv4 zko1) (arm-empty) (on-table wcu2) (on-table tcc5) (on ppc3 wcu2) (clear sjv4) (clear ppc3)",
"(on zko1 tcc5) (on-table wcu2) (on-table tcc5) (holding sjv4) (on ppc3 wcu2) (clear ppc3) (clear zko1)",
"(on zko1 tcc5) (arm-empty) (on-table wcu2) (on-table tcc5) (clear sjv4) (on ppc3 wcu2) (on-table sjv4) (clear ppc3) (clear zko1)",
"(on zko1 tcc5) (clear wcu2) (on-table wcu2) (on-table tcc5) (clear sjv4) (on-table sjv4) (holding ppc3) (clear zko1)",
"(on zko1 tcc5) (clear wcu2) (on ppc3 sjv4) (arm-empty) (on-table wcu2) (on-table tcc5) (on-table sjv4) (clear ppc3) (clear zko1)",
"(holding zko1) (clear wcu2) (on ppc3 sjv4) (on-table wcu2) (on-table tcc5) (on-table sjv4) (clear ppc3) (clear tcc5)",
"(on ppc3 sjv4) (clear wcu2) (arm-empty) (on-table wcu2) (on-table tcc5) (on-table zko1) (on-table sjv4) (clear ppc3) (clear zko1) (clear tcc5)",
"(clear wcu2) (on-table wcu2) (on-table tcc5) (on-table zko1) (clear sjv4) (on-table sjv4) (holding ppc3) (clear zko1) (clear tcc5)",
"(clear wcu2) (arm-empty) (on-table wcu2) (on-table tcc5) (on-table zko1) (clear sjv4) (on-table sjv4) (on ppc3 zko1) (clear ppc3) (clear tcc5)",
"(clear wcu2) (on-table wcu2) (on-table tcc5) (on-table zko1) (holding sjv4) (on ppc3 zko1) (clear ppc3) (clear tcc5)"
] |
file_206324
|
GOAL: (clear nxt2) (arm-empty) (on nyi5 ijp4) (on-table zyo1) (on-table ijp4) (on nxt2 zyo1) (clear rhl3) (on-table rhl3) (clear nyi5)
|
GOAL: (clear nxt2) (arm-empty) (on nyi5 ijp4) (on-table zyo1) (on-table ijp4) (on nxt2 zyo1) (clear rhl3) (on-table rhl3) (clear nyi5)
STATE: (clear nxt2) (on rhl3 nyi5) (arm-empty) (on nyi5 ijp4) (on-table zyo1) (on-table ijp4) (on nxt2 rhl3) (clear zyo1)
|
[
[
"unstack nxt2 rhl3"
],
[
"put-down nxt2"
],
[
"unstack rhl3 nyi5"
],
[
"put-down rhl3"
],
[
"pick-up nxt2"
],
[
"stack nxt2 zyo1"
]
] |
[
"(on rhl3 nyi5) (on nyi5 ijp4) (on-table zyo1) (on-table ijp4) (holding nxt2) (clear rhl3) (clear zyo1)",
"(on rhl3 nyi5) (arm-empty) (on nyi5 ijp4) (on-table nxt2) (clear nxt2) (on-table zyo1) (on-table ijp4) (clear rhl3) (clear zyo1)",
"(on nyi5 ijp4) (on-table nxt2) (clear nxt2) (on-table zyo1) (on-table ijp4) (holding rhl3) (clear zyo1) (clear nyi5)",
"(clear nxt2) (arm-empty) (on nyi5 ijp4) (on-table nxt2) (on-table zyo1) (on-table ijp4) (clear rhl3) (clear zyo1) (on-table rhl3) (clear nyi5)",
"(on nyi5 ijp4) (on-table zyo1) (on-table ijp4) (holding nxt2) (clear rhl3) (clear zyo1) (on-table rhl3) (clear nyi5)",
"(clear nxt2) (arm-empty) (on nyi5 ijp4) (on-table zyo1) (on-table ijp4) (on nxt2 zyo1) (clear rhl3) (on-table rhl3) (clear nyi5)"
] |
file_198714
|
GOAL: (on gzf3 tfs5) (clear jmg2) (on-table tfs5) (on-table ypq1) (holding ovu4) (on jmg2 gzf3) (clear ypq1)
|
GOAL: (on gzf3 tfs5) (clear jmg2) (on-table tfs5) (on-table ypq1) (holding ovu4) (on jmg2 gzf3) (clear ypq1)
STATE: (arm-empty) (on tfs5 gzf3) (on ypq1 ovu4) (on ovu4 jmg2) (on jmg2 tfs5) (clear ypq1) (on-table gzf3)
|
[
[
"unstack ypq1 ovu4"
],
[
"put-down ypq1"
],
[
"unstack ovu4 jmg2"
],
[
"stack ovu4 ypq1"
],
[
"unstack jmg2 tfs5"
],
[
"stack jmg2 ovu4"
],
[
"unstack tfs5 gzf3"
],
[
"put-down tfs5"
],
[
"pick-up gzf3"
],
[
"stack gzf3 tfs5"
],
[
"unstack jmg2 ovu4"
],
[
"stack jmg2 gzf3"
],
[
"unstack ovu4 ypq1"
]
] |
[
"(clear ovu4) (on tfs5 gzf3) (on jmg2 tfs5) (holding ypq1) (on ovu4 jmg2) (on-table gzf3)",
"(arm-empty) (clear ovu4) (on tfs5 gzf3) (on jmg2 tfs5) (on-table ypq1) (on ovu4 jmg2) (clear ypq1) (on-table gzf3)",
"(clear jmg2) (on-table ypq1) (holding ovu4) (on tfs5 gzf3) (on jmg2 tfs5) (clear ypq1) (on-table gzf3)",
"(clear jmg2) (on ovu4 ypq1) (arm-empty) (on-table ypq1) (clear ovu4) (on tfs5 gzf3) (on jmg2 tfs5) (on-table gzf3)",
"(on ovu4 ypq1) (on-table ypq1) (clear ovu4) (on tfs5 gzf3) (holding jmg2) (on-table gzf3) (clear tfs5)",
"(clear jmg2) (on ovu4 ypq1) (arm-empty) (on-table ypq1) (on tfs5 gzf3) (on jmg2 ovu4) (on-table gzf3) (clear tfs5)",
"(clear jmg2) (on ovu4 ypq1) (on-table ypq1) (holding tfs5) (on jmg2 ovu4) (clear gzf3) (on-table gzf3)",
"(on ovu4 ypq1) (arm-empty) (on-table tfs5) (on jmg2 ovu4) (clear tfs5) (clear jmg2) (on-table ypq1) (clear gzf3) (on-table gzf3)",
"(clear jmg2) (on ovu4 ypq1) (on-table tfs5) (on-table ypq1) (on jmg2 ovu4) (holding gzf3) (clear tfs5)",
"(clear jmg2) (on ovu4 ypq1) (on gzf3 tfs5) (arm-empty) (on-table tfs5) (on-table ypq1) (on jmg2 ovu4) (clear gzf3)",
"(on ovu4 ypq1) (on gzf3 tfs5) (on-table tfs5) (on-table ypq1) (clear ovu4) (holding jmg2) (clear gzf3)",
"(on gzf3 tfs5) (on ovu4 ypq1) (clear jmg2) (arm-empty) (on-table tfs5) (on-table ypq1) (clear ovu4) (on jmg2 gzf3)",
"(on gzf3 tfs5) (clear jmg2) (on-table tfs5) (on-table ypq1) (holding ovu4) (on jmg2 gzf3) (clear ypq1)"
] |
file_175258
|
GOAL: (clear sfj2) (on fbs1 ryd3) (arm-empty) (on cnj4 fzj5) (on-table fzj5) (clear cnj4) (on sfj2 fbs1) (on-table ryd3)
|
GOAL: (clear sfj2) (on fbs1 ryd3) (arm-empty) (on cnj4 fzj5) (on-table fzj5) (clear cnj4) (on sfj2 fbs1) (on-table ryd3)
STATE: (on fbs1 ryd3) (arm-empty) (on cnj4 fzj5) (on fzj5 sfj2) (clear cnj4) (on sfj2 fbs1) (on-table ryd3)
|
[
[
"unstack cnj4 fzj5"
],
[
"put-down cnj4"
],
[
"unstack fzj5 sfj2"
],
[
"put-down fzj5"
],
[
"pick-up cnj4"
],
[
"stack cnj4 fzj5"
]
] |
[
"(on fbs1 ryd3) (holding cnj4) (on fzj5 sfj2) (on sfj2 fbs1) (clear fzj5) (on-table ryd3)",
"(on fbs1 ryd3) (arm-empty) (on fzj5 sfj2) (clear cnj4) (on sfj2 fbs1) (clear fzj5) (on-table cnj4) (on-table ryd3)",
"(clear sfj2) (on fbs1 ryd3) (clear cnj4) (holding fzj5) (on-table cnj4) (on sfj2 fbs1) (on-table ryd3)",
"(on fbs1 ryd3) (arm-empty) (on-table fzj5) (clear cnj4) (on sfj2 fbs1) (clear fzj5) (clear sfj2) (on-table cnj4) (on-table ryd3)",
"(clear sfj2) (on fbs1 ryd3) (on-table fzj5) (holding cnj4) (on sfj2 fbs1) (on-table ryd3) (clear fzj5)",
"(clear sfj2) (on fbs1 ryd3) (arm-empty) (on cnj4 fzj5) (on-table fzj5) (clear cnj4) (on sfj2 fbs1) (on-table ryd3)"
] |
file_184847
|
GOAL: (on lno1 nns5) (clear fvu2) (on lpt4 lno1) (arm-empty) (on nns5 bph3) (on fvu2 lpt4) (on-table bph3)
|
GOAL: (on lno1 nns5) (clear fvu2) (on lpt4 lno1) (arm-empty) (on nns5 bph3) (on fvu2 lpt4) (on-table bph3)
STATE: (on-table fvu2) (on lpt4 fvu2) (holding nns5) (on lno1 lpt4) (on bph3 lno1) (clear bph3)
|
[
[
"put-down nns5"
],
[
"unstack bph3 lno1"
],
[
"put-down bph3"
],
[
"pick-up nns5"
],
[
"stack nns5 bph3"
],
[
"unstack lno1 lpt4"
],
[
"stack lno1 nns5"
],
[
"unstack lpt4 fvu2"
],
[
"stack lpt4 lno1"
],
[
"pick-up fvu2"
],
[
"stack fvu2 lpt4"
]
] |
[
"(arm-empty) (on-table fvu2) (on-table nns5) (on bph3 lno1) (clear nns5) (on lno1 lpt4) (on lpt4 fvu2) (clear bph3)",
"(on-table fvu2) (on-table nns5) (on lpt4 fvu2) (on lno1 lpt4) (holding bph3) (clear lno1) (clear nns5)",
"(arm-empty) (on-table fvu2) (on-table nns5) (clear nns5) (on lno1 lpt4) (on lpt4 fvu2) (clear bph3) (clear lno1) (on-table bph3)",
"(on-table fvu2) (holding nns5) (on lno1 lpt4) (on lpt4 fvu2) (clear bph3) (clear lno1) (on-table bph3)",
"(arm-empty) (on-table fvu2) (on nns5 bph3) (on lno1 lpt4) (on lpt4 fvu2) (clear lno1) (on-table bph3) (clear nns5)",
"(holding lno1) (on-table fvu2) (clear lpt4) (on nns5 bph3) (on lpt4 fvu2) (on-table bph3) (clear nns5)",
"(on lno1 nns5) (arm-empty) (on-table fvu2) (clear lpt4) (on nns5 bph3) (on lpt4 fvu2) (clear lno1) (on-table bph3)",
"(on lno1 nns5) (clear fvu2) (on-table fvu2) (holding lpt4) (on nns5 bph3) (clear lno1) (on-table bph3)",
"(on lno1 nns5) (clear fvu2) (on lpt4 lno1) (arm-empty) (on-table fvu2) (clear lpt4) (on nns5 bph3) (on-table bph3)",
"(on lno1 nns5) (on lpt4 lno1) (clear lpt4) (on nns5 bph3) (holding fvu2) (on-table bph3)",
"(on lno1 nns5) (clear fvu2) (on lpt4 lno1) (arm-empty) (on nns5 bph3) (on fvu2 lpt4) (on-table bph3)"
] |
file_55641
|
GOAL: (on lxp3 oez5) (on tpp1 lxp3) (on zny4 tpp1) (clear aym2) (on-table oez5) (arm-empty) (on aym2 zny4)
|
GOAL: (on lxp3 oez5) (on tpp1 lxp3) (on zny4 tpp1) (clear aym2) (on-table oez5) (arm-empty) (on aym2 zny4)
STATE: (holding tpp1) (clear aym2) (on lxp3 oez5) (on-table aym2) (on-table oez5) (clear zny4) (on-table zny4) (clear lxp3)
|
[
[
"stack tpp1 lxp3"
],
[
"pick-up zny4"
],
[
"stack zny4 tpp1"
],
[
"pick-up aym2"
],
[
"stack aym2 zny4"
]
] |
[
"(clear aym2) (on lxp3 oez5) (on tpp1 lxp3) (on-table aym2) (on-table oez5) (arm-empty) (clear zny4) (on-table zny4) (clear tpp1)",
"(clear aym2) (on lxp3 oez5) (on tpp1 lxp3) (on-table aym2) (on-table oez5) (holding zny4) (clear tpp1)",
"(on lxp3 oez5) (on tpp1 lxp3) (on zny4 tpp1) (on-table aym2) (on-table oez5) (arm-empty) (clear zny4) (clear aym2)",
"(on lxp3 oez5) (on tpp1 lxp3) (on zny4 tpp1) (on-table oez5) (clear zny4) (holding aym2)",
"(on lxp3 oez5) (on tpp1 lxp3) (on zny4 tpp1) (clear aym2) (on-table oez5) (arm-empty) (on aym2 zny4)"
] |
file_45342
|
GOAL: (on rmz3 fro4) (on-table fro4) (on dfj1 rmz3) (clear iwq2) (arm-empty) (on iwq2 dfj1)
|
GOAL: (on rmz3 fro4) (on-table fro4) (on dfj1 rmz3) (clear iwq2) (arm-empty) (on iwq2 dfj1)
STATE: (clear iwq2) (on-table iwq2) (on-table fro4) (on dfj1 fro4) (holding rmz3) (clear dfj1)
|
[
[
"put-down rmz3"
],
[
"unstack dfj1 fro4"
],
[
"put-down dfj1"
],
[
"pick-up rmz3"
],
[
"stack rmz3 fro4"
],
[
"pick-up dfj1"
],
[
"stack dfj1 rmz3"
],
[
"pick-up iwq2"
],
[
"stack iwq2 dfj1"
]
] |
[
"(arm-empty) (on-table iwq2) (clear iwq2) (on-table fro4) (on dfj1 fro4) (clear rmz3) (clear dfj1) (on-table rmz3)",
"(holding dfj1) (clear iwq2) (on-table iwq2) (clear fro4) (on-table fro4) (clear rmz3) (on-table rmz3)",
"(arm-empty) (on-table iwq2) (clear fro4) (clear iwq2) (on-table dfj1) (on-table fro4) (clear rmz3) (clear dfj1) (on-table rmz3)",
"(clear iwq2) (on-table iwq2) (on-table dfj1) (clear fro4) (on-table fro4) (holding rmz3) (clear dfj1)",
"(on rmz3 fro4) (clear iwq2) (arm-empty) (on-table iwq2) (on-table dfj1) (on-table fro4) (clear rmz3) (clear dfj1)",
"(holding dfj1) (on rmz3 fro4) (clear iwq2) (on-table iwq2) (on-table fro4) (clear rmz3)",
"(on rmz3 fro4) (clear iwq2) (on dfj1 rmz3) (arm-empty) (on-table iwq2) (on-table fro4) (clear dfj1)",
"(on rmz3 fro4) (on dfj1 rmz3) (holding iwq2) (on-table fro4) (clear dfj1)",
"(on rmz3 fro4) (on-table fro4) (on dfj1 rmz3) (clear iwq2) (arm-empty) (on iwq2 dfj1)"
] |
file_197585
|
GOAL: (on aqe3 hyp5) (arm-empty) (on hyp5 wtu2) (on-table evn4) (on cpj1 evn4) (on wtu2 cpj1) (clear aqe3)
|
GOAL: (on aqe3 hyp5) (arm-empty) (on hyp5 wtu2) (on-table evn4) (on cpj1 evn4) (on wtu2 cpj1) (clear aqe3)
STATE: (arm-empty) (on-table wtu2) (on-table hyp5) (clear evn4) (on-table evn4) (clear aqe3) (on cpj1 wtu2) (clear cpj1) (on-table aqe3) (clear hyp5)
|
[
[
"unstack cpj1 wtu2"
],
[
"stack cpj1 evn4"
],
[
"pick-up wtu2"
],
[
"stack wtu2 cpj1"
],
[
"pick-up hyp5"
],
[
"stack hyp5 wtu2"
],
[
"pick-up aqe3"
],
[
"stack aqe3 hyp5"
]
] |
[
"(holding cpj1) (clear wtu2) (on-table wtu2) (on-table hyp5) (clear evn4) (on-table evn4) (clear aqe3) (on-table aqe3) (clear hyp5)",
"(clear wtu2) (arm-empty) (on-table wtu2) (on-table hyp5) (on-table evn4) (on cpj1 evn4) (clear aqe3) (clear cpj1) (on-table aqe3) (clear hyp5)",
"(on-table hyp5) (holding wtu2) (on-table evn4) (on cpj1 evn4) (clear aqe3) (clear cpj1) (on-table aqe3) (clear hyp5)",
"(clear wtu2) (arm-empty) (on-table hyp5) (clear hyp5) (on-table evn4) (on wtu2 cpj1) (clear aqe3) (on cpj1 evn4) (on-table aqe3)",
"(clear wtu2) (holding hyp5) (on-table evn4) (on cpj1 evn4) (on wtu2 cpj1) (clear aqe3) (on-table aqe3)",
"(arm-empty) (on hyp5 wtu2) (on-table evn4) (on cpj1 evn4) (on wtu2 cpj1) (clear aqe3) (on-table aqe3) (clear hyp5)",
"(on hyp5 wtu2) (on-table evn4) (on cpj1 evn4) (on wtu2 cpj1) (holding aqe3) (clear hyp5)",
"(on aqe3 hyp5) (arm-empty) (on hyp5 wtu2) (on-table evn4) (on cpj1 evn4) (on wtu2 cpj1) (clear aqe3)"
] |
file_7631
|
GOAL: (holding kgv1) (clear oti2) (on exj5 kkz4) (on-table kkz4) (on oti2 vsr3) (on-table vsr3) (clear exj5)
|
GOAL: (holding kgv1) (clear oti2) (on exj5 kkz4) (on-table kkz4) (on oti2 vsr3) (on-table vsr3) (clear exj5)
STATE: (holding kgv1) (clear oti2) (on vsr3 exj5) (on exj5 kkz4) (on-table kkz4) (on oti2 vsr3)
|
[
[
"put-down kgv1"
],
[
"unstack oti2 vsr3"
],
[
"stack oti2 kgv1"
],
[
"unstack vsr3 exj5"
],
[
"put-down vsr3"
],
[
"unstack oti2 kgv1"
],
[
"stack oti2 vsr3"
],
[
"pick-up kgv1"
]
] |
[
"(on vsr3 exj5) (arm-empty) (on exj5 kkz4) (clear oti2) (on-table kgv1) (on-table kkz4) (on oti2 vsr3) (clear kgv1)",
"(on vsr3 exj5) (on exj5 kkz4) (on-table kgv1) (on-table kkz4) (holding oti2) (clear vsr3) (clear kgv1)",
"(on vsr3 exj5) (clear oti2) (on exj5 kkz4) (arm-empty) (on-table kgv1) (on-table kkz4) (on oti2 kgv1) (clear vsr3)",
"(clear oti2) (on exj5 kkz4) (on-table kgv1) (on-table kkz4) (on oti2 kgv1) (holding vsr3) (clear exj5)",
"(arm-empty) (on exj5 kkz4) (on oti2 kgv1) (clear exj5) (clear oti2) (on-table kgv1) (on-table kkz4) (clear vsr3) (on-table vsr3)",
"(on exj5 kkz4) (on-table kgv1) (on-table kkz4) (holding oti2) (clear vsr3) (clear kgv1) (on-table vsr3) (clear exj5)",
"(clear oti2) (arm-empty) (on exj5 kkz4) (on-table kgv1) (on-table kkz4) (on oti2 vsr3) (clear kgv1) (on-table vsr3) (clear exj5)",
"(holding kgv1) (clear oti2) (on exj5 kkz4) (on-table kkz4) (on oti2 vsr3) (on-table vsr3) (clear exj5)"
] |
file_91466
|
GOAL: (clear eke2) (on-table mki1) (holding bxn4) (on eke2 heu3) (clear mki1) (on-table heu3)
|
GOAL: (clear eke2) (on-table mki1) (holding bxn4) (on eke2 heu3) (clear mki1) (on-table heu3)
STATE: (on heu3 bxn4) (arm-empty) (on-table bxn4) (on eke2 heu3) (on mki1 eke2) (clear mki1)
|
[
[
"unstack mki1 eke2"
],
[
"put-down mki1"
],
[
"unstack eke2 heu3"
],
[
"put-down eke2"
],
[
"unstack heu3 bxn4"
],
[
"stack heu3 mki1"
],
[
"pick-up eke2"
],
[
"stack eke2 bxn4"
],
[
"unstack heu3 mki1"
],
[
"put-down heu3"
],
[
"unstack eke2 bxn4"
],
[
"stack eke2 heu3"
],
[
"pick-up bxn4"
]
] |
[
"(holding mki1) (on heu3 bxn4) (on-table bxn4) (clear eke2) (on eke2 heu3)",
"(on heu3 bxn4) (on-table bxn4) (clear eke2) (arm-empty) (on-table mki1) (on eke2 heu3) (clear mki1)",
"(on heu3 bxn4) (on-table mki1) (on-table bxn4) (holding eke2) (clear heu3) (clear mki1)",
"(arm-empty) (on-table eke2) (on heu3 bxn4) (clear eke2) (on-table mki1) (on-table bxn4) (clear heu3) (clear mki1)",
"(clear eke2) (on-table eke2) (on-table mki1) (clear bxn4) (on-table bxn4) (holding heu3) (clear mki1)",
"(clear eke2) (arm-empty) (on-table eke2) (on-table mki1) (clear bxn4) (on-table bxn4) (on heu3 mki1) (clear heu3)",
"(on-table mki1) (clear bxn4) (on-table bxn4) (holding eke2) (on heu3 mki1) (clear heu3)",
"(clear eke2) (arm-empty) (on-table mki1) (on eke2 bxn4) (on-table bxn4) (on heu3 mki1) (clear heu3)",
"(on eke2 bxn4) (clear eke2) (on-table mki1) (on-table bxn4) (holding heu3) (clear mki1)",
"(clear eke2) (on-table bxn4) (arm-empty) (on eke2 bxn4) (clear heu3) (on-table mki1) (clear mki1) (on-table heu3)",
"(on-table mki1) (clear bxn4) (on-table bxn4) (holding eke2) (clear heu3) (clear mki1) (on-table heu3)",
"(clear eke2) (arm-empty) (on-table mki1) (clear bxn4) (on-table bxn4) (on eke2 heu3) (clear mki1) (on-table heu3)",
"(clear eke2) (on-table mki1) (holding bxn4) (on eke2 heu3) (clear mki1) (on-table heu3)"
] |
file_221808
|
GOAL: (on-table jau5) (on uli4 jau5) (holding skw2) (on bej1 uli4) (clear xgd3) (clear bej1) (on-table xgd3)
|
GOAL: (on-table jau5) (on uli4 jau5) (holding skw2) (on bej1 uli4) (clear xgd3) (clear bej1) (on-table xgd3)
STATE: (clear skw2) (on-table jau5) (on uli4 jau5) (on bej1 uli4) (on skw2 bej1) (holding xgd3)
|
[
[
"put-down xgd3"
],
[
"unstack skw2 bej1"
]
] |
[
"(arm-empty) (on-table jau5) (on uli4 jau5) (on skw2 bej1) (clear skw2) (on bej1 uli4) (clear xgd3) (on-table xgd3)",
"(on-table jau5) (on uli4 jau5) (holding skw2) (on bej1 uli4) (clear xgd3) (clear bej1) (on-table xgd3)"
] |
file_50401
|
GOAL: (on qsc1 eew5) (arm-empty) (on-table dih2) (clear izk4) (on eew5 zio3) (clear dih2) (on-table izk4) (clear qsc1) (on-table zio3)
|
GOAL: (on qsc1 eew5) (arm-empty) (on-table dih2) (clear izk4) (on eew5 zio3) (clear dih2) (on-table izk4) (clear qsc1) (on-table zio3)
STATE: (on qsc1 eew5) (clear dih2) (arm-empty) (on eew5 izk4) (on-table izk4) (on dih2 qsc1) (clear zio3) (on-table zio3)
|
[
[
"unstack dih2 qsc1"
],
[
"put-down dih2"
],
[
"unstack qsc1 eew5"
],
[
"put-down qsc1"
],
[
"pick-up dih2"
],
[
"stack dih2 qsc1"
],
[
"unstack eew5 izk4"
],
[
"stack eew5 zio3"
],
[
"unstack dih2 qsc1"
],
[
"stack dih2 izk4"
],
[
"pick-up qsc1"
],
[
"stack qsc1 eew5"
],
[
"unstack dih2 izk4"
],
[
"put-down dih2"
]
] |
[
"(on qsc1 eew5) (on eew5 izk4) (on-table izk4) (holding dih2) (clear zio3) (clear qsc1) (on-table zio3)",
"(on qsc1 eew5) (arm-empty) (on eew5 izk4) (on-table dih2) (clear dih2) (on-table izk4) (clear zio3) (clear qsc1) (on-table zio3)",
"(holding qsc1) (clear dih2) (on eew5 izk4) (on-table dih2) (on-table izk4) (clear zio3) (on-table zio3) (clear eew5)",
"(clear dih2) (arm-empty) (on eew5 izk4) (on-table dih2) (on-table qsc1) (on-table izk4) (clear zio3) (clear qsc1) (on-table zio3) (clear eew5)",
"(on eew5 izk4) (on-table qsc1) (on-table izk4) (holding dih2) (clear zio3) (clear qsc1) (on-table zio3) (clear eew5)",
"(clear dih2) (arm-empty) (on eew5 izk4) (on-table qsc1) (on-table izk4) (on dih2 qsc1) (clear zio3) (on-table zio3) (clear eew5)",
"(clear dih2) (on-table qsc1) (clear izk4) (holding eew5) (on-table izk4) (on dih2 qsc1) (clear zio3) (on-table zio3)",
"(clear dih2) (arm-empty) (on-table qsc1) (clear izk4) (on eew5 zio3) (on-table izk4) (on dih2 qsc1) (on-table zio3) (clear eew5)",
"(on-table qsc1) (clear izk4) (on eew5 zio3) (on-table izk4) (holding dih2) (clear qsc1) (on-table zio3) (clear eew5)",
"(clear dih2) (arm-empty) (on-table qsc1) (on eew5 zio3) (on-table izk4) (on dih2 izk4) (clear qsc1) (on-table zio3) (clear eew5)",
"(holding qsc1) (clear dih2) (on eew5 zio3) (on-table izk4) (on dih2 izk4) (on-table zio3) (clear eew5)",
"(on qsc1 eew5) (clear dih2) (arm-empty) (on eew5 zio3) (on-table izk4) (on dih2 izk4) (clear qsc1) (on-table zio3)",
"(on qsc1 eew5) (clear izk4) (on eew5 zio3) (on-table izk4) (holding dih2) (clear qsc1) (on-table zio3)",
"(on qsc1 eew5) (arm-empty) (on-table dih2) (clear izk4) (on eew5 zio3) (clear dih2) (on-table izk4) (clear qsc1) (on-table zio3)"
] |
file_54113
|
GOAL: (on thy4 buu3) (on lql5 dpo1) (arm-empty) (on-table tok2) (clear thy4) (on dpo1 tok2) (on-table buu3) (clear lql5)
|
GOAL: (on thy4 buu3) (on lql5 dpo1) (arm-empty) (on-table tok2) (clear thy4) (on dpo1 tok2) (on-table buu3) (clear lql5)
STATE: (clear tok2) (on thy4 buu3) (holding lql5) (on dpo1 thy4) (on tok2 dpo1) (on-table buu3)
|
[
[
"put-down lql5"
],
[
"unstack tok2 dpo1"
],
[
"put-down tok2"
],
[
"unstack dpo1 thy4"
],
[
"stack dpo1 tok2"
],
[
"pick-up lql5"
],
[
"stack lql5 dpo1"
]
] |
[
"(arm-empty) (on-table lql5) (on tok2 dpo1) (clear lql5) (clear tok2) (on thy4 buu3) (on dpo1 thy4) (on-table buu3)",
"(on-table lql5) (holding tok2) (on thy4 buu3) (on dpo1 thy4) (clear dpo1) (on-table buu3) (clear lql5)",
"(arm-empty) (on-table tok2) (on-table lql5) (clear lql5) (clear tok2) (on thy4 buu3) (on dpo1 thy4) (clear dpo1) (on-table buu3)",
"(holding dpo1) (clear tok2) (on-table tok2) (on-table lql5) (clear thy4) (on thy4 buu3) (on-table buu3) (clear lql5)",
"(arm-empty) (on-table tok2) (on-table lql5) (clear thy4) (on thy4 buu3) (on dpo1 tok2) (clear dpo1) (on-table buu3) (clear lql5)",
"(on-table tok2) (clear thy4) (on thy4 buu3) (holding lql5) (on dpo1 tok2) (clear dpo1) (on-table buu3)",
"(on thy4 buu3) (on lql5 dpo1) (arm-empty) (on-table tok2) (clear thy4) (on dpo1 tok2) (on-table buu3) (clear lql5)"
] |
file_46780
|
GOAL: (clear kbq2) (on-table euc5) (on eli4 euc5) (on-table qpn1) (on kbq2 eli4) (holding vla3) (clear qpn1)
|
GOAL: (clear kbq2) (on-table euc5) (on eli4 euc5) (on-table qpn1) (on kbq2 eli4) (holding vla3) (clear qpn1)
STATE: (holding eli4) (on-table qpn1) (on euc5 kbq2) (on vla3 qpn1) (on kbq2 vla3) (clear euc5)
|
[
[
"put-down eli4"
],
[
"unstack euc5 kbq2"
],
[
"put-down euc5"
],
[
"pick-up eli4"
],
[
"stack eli4 euc5"
],
[
"unstack kbq2 vla3"
],
[
"stack kbq2 eli4"
],
[
"unstack vla3 qpn1"
]
] |
[
"(arm-empty) (on euc5 kbq2) (clear eli4) (on vla3 qpn1) (clear euc5) (on-table qpn1) (on-table eli4) (on kbq2 vla3)",
"(clear kbq2) (on-table qpn1) (clear eli4) (holding euc5) (on-table eli4) (on vla3 qpn1) (on kbq2 vla3)",
"(arm-empty) (on-table euc5) (clear eli4) (on vla3 qpn1) (clear euc5) (clear kbq2) (on-table qpn1) (on-table eli4) (on kbq2 vla3)",
"(clear kbq2) (on-table euc5) (on-table qpn1) (holding eli4) (on vla3 qpn1) (on kbq2 vla3) (clear euc5)",
"(clear kbq2) (arm-empty) (on-table euc5) (on-table qpn1) (on eli4 euc5) (clear eli4) (on vla3 qpn1) (on kbq2 vla3)",
"(on-table euc5) (on-table qpn1) (on eli4 euc5) (clear eli4) (holding kbq2) (on vla3 qpn1) (clear vla3)",
"(arm-empty) (on-table euc5) (on eli4 euc5) (on vla3 qpn1) (on kbq2 eli4) (clear kbq2) (on-table qpn1) (clear vla3)",
"(clear kbq2) (on-table euc5) (on eli4 euc5) (on-table qpn1) (on kbq2 eli4) (holding vla3) (clear qpn1)"
] |
file_177781
|
GOAL: (on zbz3 oor5) (on-table agf2) (on-table oor5) (holding shk4) (clear zbz3) (on uby1 agf2) (clear uby1)
|
GOAL: (on zbz3 oor5) (on-table agf2) (on-table oor5) (holding shk4) (clear zbz3) (on uby1 agf2) (clear uby1)
STATE: (on zbz3 shk4) (on-table oor5) (on-table uby1) (on-table shk4) (holding agf2) (clear zbz3) (clear uby1) (clear oor5)
|
[
[
"stack agf2 uby1"
],
[
"unstack zbz3 shk4"
],
[
"stack zbz3 oor5"
],
[
"pick-up shk4"
],
[
"stack shk4 zbz3"
],
[
"unstack agf2 uby1"
],
[
"put-down agf2"
],
[
"pick-up uby1"
],
[
"stack uby1 agf2"
],
[
"unstack shk4 zbz3"
]
] |
[
"(on zbz3 shk4) (clear agf2) (arm-empty) (on-table oor5) (on-table uby1) (on-table shk4) (on agf2 uby1) (clear zbz3) (clear oor5)",
"(clear agf2) (on-table oor5) (on-table uby1) (clear shk4) (on-table shk4) (on agf2 uby1) (holding zbz3) (clear oor5)",
"(clear agf2) (on zbz3 oor5) (arm-empty) (on-table oor5) (on-table uby1) (clear shk4) (on-table shk4) (on agf2 uby1) (clear zbz3)",
"(clear agf2) (on zbz3 oor5) (on-table oor5) (on-table uby1) (holding shk4) (on agf2 uby1) (clear zbz3)",
"(on zbz3 oor5) (arm-empty) (on-table oor5) (clear shk4) (on agf2 uby1) (clear agf2) (on-table uby1) (on shk4 zbz3)",
"(on zbz3 oor5) (on-table oor5) (on-table uby1) (clear shk4) (on shk4 zbz3) (holding agf2) (clear uby1)",
"(on zbz3 oor5) (arm-empty) (on-table agf2) (on-table oor5) (clear shk4) (clear agf2) (on-table uby1) (on shk4 zbz3) (clear uby1)",
"(holding uby1) (on zbz3 oor5) (clear agf2) (on-table agf2) (on-table oor5) (clear shk4) (on shk4 zbz3)",
"(on zbz3 oor5) (arm-empty) (on-table agf2) (on-table oor5) (clear shk4) (on shk4 zbz3) (on uby1 agf2) (clear uby1)",
"(on zbz3 oor5) (on-table agf2) (on-table oor5) (holding shk4) (clear zbz3) (on uby1 agf2) (clear uby1)"
] |
file_157125
|
GOAL: (on sjs3 zpy4) (on zpy4 ubu1) (arm-empty) (on-table rlx2) (on-table kdv5) (clear sjs3) (on ubu1 rlx2) (clear kdv5)
|
GOAL: (on sjs3 zpy4) (on zpy4 ubu1) (arm-empty) (on-table rlx2) (on-table kdv5) (clear sjs3) (on ubu1 rlx2) (clear kdv5)
STATE: (clear rlx2) (on sjs3 kdv5) (on ubu1 sjs3) (on-table rlx2) (on-table kdv5) (holding zpy4) (clear ubu1)
|
[
[
"put-down zpy4"
],
[
"unstack ubu1 sjs3"
],
[
"stack ubu1 rlx2"
],
[
"pick-up zpy4"
],
[
"stack zpy4 ubu1"
],
[
"unstack sjs3 kdv5"
],
[
"stack sjs3 zpy4"
]
] |
[
"(on sjs3 kdv5) (on ubu1 sjs3) (arm-empty) (on-table rlx2) (on-table kdv5) (clear zpy4) (clear rlx2) (on-table zpy4) (clear ubu1)",
"(holding ubu1) (on sjs3 kdv5) (on-table rlx2) (on-table kdv5) (clear rlx2) (clear zpy4) (on-table zpy4) (clear sjs3)",
"(on sjs3 kdv5) (arm-empty) (on-table rlx2) (on-table kdv5) (clear zpy4) (on-table zpy4) (clear sjs3) (on ubu1 rlx2) (clear ubu1)",
"(on sjs3 kdv5) (on-table rlx2) (on-table kdv5) (holding zpy4) (clear sjs3) (on ubu1 rlx2) (clear ubu1)",
"(on sjs3 kdv5) (on zpy4 ubu1) (arm-empty) (on-table rlx2) (on-table kdv5) (clear zpy4) (clear sjs3) (on ubu1 rlx2)",
"(on zpy4 ubu1) (on-table rlx2) (on-table kdv5) (clear zpy4) (on ubu1 rlx2) (holding sjs3) (clear kdv5)",
"(on sjs3 zpy4) (on zpy4 ubu1) (arm-empty) (on-table rlx2) (on-table kdv5) (clear sjs3) (on ubu1 rlx2) (clear kdv5)"
] |
file_167800
|
GOAL: (arm-empty) (on-table jsu2) (on xec4 sin5) (on sin5 jsu2) (clear xec4) (on-table bsc1) (clear lnt3) (clear bsc1) (on-table lnt3)
|
GOAL: (arm-empty) (on-table jsu2) (on xec4 sin5) (on sin5 jsu2) (clear xec4) (on-table bsc1) (clear lnt3) (clear bsc1) (on-table lnt3)
STATE: (on bsc1 sin5) (on xec4 bsc1) (arm-empty) (on-table jsu2) (on sin5 jsu2) (clear xec4) (clear lnt3) (on-table lnt3)
|
[
[
"unstack xec4 bsc1"
],
[
"put-down xec4"
],
[
"unstack bsc1 sin5"
],
[
"stack bsc1 lnt3"
],
[
"pick-up xec4"
],
[
"stack xec4 sin5"
],
[
"unstack bsc1 lnt3"
],
[
"put-down bsc1"
]
] |
[
"(on bsc1 sin5) (on-table jsu2) (holding xec4) (on sin5 jsu2) (clear lnt3) (clear bsc1) (on-table lnt3)",
"(on bsc1 sin5) (arm-empty) (on-table jsu2) (on sin5 jsu2) (clear xec4) (on-table xec4) (clear lnt3) (clear bsc1) (on-table lnt3)",
"(holding bsc1) (on-table jsu2) (on sin5 jsu2) (clear xec4) (on-table xec4) (clear lnt3) (on-table lnt3) (clear sin5)",
"(on bsc1 lnt3) (arm-empty) (on-table jsu2) (on sin5 jsu2) (clear xec4) (on-table xec4) (clear bsc1) (on-table lnt3) (clear sin5)",
"(on bsc1 lnt3) (on-table jsu2) (holding xec4) (on sin5 jsu2) (clear bsc1) (on-table lnt3) (clear sin5)",
"(on bsc1 lnt3) (arm-empty) (on-table jsu2) (on xec4 sin5) (on sin5 jsu2) (clear xec4) (clear bsc1) (on-table lnt3)",
"(holding bsc1) (on-table jsu2) (on xec4 sin5) (on sin5 jsu2) (clear xec4) (clear lnt3) (on-table lnt3)",
"(arm-empty) (on-table jsu2) (on xec4 sin5) (on sin5 jsu2) (clear xec4) (on-table bsc1) (clear lnt3) (clear bsc1) (on-table lnt3)"
] |
file_1423
|
GOAL: (clear aro2) (arm-empty) (on-table rxc5) (on-table lub4) (on urs1 lub4) (on aro2 paq3) (clear urs1) (on-table paq3) (clear rxc5)
|
GOAL: (clear aro2) (arm-empty) (on-table rxc5) (on-table lub4) (on urs1 lub4) (on aro2 paq3) (clear urs1) (on-table paq3) (clear rxc5)
STATE: (clear aro2) (on-table rxc5) (on-table lub4) (on urs1 lub4) (on aro2 urs1) (holding paq3) (clear rxc5)
|
[
[
"stack paq3 rxc5"
],
[
"unstack aro2 urs1"
],
[
"put-down aro2"
],
[
"unstack paq3 rxc5"
],
[
"put-down paq3"
],
[
"unstack urs1 lub4"
],
[
"stack urs1 rxc5"
],
[
"pick-up aro2"
],
[
"stack aro2 paq3"
],
[
"unstack urs1 rxc5"
],
[
"stack urs1 lub4"
]
] |
[
"(clear aro2) (on paq3 rxc5) (arm-empty) (on-table rxc5) (on-table lub4) (on urs1 lub4) (on aro2 urs1) (clear paq3)",
"(on paq3 rxc5) (on-table rxc5) (holding aro2) (on-table lub4) (on urs1 lub4) (clear paq3) (clear urs1)",
"(on paq3 rxc5) (arm-empty) (on-table aro2) (on-table rxc5) (clear aro2) (on-table lub4) (on urs1 lub4) (clear paq3) (clear urs1)",
"(clear aro2) (on-table aro2) (on-table rxc5) (on-table lub4) (on urs1 lub4) (holding paq3) (clear urs1) (clear rxc5)",
"(clear aro2) (arm-empty) (on-table aro2) (on-table rxc5) (on-table lub4) (on urs1 lub4) (clear paq3) (clear urs1) (on-table paq3) (clear rxc5)",
"(holding urs1) (clear aro2) (on-table aro2) (on-table rxc5) (clear lub4) (on-table lub4) (clear paq3) (on-table paq3) (clear rxc5)",
"(on urs1 rxc5) (clear aro2) (arm-empty) (on-table aro2) (on-table rxc5) (clear lub4) (on-table lub4) (clear paq3) (clear urs1) (on-table paq3)",
"(on urs1 rxc5) (on-table rxc5) (clear lub4) (on-table lub4) (holding aro2) (clear paq3) (clear urs1) (on-table paq3)",
"(on urs1 rxc5) (clear aro2) (arm-empty) (on-table rxc5) (clear lub4) (on-table lub4) (on aro2 paq3) (clear urs1) (on-table paq3)",
"(holding urs1) (clear aro2) (on-table rxc5) (clear lub4) (on-table lub4) (on aro2 paq3) (on-table paq3) (clear rxc5)",
"(clear aro2) (arm-empty) (on-table rxc5) (on-table lub4) (on urs1 lub4) (on aro2 paq3) (clear urs1) (on-table paq3) (clear rxc5)"
] |
file_68605
|
GOAL: (holding xog1) (on izo3 wky5) (clear kvy2) (on-table wky5) (on zzv4 izo3) (on kvy2 zzv4)
|
GOAL: (holding xog1) (on izo3 wky5) (clear kvy2) (on-table wky5) (on zzv4 izo3) (on kvy2 zzv4)
STATE: (clear kvy2) (on izo3 wky5) (arm-empty) (on-table wky5) (on zzv4 izo3) (on xog1 zzv4) (on kvy2 xog1)
|
[
[
"unstack kvy2 xog1"
],
[
"put-down kvy2"
],
[
"unstack xog1 zzv4"
],
[
"put-down xog1"
],
[
"pick-up kvy2"
],
[
"stack kvy2 zzv4"
],
[
"pick-up xog1"
]
] |
[
"(on izo3 wky5) (on-table wky5) (on xog1 zzv4) (on zzv4 izo3) (holding kvy2) (clear xog1)",
"(on zzv4 izo3) (on izo3 wky5) (clear kvy2) (arm-empty) (on-table kvy2) (on-table wky5) (on xog1 zzv4) (clear xog1)",
"(holding xog1) (on izo3 wky5) (clear kvy2) (on-table kvy2) (on-table wky5) (clear zzv4) (on zzv4 izo3)",
"(on izo3 wky5) (arm-empty) (on-table kvy2) (on-table wky5) (clear zzv4) (clear kvy2) (on-table xog1) (on zzv4 izo3) (clear xog1)",
"(on izo3 wky5) (on-table wky5) (on-table xog1) (clear zzv4) (on zzv4 izo3) (holding kvy2) (clear xog1)",
"(on izo3 wky5) (arm-empty) (on-table wky5) (on kvy2 zzv4) (clear kvy2) (on-table xog1) (on zzv4 izo3) (clear xog1)",
"(holding xog1) (on izo3 wky5) (clear kvy2) (on-table wky5) (on zzv4 izo3) (on kvy2 zzv4)"
] |
file_24043
|
GOAL: (arm-empty) (on-table pdl5) (on hfl2 bja1) (clear pdl5) (clear hfl2) (on-table hwh4) (on bja1 hwh4) (clear mlu3) (on-table mlu3)
|
GOAL: (arm-empty) (on-table pdl5) (on hfl2 bja1) (clear pdl5) (clear hfl2) (on-table hwh4) (on bja1 hwh4) (clear mlu3) (on-table mlu3)
STATE: (arm-empty) (on mlu3 hfl2) (on pdl5 mlu3) (on-table hwh4) (on bja1 hwh4) (on hfl2 bja1) (clear pdl5)
|
[
[
"unstack pdl5 mlu3"
],
[
"put-down pdl5"
],
[
"unstack mlu3 hfl2"
],
[
"put-down mlu3"
]
] |
[
"(holding pdl5) (on hfl2 bja1) (on mlu3 hfl2) (on-table hwh4) (on bja1 hwh4) (clear mlu3)",
"(arm-empty) (on-table pdl5) (on hfl2 bja1) (clear pdl5) (on mlu3 hfl2) (on-table hwh4) (on bja1 hwh4) (clear mlu3)",
"(clear hfl2) (on-table pdl5) (on-table hwh4) (on bja1 hwh4) (on hfl2 bja1) (holding mlu3) (clear pdl5)",
"(arm-empty) (on-table pdl5) (on hfl2 bja1) (clear pdl5) (clear hfl2) (on-table hwh4) (on bja1 hwh4) (clear mlu3) (on-table mlu3)"
] |
file_99905
|
GOAL: (clear rdn2) (on pee1 roz3) (on ddt4 pee1) (on-table rdn2) (on-table ddz5) (arm-empty) (clear ddt4) (on-table roz3) (clear ddz5)
|
GOAL: (clear rdn2) (on pee1 roz3) (on ddt4 pee1) (on-table rdn2) (on-table ddz5) (arm-empty) (clear ddt4) (on-table roz3) (clear ddz5)
STATE: (clear rdn2) (on pee1 roz3) (arm-empty) (on-table rdn2) (on ddt4 ddz5) (clear ddt4) (on ddz5 pee1) (on-table roz3)
|
[
[
"unstack ddt4 ddz5"
],
[
"stack ddt4 rdn2"
],
[
"unstack ddz5 pee1"
],
[
"put-down ddz5"
],
[
"unstack ddt4 rdn2"
],
[
"stack ddt4 pee1"
]
] |
[
"(clear rdn2) (on pee1 roz3) (on-table rdn2) (holding ddt4) (on ddz5 pee1) (on-table roz3) (clear ddz5)",
"(on pee1 roz3) (arm-empty) (on-table rdn2) (clear ddt4) (clear ddz5) (on ddz5 pee1) (on ddt4 rdn2) (on-table roz3)",
"(on pee1 roz3) (on-table rdn2) (clear ddt4) (holding ddz5) (on ddt4 rdn2) (clear pee1) (on-table roz3)",
"(on pee1 roz3) (arm-empty) (on-table rdn2) (on-table ddz5) (clear ddt4) (clear ddz5) (on ddt4 rdn2) (clear pee1) (on-table roz3)",
"(clear rdn2) (on pee1 roz3) (on-table rdn2) (on-table ddz5) (holding ddt4) (clear pee1) (on-table roz3) (clear ddz5)",
"(clear rdn2) (on pee1 roz3) (on ddt4 pee1) (on-table rdn2) (on-table ddz5) (arm-empty) (clear ddt4) (on-table roz3) (clear ddz5)"
] |
file_53614
|
GOAL: (on aqk3 yna5) (clear hvy2) (on-table yna5) (on-table fxk1) (holding bwq4) (on hvy2 fxk1) (clear aqk3)
|
GOAL: (on aqk3 yna5) (clear hvy2) (on-table yna5) (on-table fxk1) (holding bwq4) (on hvy2 fxk1) (clear aqk3)
STATE: (clear hvy2) (on-table yna5) (holding bwq4) (on-table fxk1) (on hvy2 aqk3) (clear fxk1) (on-table aqk3) (clear yna5)
|
[
[
"stack bwq4 yna5"
],
[
"unstack hvy2 aqk3"
],
[
"stack hvy2 fxk1"
],
[
"unstack bwq4 yna5"
],
[
"stack bwq4 hvy2"
],
[
"pick-up aqk3"
],
[
"stack aqk3 yna5"
],
[
"unstack bwq4 hvy2"
]
] |
[
"(clear hvy2) (arm-empty) (on-table yna5) (on bwq4 yna5) (on-table fxk1) (clear bwq4) (on hvy2 aqk3) (clear fxk1) (on-table aqk3)",
"(on-table yna5) (on bwq4 yna5) (on-table fxk1) (clear bwq4) (holding hvy2) (clear aqk3) (clear fxk1) (on-table aqk3)",
"(clear hvy2) (arm-empty) (on-table yna5) (on bwq4 yna5) (on-table fxk1) (clear bwq4) (on hvy2 fxk1) (clear aqk3) (on-table aqk3)",
"(clear hvy2) (on-table yna5) (holding bwq4) (on-table fxk1) (on hvy2 fxk1) (clear aqk3) (on-table aqk3) (clear yna5)",
"(arm-empty) (on-table yna5) (on-table fxk1) (clear bwq4) (on bwq4 hvy2) (on hvy2 fxk1) (clear aqk3) (on-table aqk3) (clear yna5)",
"(on-table yna5) (on-table fxk1) (clear bwq4) (on bwq4 hvy2) (on hvy2 fxk1) (holding aqk3) (clear yna5)",
"(on aqk3 yna5) (arm-empty) (on-table yna5) (on-table fxk1) (clear bwq4) (on bwq4 hvy2) (on hvy2 fxk1) (clear aqk3)",
"(on aqk3 yna5) (clear hvy2) (on-table yna5) (on-table fxk1) (holding bwq4) (on hvy2 fxk1) (clear aqk3)"
] |
file_213738
|
GOAL: (on hfw3 fxr5) (arm-empty) (on-table vww1) (on fxr5 yqh2) (clear xjo4) (on-table xjo4) (on yqh2 vww1) (clear hfw3)
|
GOAL: (on hfw3 fxr5) (arm-empty) (on-table vww1) (on fxr5 yqh2) (clear xjo4) (on-table xjo4) (on yqh2 vww1) (clear hfw3)
STATE: (on vww1 fxr5) (arm-empty) (on-table yqh2) (on fxr5 yqh2) (clear xjo4) (on-table xjo4) (clear hfw3) (clear vww1) (on-table hfw3)
|
[
[
"pick-up hfw3"
],
[
"stack hfw3 xjo4"
],
[
"unstack vww1 fxr5"
],
[
"put-down vww1"
],
[
"unstack fxr5 yqh2"
],
[
"stack fxr5 hfw3"
],
[
"pick-up yqh2"
],
[
"stack yqh2 vww1"
],
[
"unstack fxr5 hfw3"
],
[
"stack fxr5 yqh2"
],
[
"unstack hfw3 xjo4"
],
[
"stack hfw3 fxr5"
]
] |
[
"(on vww1 fxr5) (on-table yqh2) (on fxr5 yqh2) (clear xjo4) (on-table xjo4) (holding hfw3) (clear vww1)",
"(on vww1 fxr5) (on hfw3 xjo4) (arm-empty) (on-table yqh2) (on fxr5 yqh2) (on-table xjo4) (clear hfw3) (clear vww1)",
"(holding vww1) (on hfw3 xjo4) (on-table yqh2) (on fxr5 yqh2) (on-table xjo4) (clear hfw3) (clear fxr5)",
"(arm-empty) (on-table yqh2) (on fxr5 yqh2) (clear fxr5) (on hfw3 xjo4) (on-table vww1) (on-table xjo4) (clear hfw3) (clear vww1)",
"(on hfw3 xjo4) (clear yqh2) (on-table yqh2) (on-table vww1) (holding fxr5) (on-table xjo4) (clear hfw3) (clear vww1)",
"(on hfw3 xjo4) (clear yqh2) (arm-empty) (on-table yqh2) (on-table vww1) (on fxr5 hfw3) (on-table xjo4) (clear vww1) (clear fxr5)",
"(on hfw3 xjo4) (on-table vww1) (on fxr5 hfw3) (on-table xjo4) (holding yqh2) (clear vww1) (clear fxr5)",
"(on hfw3 xjo4) (clear yqh2) (arm-empty) (on-table vww1) (on fxr5 hfw3) (on-table xjo4) (on yqh2 vww1) (clear fxr5)",
"(on hfw3 xjo4) (clear yqh2) (on-table vww1) (holding fxr5) (on-table xjo4) (on yqh2 vww1) (clear hfw3)",
"(on hfw3 xjo4) (arm-empty) (on-table vww1) (on fxr5 yqh2) (on-table xjo4) (on yqh2 vww1) (clear hfw3) (clear fxr5)",
"(on-table vww1) (on fxr5 yqh2) (clear xjo4) (on-table xjo4) (on yqh2 vww1) (holding hfw3) (clear fxr5)",
"(on hfw3 fxr5) (arm-empty) (on-table vww1) (on fxr5 yqh2) (clear xjo4) (on-table xjo4) (on yqh2 vww1) (clear hfw3)"
] |
file_98500
|
GOAL: (arm-empty) (on paz5 npl4) (on-table npl4) (on gyr2 paz5) (clear foj3) (on grn1 gyr2) (clear grn1) (on-table foj3)
|
GOAL: (arm-empty) (on paz5 npl4) (on-table npl4) (on gyr2 paz5) (clear foj3) (on grn1 gyr2) (clear grn1) (on-table foj3)
STATE: (on grn1 foj3) (arm-empty) (on paz5 npl4) (on foj3 gyr2) (on-table npl4) (on gyr2 paz5) (clear grn1)
|
[
[
"unstack grn1 foj3"
],
[
"put-down grn1"
],
[
"unstack foj3 gyr2"
],
[
"put-down foj3"
],
[
"pick-up grn1"
],
[
"stack grn1 gyr2"
]
] |
[
"(on paz5 npl4) (on gyr2 paz5) (holding grn1) (on foj3 gyr2) (on-table npl4) (clear foj3)",
"(arm-empty) (on paz5 npl4) (on gyr2 paz5) (on-table grn1) (on foj3 gyr2) (on-table npl4) (clear foj3) (clear grn1)",
"(clear gyr2) (on paz5 npl4) (on-table grn1) (on-table npl4) (on gyr2 paz5) (holding foj3) (clear grn1)",
"(arm-empty) (on paz5 npl4) (on gyr2 paz5) (clear gyr2) (on-table grn1) (on-table npl4) (clear foj3) (clear grn1) (on-table foj3)",
"(holding grn1) (clear gyr2) (on paz5 npl4) (on-table npl4) (on gyr2 paz5) (clear foj3) (on-table foj3)",
"(arm-empty) (on paz5 npl4) (on-table npl4) (on gyr2 paz5) (clear foj3) (on grn1 gyr2) (clear grn1) (on-table foj3)"
] |
file_16741
|
GOAL: (clear yuh2) (on hsl1 xsn3) (arm-empty) (on-table nje5) (on-table hya4) (on yuh2 hya4) (clear hsl1) (on-table xsn3) (clear nje5)
|
GOAL: (clear yuh2) (on hsl1 xsn3) (arm-empty) (on-table nje5) (on-table hya4) (on yuh2 hya4) (clear hsl1) (on-table xsn3) (clear nje5)
STATE: (on-table nje5) (holding hya4) (on yuh2 nje5) (clear xsn3) (on hsl1 yuh2) (clear hsl1) (on-table xsn3)
|
[
[
"put-down hya4"
],
[
"unstack hsl1 yuh2"
],
[
"stack hsl1 xsn3"
],
[
"unstack yuh2 nje5"
],
[
"stack yuh2 hya4"
]
] |
[
"(arm-empty) (on-table nje5) (clear hya4) (on yuh2 nje5) (on hsl1 yuh2) (on-table hya4) (clear xsn3) (clear hsl1) (on-table xsn3)",
"(holding hsl1) (clear yuh2) (on-table nje5) (clear hya4) (on-table hya4) (on yuh2 nje5) (clear xsn3) (on-table xsn3)",
"(clear yuh2) (on hsl1 xsn3) (arm-empty) (on-table nje5) (clear hya4) (on-table hya4) (on yuh2 nje5) (clear hsl1) (on-table xsn3)",
"(on hsl1 xsn3) (on-table nje5) (clear hya4) (on-table hya4) (holding yuh2) (clear hsl1) (on-table xsn3) (clear nje5)",
"(clear yuh2) (on hsl1 xsn3) (arm-empty) (on-table nje5) (on-table hya4) (on yuh2 hya4) (clear hsl1) (on-table xsn3) (clear nje5)"
] |
file_159991
|
GOAL: (on slf3 hob4) (clear gtm2) (on ajo1 tkz5) (arm-empty) (on-table gtm2) (on tkz5 slf3) (on-table hob4) (clear ajo1)
|
GOAL: (on slf3 hob4) (clear gtm2) (on ajo1 tkz5) (arm-empty) (on-table gtm2) (on tkz5 slf3) (on-table hob4) (clear ajo1)
STATE: (arm-empty) (on-table gtm2) (on hob4 tkz5) (clear hob4) (on tkz5 ajo1) (clear slf3) (on ajo1 gtm2) (on-table slf3)
|
[
[
"unstack hob4 tkz5"
],
[
"put-down hob4"
],
[
"pick-up slf3"
],
[
"stack slf3 hob4"
],
[
"unstack tkz5 ajo1"
],
[
"stack tkz5 slf3"
],
[
"unstack ajo1 gtm2"
],
[
"stack ajo1 tkz5"
]
] |
[
"(on-table gtm2) (holding hob4) (on tkz5 ajo1) (clear slf3) (on ajo1 gtm2) (on-table slf3) (clear tkz5)",
"(arm-empty) (on-table gtm2) (clear hob4) (on ajo1 gtm2) (clear tkz5) (on tkz5 ajo1) (on-table hob4) (clear slf3) (on-table slf3)",
"(on-table gtm2) (clear hob4) (on tkz5 ajo1) (on-table hob4) (on ajo1 gtm2) (holding slf3) (clear tkz5)",
"(on slf3 hob4) (arm-empty) (on-table gtm2) (on tkz5 ajo1) (on-table hob4) (clear slf3) (on ajo1 gtm2) (clear tkz5)",
"(on slf3 hob4) (on-table gtm2) (holding tkz5) (on-table hob4) (clear slf3) (on ajo1 gtm2) (clear ajo1)",
"(on slf3 hob4) (arm-empty) (on-table gtm2) (on tkz5 slf3) (on-table hob4) (on ajo1 gtm2) (clear ajo1) (clear tkz5)",
"(holding ajo1) (on slf3 hob4) (clear gtm2) (on-table gtm2) (on tkz5 slf3) (on-table hob4) (clear tkz5)",
"(on slf3 hob4) (clear gtm2) (on ajo1 tkz5) (arm-empty) (on-table gtm2) (on tkz5 slf3) (on-table hob4) (clear ajo1)"
] |
file_35142
|
GOAL: (clear bbp4) (on aip2 msa1) (clear aip2) (on-table msa1) (on-table bbp4) (holding lee3)
|
GOAL: (clear bbp4) (on aip2 msa1) (clear aip2) (on-table msa1) (on-table bbp4) (holding lee3)
STATE: (on lee3 bbp4) (clear aip2) (on msa1 lee3) (arm-empty) (on-table aip2) (on-table bbp4) (clear msa1)
|
[
[
"unstack msa1 lee3"
],
[
"put-down msa1"
],
[
"pick-up aip2"
],
[
"stack aip2 msa1"
],
[
"unstack lee3 bbp4"
]
] |
[
"(on-table aip2) (holding msa1) (on lee3 bbp4) (clear aip2) (on-table bbp4) (clear lee3)",
"(arm-empty) (on-table aip2) (on lee3 bbp4) (clear aip2) (on-table msa1) (on-table bbp4) (clear lee3) (clear msa1)",
"(on lee3 bbp4) (on-table msa1) (on-table bbp4) (holding aip2) (clear lee3) (clear msa1)",
"(on lee3 bbp4) (clear aip2) (arm-empty) (on-table msa1) (on-table bbp4) (on aip2 msa1) (clear lee3)",
"(clear bbp4) (on aip2 msa1) (clear aip2) (on-table msa1) (on-table bbp4) (holding lee3)"
] |
file_152773
|
GOAL: (clear ggc2) (arm-empty) (on gbj5 bra3) (on-table qzh4) (on zab1 qzh4) (on ggc2 gbj5) (clear zab1) (on-table bra3)
|
GOAL: (clear ggc2) (arm-empty) (on gbj5 bra3) (on-table qzh4) (on zab1 qzh4) (on ggc2 gbj5) (clear zab1) (on-table bra3)
STATE: (clear ggc2) (arm-empty) (on gbj5 qzh4) (on-table ggc2) (on-table zab1) (on qzh4 bra3) (on bra3 zab1) (clear gbj5)
|
[
[
"unstack gbj5 qzh4"
],
[
"stack gbj5 ggc2"
],
[
"unstack qzh4 bra3"
],
[
"put-down qzh4"
],
[
"unstack bra3 zab1"
],
[
"put-down bra3"
],
[
"pick-up zab1"
],
[
"stack zab1 qzh4"
],
[
"unstack gbj5 ggc2"
],
[
"stack gbj5 bra3"
],
[
"pick-up ggc2"
],
[
"stack ggc2 gbj5"
]
] |
[
"(clear ggc2) (on-table ggc2) (on-table zab1) (clear qzh4) (on qzh4 bra3) (holding gbj5) (on bra3 zab1)",
"(arm-empty) (on-table ggc2) (on-table zab1) (on gbj5 ggc2) (clear qzh4) (on qzh4 bra3) (on bra3 zab1) (clear gbj5)",
"(on-table ggc2) (on-table zab1) (holding qzh4) (on gbj5 ggc2) (on bra3 zab1) (clear bra3) (clear gbj5)",
"(arm-empty) (on-table ggc2) (on gbj5 ggc2) (clear qzh4) (on bra3 zab1) (clear gbj5) (on-table zab1) (on-table qzh4) (clear bra3)",
"(on-table ggc2) (on-table zab1) (on gbj5 ggc2) (clear qzh4) (on-table qzh4) (holding bra3) (clear zab1) (clear gbj5)",
"(arm-empty) (on-table ggc2) (on-table zab1) (on gbj5 ggc2) (clear qzh4) (on-table qzh4) (clear bra3) (clear zab1) (on-table bra3) (clear gbj5)",
"(holding zab1) (on-table ggc2) (on gbj5 ggc2) (clear qzh4) (on-table qzh4) (clear bra3) (on-table bra3) (clear gbj5)",
"(arm-empty) (on-table ggc2) (on gbj5 ggc2) (on-table qzh4) (on zab1 qzh4) (clear bra3) (clear zab1) (on-table bra3) (clear gbj5)",
"(clear ggc2) (on-table ggc2) (holding gbj5) (on-table qzh4) (on zab1 qzh4) (clear bra3) (clear zab1) (on-table bra3)",
"(clear ggc2) (arm-empty) (on-table ggc2) (on gbj5 bra3) (on-table qzh4) (on zab1 qzh4) (clear zab1) (on-table bra3) (clear gbj5)",
"(holding ggc2) (on gbj5 bra3) (on-table qzh4) (on zab1 qzh4) (clear zab1) (on-table bra3) (clear gbj5)",
"(clear ggc2) (arm-empty) (on gbj5 bra3) (on-table qzh4) (on zab1 qzh4) (on ggc2 gbj5) (clear zab1) (on-table bra3)"
] |
file_42724
|
GOAL: (arm-empty) (on-table nyx2) (on pjh5 nyx2) (clear cxg4) (on zni3 adi1) (clear pjh5) (on-table adi1) (on-table cxg4) (clear zni3)
|
GOAL: (arm-empty) (on-table nyx2) (on pjh5 nyx2) (clear cxg4) (on zni3 adi1) (clear pjh5) (on-table adi1) (on-table cxg4) (clear zni3)
STATE: (on-table pjh5) (on-table adi1) (clear cxg4) (on cxg4 zni3) (holding nyx2) (on zni3 adi1) (clear pjh5)
|
[
[
"put-down nyx2"
],
[
"pick-up pjh5"
],
[
"stack pjh5 nyx2"
],
[
"unstack cxg4 zni3"
],
[
"put-down cxg4"
]
] |
[
"(arm-empty) (on-table nyx2) (on-table pjh5) (clear cxg4) (on zni3 adi1) (clear pjh5) (clear nyx2) (on-table adi1) (on cxg4 zni3)",
"(clear nyx2) (on-table nyx2) (on-table adi1) (clear cxg4) (on cxg4 zni3) (holding pjh5) (on zni3 adi1)",
"(arm-empty) (on-table nyx2) (on-table adi1) (on pjh5 nyx2) (clear cxg4) (on cxg4 zni3) (on zni3 adi1) (clear pjh5)",
"(on-table nyx2) (on-table adi1) (holding cxg4) (on pjh5 nyx2) (on zni3 adi1) (clear zni3) (clear pjh5)",
"(arm-empty) (on-table nyx2) (on pjh5 nyx2) (clear cxg4) (on zni3 adi1) (clear pjh5) (on-table adi1) (on-table cxg4) (clear zni3)"
] |
file_71174
|
GOAL: (on pbx3 iot4) (clear ouj2) (on iot4 rvv1) (on-table ouj2) (on-table rvv1) (holding umk5) (clear pbx3)
|
GOAL: (on pbx3 iot4) (clear ouj2) (on iot4 rvv1) (on-table ouj2) (on-table rvv1) (holding umk5) (clear pbx3)
STATE: (clear ouj2) (on-table ouj2) (holding iot4) (on-table rvv1) (on umk5 pbx3) (on pbx3 rvv1) (clear umk5)
|
[
[
"stack iot4 ouj2"
],
[
"unstack umk5 pbx3"
],
[
"put-down umk5"
],
[
"unstack iot4 ouj2"
],
[
"stack iot4 pbx3"
],
[
"pick-up umk5"
],
[
"stack umk5 ouj2"
],
[
"unstack iot4 pbx3"
],
[
"stack iot4 umk5"
],
[
"unstack pbx3 rvv1"
],
[
"put-down pbx3"
],
[
"unstack iot4 umk5"
],
[
"stack iot4 rvv1"
],
[
"pick-up pbx3"
],
[
"stack pbx3 iot4"
],
[
"unstack umk5 ouj2"
]
] |
[
"(arm-empty) (on-table ouj2) (clear iot4) (on umk5 pbx3) (on pbx3 rvv1) (clear umk5) (on-table rvv1) (on iot4 ouj2)",
"(on-table ouj2) (on-table rvv1) (on iot4 ouj2) (clear iot4) (holding umk5) (on pbx3 rvv1) (clear pbx3)",
"(arm-empty) (on-table ouj2) (on-table umk5) (clear iot4) (on pbx3 rvv1) (clear umk5) (on-table rvv1) (on iot4 ouj2) (clear pbx3)",
"(clear ouj2) (on-table ouj2) (on-table umk5) (on-table rvv1) (holding iot4) (on pbx3 rvv1) (clear pbx3) (clear umk5)",
"(clear ouj2) (arm-empty) (on-table ouj2) (on-table umk5) (on-table rvv1) (clear iot4) (on iot4 pbx3) (on pbx3 rvv1) (clear umk5)",
"(clear ouj2) (on-table ouj2) (on-table rvv1) (clear iot4) (on iot4 pbx3) (holding umk5) (on pbx3 rvv1)",
"(arm-empty) (on-table ouj2) (on-table rvv1) (on umk5 ouj2) (clear iot4) (on iot4 pbx3) (on pbx3 rvv1) (clear umk5)",
"(on-table ouj2) (on-table rvv1) (holding iot4) (on umk5 ouj2) (on pbx3 rvv1) (clear pbx3) (clear umk5)",
"(arm-empty) (on-table ouj2) (on iot4 umk5) (on-table rvv1) (on umk5 ouj2) (clear iot4) (on pbx3 rvv1) (clear pbx3)",
"(on-table ouj2) (on iot4 umk5) (on-table rvv1) (on umk5 ouj2) (clear iot4) (holding pbx3) (clear rvv1)",
"(arm-empty) (on-table ouj2) (on iot4 umk5) (on umk5 ouj2) (clear iot4) (on-table rvv1) (clear pbx3) (clear rvv1) (on-table pbx3)",
"(on-table ouj2) (on-table rvv1) (holding iot4) (on umk5 ouj2) (clear pbx3) (clear rvv1) (on-table pbx3) (clear umk5)",
"(on iot4 rvv1) (arm-empty) (on-table ouj2) (on-table rvv1) (on umk5 ouj2) (clear iot4) (clear pbx3) (on-table pbx3) (clear umk5)",
"(on iot4 rvv1) (on-table ouj2) (on-table rvv1) (on umk5 ouj2) (clear iot4) (holding pbx3) (clear umk5)",
"(on pbx3 iot4) (on iot4 rvv1) (arm-empty) (on-table ouj2) (on-table rvv1) (on umk5 ouj2) (clear pbx3) (clear umk5)",
"(on pbx3 iot4) (clear ouj2) (on iot4 rvv1) (on-table ouj2) (on-table rvv1) (holding umk5) (clear pbx3)"
] |
file_30495
|
GOAL: (on zhf1 jol3) (arm-empty) (on-table lcx2) (on-table xhb5) (clear taa4) (clear xhb5) (on jol3 lcx2) (on-table taa4) (clear zhf1)
|
GOAL: (on zhf1 jol3) (arm-empty) (on-table lcx2) (on-table xhb5) (clear taa4) (clear xhb5) (on jol3 lcx2) (on-table taa4) (clear zhf1)
STATE: (on zhf1 xhb5) (on xhb5 taa4) (on-table taa4) (holding lcx2) (on jol3 zhf1) (clear jol3)
|
[
[
"put-down lcx2"
],
[
"unstack jol3 zhf1"
],
[
"stack jol3 lcx2"
],
[
"unstack zhf1 xhb5"
],
[
"stack zhf1 jol3"
],
[
"unstack xhb5 taa4"
],
[
"put-down xhb5"
]
] |
[
"(on zhf1 xhb5) (on-table taa4) (clear lcx2) (on xhb5 taa4) (on-table lcx2) (arm-empty) (on jol3 zhf1) (clear jol3)",
"(on zhf1 xhb5) (clear lcx2) (on xhb5 taa4) (on-table lcx2) (on-table taa4) (holding jol3) (clear zhf1)",
"(on zhf1 xhb5) (arm-empty) (on xhb5 taa4) (on-table lcx2) (on jol3 lcx2) (on-table taa4) (clear jol3) (clear zhf1)",
"(holding zhf1) (on xhb5 taa4) (on-table lcx2) (on jol3 lcx2) (on-table taa4) (clear jol3) (clear xhb5)",
"(on zhf1 jol3) (on xhb5 taa4) (on-table lcx2) (arm-empty) (on jol3 lcx2) (on-table taa4) (clear zhf1) (clear xhb5)",
"(on zhf1 jol3) (on-table lcx2) (on jol3 lcx2) (clear taa4) (holding xhb5) (on-table taa4) (clear zhf1)",
"(on zhf1 jol3) (arm-empty) (on-table lcx2) (on-table xhb5) (clear taa4) (clear xhb5) (on jol3 lcx2) (on-table taa4) (clear zhf1)"
] |
file_101186
|
GOAL: (clear cmn2) (on van4 lax1) (arm-empty) (on-table cmn2) (on-table lax1) (clear van4) (on iby5 qus3) (on-table qus3) (clear iby5)
|
GOAL: (clear cmn2) (on van4 lax1) (arm-empty) (on-table cmn2) (on-table lax1) (clear van4) (on iby5 qus3) (on-table qus3) (clear iby5)
STATE: (clear cmn2) (arm-empty) (on-table cmn2) (on van4 iby5) (on-table lax1) (clear van4) (on iby5 qus3) (clear lax1) (on-table qus3)
|
[
[
"unstack van4 iby5"
],
[
"stack van4 lax1"
]
] |
[
"(clear cmn2) (on-table cmn2) (on-table lax1) (holding van4) (on iby5 qus3) (clear lax1) (on-table qus3) (clear iby5)",
"(clear cmn2) (on van4 lax1) (arm-empty) (on-table cmn2) (on-table lax1) (clear van4) (on iby5 qus3) (on-table qus3) (clear iby5)"
] |
file_14700
|
GOAL: (clear tmi4) (holding gkv1) (clear uan2) (on-table tmi4) (on uan2 hsq3) (on-table hsq3)
|
GOAL: (clear tmi4) (holding gkv1) (clear uan2) (on-table tmi4) (on uan2 hsq3) (on-table hsq3)
STATE: (holding uan2) (on-table tmi4) (on gkv1 tmi4) (on hsq3 gkv1) (clear hsq3)
|
[
[
"put-down uan2"
],
[
"unstack hsq3 gkv1"
],
[
"put-down hsq3"
],
[
"pick-up uan2"
],
[
"stack uan2 hsq3"
],
[
"unstack gkv1 tmi4"
]
] |
[
"(on-table tmi4) (clear uan2) (arm-empty) (on-table uan2) (on hsq3 gkv1) (clear hsq3) (on gkv1 tmi4)",
"(on-table uan2) (clear uan2) (on-table tmi4) (on gkv1 tmi4) (holding hsq3) (clear gkv1)",
"(arm-empty) (on-table uan2) (clear uan2) (on-table tmi4) (on gkv1 tmi4) (clear hsq3) (clear gkv1) (on-table hsq3)",
"(holding uan2) (on-table tmi4) (on gkv1 tmi4) (clear hsq3) (clear gkv1) (on-table hsq3)",
"(clear uan2) (arm-empty) (on-table tmi4) (on gkv1 tmi4) (on uan2 hsq3) (clear gkv1) (on-table hsq3)",
"(clear tmi4) (holding gkv1) (clear uan2) (on-table tmi4) (on uan2 hsq3) (on-table hsq3)"
] |
file_132947
|
GOAL: (clear uoz2) (arm-empty) (on jbu5 sik4) (on-table caj1) (on-table sik4) (on wgu3 caj1) (on uoz2 jbu5) (clear wgu3)
|
GOAL: (clear uoz2) (arm-empty) (on jbu5 sik4) (on-table caj1) (on-table sik4) (on wgu3 caj1) (on uoz2 jbu5) (clear wgu3)
STATE: (clear uoz2) (arm-empty) (on-table uoz2) (on-table jbu5) (on-table caj1) (clear sik4) (on-table sik4) (on wgu3 caj1) (clear wgu3) (clear jbu5)
|
[
[
"pick-up uoz2"
],
[
"stack uoz2 wgu3"
],
[
"pick-up jbu5"
],
[
"stack jbu5 sik4"
],
[
"unstack uoz2 wgu3"
],
[
"stack uoz2 jbu5"
]
] |
[
"(on-table jbu5) (on-table caj1) (clear sik4) (on-table sik4) (holding uoz2) (on wgu3 caj1) (clear wgu3) (clear jbu5)",
"(clear uoz2) (arm-empty) (on-table jbu5) (on-table caj1) (clear sik4) (on-table sik4) (on wgu3 caj1) (on uoz2 wgu3) (clear jbu5)",
"(clear uoz2) (on-table caj1) (clear sik4) (holding jbu5) (on-table sik4) (on wgu3 caj1) (on uoz2 wgu3)",
"(clear uoz2) (arm-empty) (on jbu5 sik4) (on-table caj1) (on-table sik4) (on wgu3 caj1) (on uoz2 wgu3) (clear jbu5)",
"(on jbu5 sik4) (on-table caj1) (on-table sik4) (holding uoz2) (on wgu3 caj1) (clear wgu3) (clear jbu5)",
"(clear uoz2) (arm-empty) (on jbu5 sik4) (on-table caj1) (on-table sik4) (on wgu3 caj1) (on uoz2 jbu5) (clear wgu3)"
] |
file_98278
|
GOAL: (on bok1 iwt5) (on-table iwt5) (clear ues4) (on-table ues4) (holding xxm2) (on pyv3 bok1) (clear pyv3)
|
GOAL: (on bok1 iwt5) (on-table iwt5) (clear ues4) (on-table ues4) (holding xxm2) (on pyv3 bok1) (clear pyv3)
STATE: (on pyv3 ues4) (clear xxm2) (on-table bok1) (holding iwt5) (on-table ues4) (on xxm2 pyv3) (clear bok1)
|
[
[
"put-down iwt5"
],
[
"pick-up bok1"
],
[
"stack bok1 iwt5"
],
[
"unstack xxm2 pyv3"
],
[
"put-down xxm2"
],
[
"unstack pyv3 ues4"
],
[
"stack pyv3 bok1"
],
[
"pick-up xxm2"
]
] |
[
"(arm-empty) (on-table iwt5) (clear iwt5) (on pyv3 ues4) (clear xxm2) (on-table bok1) (on-table ues4) (on xxm2 pyv3) (clear bok1)",
"(holding bok1) (on pyv3 ues4) (clear xxm2) (on-table iwt5) (on-table ues4) (on xxm2 pyv3) (clear iwt5)",
"(on pyv3 ues4) (clear xxm2) (on bok1 iwt5) (arm-empty) (on-table iwt5) (on-table ues4) (on xxm2 pyv3) (clear bok1)",
"(on pyv3 ues4) (on bok1 iwt5) (on-table iwt5) (on-table ues4) (holding xxm2) (clear pyv3) (clear bok1)",
"(on bok1 iwt5) (arm-empty) (on-table xxm2) (on-table iwt5) (on pyv3 ues4) (clear xxm2) (on-table ues4) (clear pyv3) (clear bok1)",
"(on bok1 iwt5) (clear xxm2) (on-table xxm2) (on-table iwt5) (clear ues4) (on-table ues4) (holding pyv3) (clear bok1)",
"(on bok1 iwt5) (clear xxm2) (arm-empty) (on-table xxm2) (on-table iwt5) (clear ues4) (on-table ues4) (on pyv3 bok1) (clear pyv3)",
"(on bok1 iwt5) (on-table iwt5) (clear ues4) (on-table ues4) (holding xxm2) (on pyv3 bok1) (clear pyv3)"
] |
file_125962
|
GOAL: (holding bdd1) (clear eoj2) (on sqx5 qpm4) (on-table qpm4) (on eoj2 dgr3) (on-table dgr3) (clear sqx5)
|
GOAL: (holding bdd1) (clear eoj2) (on sqx5 qpm4) (on-table qpm4) (on eoj2 dgr3) (on-table dgr3) (clear sqx5)
STATE: (holding bdd1) (clear eoj2) (on sqx5 qpm4) (on-table eoj2) (on-table qpm4) (clear dgr3) (on-table dgr3) (clear sqx5)
|
[
[
"stack bdd1 sqx5"
],
[
"pick-up eoj2"
],
[
"stack eoj2 dgr3"
],
[
"unstack bdd1 sqx5"
]
] |
[
"(on bdd1 sqx5) (clear eoj2) (arm-empty) (on sqx5 qpm4) (on-table eoj2) (on-table qpm4) (clear dgr3) (clear bdd1) (on-table dgr3)",
"(on bdd1 sqx5) (on sqx5 qpm4) (on-table qpm4) (holding eoj2) (clear dgr3) (clear bdd1) (on-table dgr3)",
"(on bdd1 sqx5) (clear eoj2) (arm-empty) (on sqx5 qpm4) (on-table qpm4) (on eoj2 dgr3) (clear bdd1) (on-table dgr3)",
"(holding bdd1) (clear eoj2) (on sqx5 qpm4) (on-table qpm4) (on eoj2 dgr3) (on-table dgr3) (clear sqx5)"
] |
file_76217
|
GOAL: (clear dgg2) (on-table dgg2) (on-table wdz1) (clear vht4) (holding epa5) (on-table vht4) (on rop3 wdz1) (clear rop3)
|
GOAL: (clear dgg2) (on-table dgg2) (on-table wdz1) (clear vht4) (holding epa5) (on-table vht4) (on rop3 wdz1) (clear rop3)
STATE: (arm-empty) (on vht4 epa5) (on-table wdz1) (on epa5 dgg2) (clear vht4) (on rop3 wdz1) (on dgg2 rop3)
|
[
[
"unstack vht4 epa5"
],
[
"put-down vht4"
],
[
"unstack epa5 dgg2"
],
[
"put-down epa5"
],
[
"pick-up vht4"
],
[
"stack vht4 epa5"
],
[
"unstack dgg2 rop3"
],
[
"put-down dgg2"
],
[
"unstack vht4 epa5"
],
[
"put-down vht4"
],
[
"pick-up epa5"
]
] |
[
"(holding vht4) (on epa5 dgg2) (on rop3 wdz1) (clear epa5) (on-table wdz1) (on dgg2 rop3)",
"(arm-empty) (on epa5 dgg2) (clear vht4) (on rop3 wdz1) (clear epa5) (on-table wdz1) (on-table vht4) (on dgg2 rop3)",
"(clear dgg2) (on-table wdz1) (clear vht4) (holding epa5) (on-table vht4) (on rop3 wdz1) (on dgg2 rop3)",
"(arm-empty) (on-table epa5) (clear vht4) (on rop3 wdz1) (clear epa5) (clear dgg2) (on-table wdz1) (on-table vht4) (on dgg2 rop3)",
"(clear dgg2) (on-table epa5) (on-table wdz1) (holding vht4) (on rop3 wdz1) (on dgg2 rop3) (clear epa5)",
"(clear dgg2) (arm-empty) (on-table epa5) (on-table wdz1) (on vht4 epa5) (clear vht4) (on rop3 wdz1) (on dgg2 rop3)",
"(on-table epa5) (on-table wdz1) (on vht4 epa5) (clear vht4) (holding dgg2) (on rop3 wdz1) (clear rop3)",
"(arm-empty) (on-table dgg2) (on-table epa5) (on vht4 epa5) (clear vht4) (on rop3 wdz1) (clear dgg2) (on-table wdz1) (clear rop3)",
"(clear dgg2) (on-table dgg2) (on-table epa5) (holding vht4) (on-table wdz1) (on rop3 wdz1) (clear rop3) (clear epa5)",
"(clear dgg2) (arm-empty) (on-table dgg2) (on-table epa5) (on-table wdz1) (clear vht4) (on-table vht4) (on rop3 wdz1) (clear rop3) (clear epa5)",
"(clear dgg2) (on-table dgg2) (on-table wdz1) (clear vht4) (holding epa5) (on-table vht4) (on rop3 wdz1) (clear rop3)"
] |
file_19503
|
GOAL: (clear flj2) (on siz4 qov1) (arm-empty) (on-table qov1) (on iem5 bpk3) (on flj2 siz4) (on-table bpk3) (clear iem5)
|
GOAL: (clear flj2) (on siz4 qov1) (arm-empty) (on-table qov1) (on iem5 bpk3) (on flj2 siz4) (on-table bpk3) (clear iem5)
STATE: (clear flj2) (on siz4 qov1) (on iem5 siz4) (arm-empty) (on-table qov1) (on flj2 iem5) (clear bpk3) (on-table bpk3)
|
[
[
"unstack flj2 iem5"
],
[
"stack flj2 bpk3"
],
[
"unstack iem5 siz4"
],
[
"put-down iem5"
],
[
"unstack flj2 bpk3"
],
[
"stack flj2 siz4"
],
[
"pick-up iem5"
],
[
"stack iem5 bpk3"
]
] |
[
"(on siz4 qov1) (on iem5 siz4) (on-table qov1) (holding flj2) (clear bpk3) (on-table bpk3) (clear iem5)",
"(clear flj2) (on siz4 qov1) (on iem5 siz4) (arm-empty) (on-table qov1) (on flj2 bpk3) (on-table bpk3) (clear iem5)",
"(clear flj2) (on siz4 qov1) (on-table qov1) (clear siz4) (holding iem5) (on flj2 bpk3) (on-table bpk3)",
"(on siz4 qov1) (arm-empty) (on-table iem5) (clear siz4) (clear iem5) (clear flj2) (on-table qov1) (on flj2 bpk3) (on-table bpk3)",
"(on siz4 qov1) (on-table iem5) (on-table qov1) (clear siz4) (holding flj2) (clear bpk3) (on-table bpk3) (clear iem5)",
"(clear flj2) (on siz4 qov1) (arm-empty) (on-table iem5) (on-table qov1) (on flj2 siz4) (clear bpk3) (on-table bpk3) (clear iem5)",
"(clear flj2) (on siz4 qov1) (on-table qov1) (holding iem5) (on flj2 siz4) (clear bpk3) (on-table bpk3)",
"(clear flj2) (on siz4 qov1) (arm-empty) (on-table qov1) (on iem5 bpk3) (on flj2 siz4) (on-table bpk3) (clear iem5)"
] |
file_132893
|
GOAL: (holding kwn1) (clear xhy2) (on-table jxa5) (on ktw4 jxa5) (clear ktw4) (on xhy2 uig3) (on-table uig3)
|
GOAL: (holding kwn1) (clear xhy2) (on-table jxa5) (on ktw4 jxa5) (clear ktw4) (on xhy2 uig3) (on-table uig3)
STATE: (clear xhy2) (on ktw4 kwn1) (on kwn1 uig3) (on jxa5 ktw4) (arm-empty) (on xhy2 jxa5) (on-table uig3)
|
[
[
"unstack xhy2 jxa5"
],
[
"put-down xhy2"
],
[
"unstack jxa5 ktw4"
],
[
"put-down jxa5"
],
[
"unstack ktw4 kwn1"
],
[
"stack ktw4 jxa5"
],
[
"pick-up xhy2"
],
[
"stack xhy2 ktw4"
],
[
"unstack kwn1 uig3"
],
[
"put-down kwn1"
],
[
"unstack xhy2 ktw4"
],
[
"stack xhy2 uig3"
],
[
"pick-up kwn1"
]
] |
[
"(on ktw4 kwn1) (on kwn1 uig3) (on jxa5 ktw4) (clear jxa5) (holding xhy2) (on-table uig3)",
"(clear xhy2) (on ktw4 kwn1) (on kwn1 uig3) (on jxa5 ktw4) (on-table xhy2) (arm-empty) (on-table uig3) (clear jxa5)",
"(clear xhy2) (on ktw4 kwn1) (on kwn1 uig3) (on-table xhy2) (clear ktw4) (holding jxa5) (on-table uig3)",
"(on ktw4 kwn1) (on kwn1 uig3) (on-table xhy2) (on-table jxa5) (arm-empty) (clear ktw4) (clear jxa5) (clear xhy2) (on-table uig3)",
"(clear xhy2) (on kwn1 uig3) (on-table xhy2) (on-table jxa5) (holding ktw4) (clear kwn1) (on-table uig3) (clear jxa5)",
"(clear xhy2) (on kwn1 uig3) (arm-empty) (on-table xhy2) (on-table jxa5) (on ktw4 jxa5) (clear ktw4) (clear kwn1) (on-table uig3)",
"(on kwn1 uig3) (on-table jxa5) (on ktw4 jxa5) (clear ktw4) (holding xhy2) (clear kwn1) (on-table uig3)",
"(clear xhy2) (on kwn1 uig3) (arm-empty) (on-table jxa5) (on ktw4 jxa5) (on xhy2 ktw4) (clear kwn1) (on-table uig3)",
"(holding kwn1) (clear xhy2) (on-table jxa5) (on ktw4 jxa5) (on xhy2 ktw4) (clear uig3) (on-table uig3)",
"(arm-empty) (on-table jxa5) (on ktw4 jxa5) (on xhy2 ktw4) (clear xhy2) (on-table kwn1) (clear uig3) (clear kwn1) (on-table uig3)",
"(on-table jxa5) (on ktw4 jxa5) (on-table kwn1) (clear ktw4) (holding xhy2) (clear uig3) (clear kwn1) (on-table uig3)",
"(clear xhy2) (arm-empty) (on-table jxa5) (on ktw4 jxa5) (on-table kwn1) (clear ktw4) (on xhy2 uig3) (clear kwn1) (on-table uig3)",
"(holding kwn1) (clear xhy2) (on-table jxa5) (on ktw4 jxa5) (clear ktw4) (on xhy2 uig3) (on-table uig3)"
] |
file_183955
|
GOAL: (clear bqo2) (on ias4 bgb1) (arm-empty) (on-table bgb1) (clear ias4) (on bqo2 dak3) (on-table dak3)
|
GOAL: (clear bqo2) (on ias4 bgb1) (arm-empty) (on-table bgb1) (clear ias4) (on bqo2 dak3) (on-table dak3)
STATE: (clear bqo2) (on ias4 bgb1) (arm-empty) (on-table bgb1) (on bqo2 ias4) (clear dak3) (on-table dak3)
|
[
[
"unstack bqo2 ias4"
],
[
"stack bqo2 dak3"
]
] |
[
"(on ias4 bgb1) (clear ias4) (on-table bgb1) (holding bqo2) (clear dak3) (on-table dak3)",
"(clear bqo2) (on ias4 bgb1) (arm-empty) (on-table bgb1) (clear ias4) (on bqo2 dak3) (on-table dak3)"
] |
file_93337
|
GOAL: (on yuv4 xft1) (on iah5 yuv4) (arm-empty) (on-table xft1) (on mqb3 pta2) (on pta2 iah5) (clear mqb3)
|
GOAL: (on yuv4 xft1) (on iah5 yuv4) (arm-empty) (on-table xft1) (on mqb3 pta2) (on pta2 iah5) (clear mqb3)
STATE: (arm-empty) (on-table xft1) (on iah5 pta2) (clear yuv4) (on-table yuv4) (on pta2 mqb3) (clear xft1) (on-table mqb3) (clear iah5)
|
[
[
"pick-up yuv4"
],
[
"stack yuv4 xft1"
],
[
"unstack iah5 pta2"
],
[
"stack iah5 yuv4"
],
[
"unstack pta2 mqb3"
],
[
"stack pta2 iah5"
],
[
"pick-up mqb3"
],
[
"stack mqb3 pta2"
]
] |
[
"(on-table xft1) (holding yuv4) (on iah5 pta2) (on pta2 mqb3) (clear xft1) (on-table mqb3) (clear iah5)",
"(on yuv4 xft1) (arm-empty) (on-table xft1) (on iah5 pta2) (clear yuv4) (on pta2 mqb3) (on-table mqb3) (clear iah5)",
"(clear pta2) (on yuv4 xft1) (on-table xft1) (clear yuv4) (holding iah5) (on pta2 mqb3) (on-table mqb3)",
"(clear pta2) (on yuv4 xft1) (on iah5 yuv4) (arm-empty) (on-table xft1) (on pta2 mqb3) (on-table mqb3) (clear iah5)",
"(on yuv4 xft1) (on iah5 yuv4) (on-table xft1) (holding pta2) (clear mqb3) (on-table mqb3) (clear iah5)",
"(clear pta2) (on yuv4 xft1) (on iah5 yuv4) (arm-empty) (on-table xft1) (on pta2 iah5) (clear mqb3) (on-table mqb3)",
"(clear pta2) (on yuv4 xft1) (on iah5 yuv4) (on-table xft1) (on pta2 iah5) (holding mqb3)",
"(on yuv4 xft1) (on iah5 yuv4) (arm-empty) (on-table xft1) (on mqb3 pta2) (on pta2 iah5) (clear mqb3)"
] |
file_223863
|
GOAL: (clear jaq2) (arm-empty) (on-table jaq2) (on dru5 wmw3) (on-table oms4) (on cad1 oms4) (clear cad1) (on-table wmw3) (clear dru5)
|
GOAL: (clear jaq2) (arm-empty) (on-table jaq2) (on dru5 wmw3) (on-table oms4) (on cad1 oms4) (clear cad1) (on-table wmw3) (clear dru5)
STATE: (holding cad1) (clear jaq2) (on-table jaq2) (clear oms4) (on dru5 wmw3) (on-table oms4) (on-table wmw3) (clear dru5)
|
[
[
"stack cad1 oms4"
]
] |
[
"(clear jaq2) (arm-empty) (on-table jaq2) (on dru5 wmw3) (on-table oms4) (on cad1 oms4) (clear cad1) (on-table wmw3) (clear dru5)"
] |
file_219721
|
GOAL: (holding hpi1) (on-table qcl5) (clear axc4) (on axc4 omi2) (on omi2 qcl5) (clear dis3) (on-table dis3)
|
GOAL: (holding hpi1) (on-table qcl5) (clear axc4) (on axc4 omi2) (on omi2 qcl5) (clear dis3) (on-table dis3)
STATE: (arm-empty) (on-table qcl5) (on-table hpi1) (clear axc4) (on axc4 omi2) (on omi2 qcl5) (clear dis3) (clear hpi1) (on-table dis3)
|
[
[
"unstack axc4 omi2"
],
[
"put-down axc4"
],
[
"pick-up hpi1"
],
[
"stack hpi1 dis3"
],
[
"pick-up axc4"
],
[
"stack axc4 omi2"
],
[
"unstack hpi1 dis3"
]
] |
[
"(clear omi2) (on-table qcl5) (on-table hpi1) (holding axc4) (on omi2 qcl5) (clear dis3) (clear hpi1) (on-table dis3)",
"(clear omi2) (arm-empty) (on-table qcl5) (on-table hpi1) (clear axc4) (on-table axc4) (on omi2 qcl5) (clear dis3) (clear hpi1) (on-table dis3)",
"(holding hpi1) (clear omi2) (on-table qcl5) (clear axc4) (on-table axc4) (on omi2 qcl5) (clear dis3) (on-table dis3)",
"(clear omi2) (on hpi1 dis3) (arm-empty) (on-table qcl5) (clear axc4) (on-table axc4) (on omi2 qcl5) (clear hpi1) (on-table dis3)",
"(clear omi2) (on hpi1 dis3) (on-table qcl5) (holding axc4) (on omi2 qcl5) (clear hpi1) (on-table dis3)",
"(on hpi1 dis3) (arm-empty) (on-table qcl5) (clear axc4) (on omi2 qcl5) (on axc4 omi2) (clear hpi1) (on-table dis3)",
"(holding hpi1) (on-table qcl5) (clear axc4) (on axc4 omi2) (on omi2 qcl5) (clear dis3) (on-table dis3)"
] |
file_147655
|
GOAL: (on cry3 olu4) (on-table amv5) (on-table lcw1) (on-table olu4) (holding xcz2) (clear cry3) (clear lcw1) (clear amv5)
|
GOAL: (on cry3 olu4) (on-table amv5) (on-table lcw1) (on-table olu4) (holding xcz2) (clear cry3) (clear lcw1) (clear amv5)
STATE: (on lcw1 amv5) (clear xcz2) (on olu4 lcw1) (on cry3 olu4) (arm-empty) (on-table amv5) (on xcz2 cry3)
|
[
[
"unstack xcz2 cry3"
],
[
"put-down xcz2"
],
[
"unstack cry3 olu4"
],
[
"put-down cry3"
],
[
"unstack olu4 lcw1"
],
[
"stack olu4 cry3"
],
[
"pick-up xcz2"
],
[
"stack xcz2 lcw1"
],
[
"unstack olu4 cry3"
],
[
"put-down olu4"
],
[
"pick-up cry3"
],
[
"stack cry3 olu4"
],
[
"unstack xcz2 lcw1"
],
[
"stack xcz2 cry3"
],
[
"unstack lcw1 amv5"
],
[
"put-down lcw1"
],
[
"unstack xcz2 cry3"
]
] |
[
"(on lcw1 amv5) (on olu4 lcw1) (on-table amv5) (on cry3 olu4) (holding xcz2) (clear cry3)",
"(on lcw1 amv5) (on olu4 lcw1) (arm-empty) (on-table xcz2) (on-table amv5) (on cry3 olu4) (clear xcz2) (clear cry3)",
"(on lcw1 amv5) (on olu4 lcw1) (on-table xcz2) (on-table amv5) (clear xcz2) (clear olu4) (holding cry3)",
"(on lcw1 amv5) (on olu4 lcw1) (arm-empty) (on-table xcz2) (on-table amv5) (clear olu4) (clear xcz2) (clear cry3) (on-table cry3)",
"(on lcw1 amv5) (clear xcz2) (on-table xcz2) (on-table amv5) (holding olu4) (clear cry3) (clear lcw1) (on-table cry3)",
"(on lcw1 amv5) (clear xcz2) (arm-empty) (on-table xcz2) (on-table amv5) (clear olu4) (on olu4 cry3) (clear lcw1) (on-table cry3)",
"(on lcw1 amv5) (on-table amv5) (clear olu4) (on olu4 cry3) (holding xcz2) (clear lcw1) (on-table cry3)",
"(on lcw1 amv5) (clear xcz2) (arm-empty) (on-table amv5) (clear olu4) (on olu4 cry3) (on xcz2 lcw1) (on-table cry3)",
"(on lcw1 amv5) (clear xcz2) (on-table amv5) (holding olu4) (on xcz2 lcw1) (clear cry3) (on-table cry3)",
"(on lcw1 amv5) (arm-empty) (on-table amv5) (clear olu4) (on xcz2 lcw1) (clear xcz2) (on-table olu4) (clear cry3) (on-table cry3)",
"(on lcw1 amv5) (clear xcz2) (on-table amv5) (clear olu4) (on-table olu4) (on xcz2 lcw1) (holding cry3)",
"(on lcw1 amv5) (clear xcz2) (on cry3 olu4) (arm-empty) (on-table amv5) (on-table olu4) (on xcz2 lcw1) (clear cry3)",
"(on lcw1 amv5) (on cry3 olu4) (on-table amv5) (on-table olu4) (holding xcz2) (clear cry3) (clear lcw1)",
"(on lcw1 amv5) (on cry3 olu4) (clear xcz2) (arm-empty) (on-table amv5) (on-table olu4) (on xcz2 cry3) (clear lcw1)",
"(holding lcw1) (on cry3 olu4) (clear xcz2) (on-table amv5) (on-table olu4) (on xcz2 cry3) (clear amv5)",
"(arm-empty) (on-table amv5) (clear amv5) (on cry3 olu4) (clear xcz2) (on-table lcw1) (on-table olu4) (on xcz2 cry3) (clear lcw1)",
"(on cry3 olu4) (on-table amv5) (on-table lcw1) (on-table olu4) (holding xcz2) (clear cry3) (clear lcw1) (clear amv5)"
] |
file_41551
|
GOAL: (on-table tbj2) (on-table tmk5) (on-table ruw1) (clear wum4) (on wum4 tbj2) (holding ozf3) (clear ruw1) (clear tmk5)
|
GOAL: (on-table tbj2) (on-table tmk5) (on-table ruw1) (clear wum4) (on wum4 tbj2) (holding ozf3) (clear ruw1) (clear tmk5)
STATE: (arm-empty) (on wum4 ozf3) (on tmk5 ruw1) (on tbj2 wum4) (on ruw1 tbj2) (on-table ozf3) (clear tmk5)
|
[
[
"unstack tmk5 ruw1"
],
[
"put-down tmk5"
],
[
"unstack ruw1 tbj2"
],
[
"stack ruw1 tmk5"
],
[
"unstack tbj2 wum4"
],
[
"put-down tbj2"
],
[
"unstack wum4 ozf3"
],
[
"stack wum4 tbj2"
],
[
"unstack ruw1 tmk5"
],
[
"put-down ruw1"
],
[
"pick-up ozf3"
]
] |
[
"(on wum4 ozf3) (holding tmk5) (on tbj2 wum4) (on ruw1 tbj2) (clear ruw1) (on-table ozf3)",
"(arm-empty) (on-table tmk5) (on tbj2 wum4) (on ruw1 tbj2) (clear tmk5) (on wum4 ozf3) (clear ruw1) (on-table ozf3)",
"(holding ruw1) (clear tbj2) (on-table tmk5) (on wum4 ozf3) (on tbj2 wum4) (on-table ozf3) (clear tmk5)",
"(on ruw1 tmk5) (clear tbj2) (arm-empty) (on-table tmk5) (on wum4 ozf3) (on tbj2 wum4) (clear ruw1) (on-table ozf3)",
"(on ruw1 tmk5) (on-table tmk5) (clear wum4) (on wum4 ozf3) (holding tbj2) (clear ruw1) (on-table ozf3)",
"(on ruw1 tmk5) (arm-empty) (on-table tbj2) (on-table tmk5) (clear wum4) (clear tbj2) (on wum4 ozf3) (clear ruw1) (on-table ozf3)",
"(on ruw1 tmk5) (clear tbj2) (on-table tbj2) (on-table tmk5) (holding wum4) (clear ozf3) (clear ruw1) (on-table ozf3)",
"(on ruw1 tmk5) (arm-empty) (on-table tbj2) (on-table tmk5) (clear wum4) (on wum4 tbj2) (clear ozf3) (clear ruw1) (on-table ozf3)",
"(holding ruw1) (on-table tbj2) (on-table tmk5) (clear wum4) (on wum4 tbj2) (clear ozf3) (on-table ozf3) (clear tmk5)",
"(arm-empty) (on-table tbj2) (on-table tmk5) (on-table ruw1) (clear wum4) (on wum4 tbj2) (clear ozf3) (clear ruw1) (on-table ozf3) (clear tmk5)",
"(on-table tbj2) (on-table tmk5) (on-table ruw1) (clear wum4) (on wum4 tbj2) (holding ozf3) (clear ruw1) (clear tmk5)"
] |
file_84246
|
GOAL: (arm-empty) (on-table bzo5) (on efj4 bzo5) (clear efj4) (on liq2 jhd3) (on oub1 liq2) (on-table jhd3) (clear oub1)
|
GOAL: (arm-empty) (on-table bzo5) (on efj4 bzo5) (clear efj4) (on liq2 jhd3) (on oub1 liq2) (on-table jhd3) (clear oub1)
STATE: (arm-empty) (on-table liq2) (on-table bzo5) (clear efj4) (on-table efj4) (on jhd3 oub1) (clear jhd3) (on oub1 liq2) (clear bzo5)
|
[
[
"pick-up efj4"
],
[
"stack efj4 bzo5"
],
[
"unstack jhd3 oub1"
],
[
"stack jhd3 efj4"
],
[
"unstack oub1 liq2"
],
[
"put-down oub1"
],
[
"pick-up liq2"
],
[
"stack liq2 oub1"
],
[
"unstack jhd3 efj4"
],
[
"put-down jhd3"
],
[
"unstack liq2 oub1"
],
[
"stack liq2 jhd3"
],
[
"pick-up oub1"
],
[
"stack oub1 liq2"
]
] |
[
"(on-table liq2) (on-table bzo5) (holding efj4) (on jhd3 oub1) (clear jhd3) (on oub1 liq2) (clear bzo5)",
"(arm-empty) (on-table liq2) (on-table bzo5) (on efj4 bzo5) (clear efj4) (on jhd3 oub1) (clear jhd3) (on oub1 liq2)",
"(on-table liq2) (on-table bzo5) (on efj4 bzo5) (clear efj4) (on oub1 liq2) (clear oub1) (holding jhd3)",
"(on jhd3 efj4) (arm-empty) (on-table liq2) (on-table bzo5) (on efj4 bzo5) (clear jhd3) (on oub1 liq2) (clear oub1)",
"(holding oub1) (on jhd3 efj4) (clear liq2) (on-table liq2) (on-table bzo5) (on efj4 bzo5) (clear jhd3)",
"(arm-empty) (on-table liq2) (on-table bzo5) (on efj4 bzo5) (on jhd3 efj4) (clear liq2) (on-table oub1) (clear jhd3) (clear oub1)",
"(on jhd3 efj4) (on-table bzo5) (on efj4 bzo5) (on-table oub1) (holding liq2) (clear jhd3) (clear oub1)",
"(arm-empty) (on-table bzo5) (on efj4 bzo5) (on liq2 oub1) (on jhd3 efj4) (clear liq2) (on-table oub1) (clear jhd3)",
"(clear liq2) (on-table bzo5) (on efj4 bzo5) (on-table oub1) (clear efj4) (on liq2 oub1) (holding jhd3)",
"(arm-empty) (on-table bzo5) (on efj4 bzo5) (clear efj4) (on liq2 oub1) (clear liq2) (on-table oub1) (clear jhd3) (on-table jhd3)",
"(on-table bzo5) (on efj4 bzo5) (on-table oub1) (clear efj4) (holding liq2) (clear jhd3) (clear oub1) (on-table jhd3)",
"(clear liq2) (arm-empty) (on-table bzo5) (on efj4 bzo5) (on-table oub1) (clear efj4) (on liq2 jhd3) (clear oub1) (on-table jhd3)",
"(holding oub1) (clear liq2) (on-table bzo5) (on efj4 bzo5) (clear efj4) (on liq2 jhd3) (on-table jhd3)",
"(arm-empty) (on-table bzo5) (on efj4 bzo5) (clear efj4) (on liq2 jhd3) (on oub1 liq2) (on-table jhd3) (clear oub1)"
] |
file_1514
|
GOAL: (clear lkd2) (on clr1 afy3) (arm-empty) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (clear lyc4) (clear clr1) (on-table afy3)
|
GOAL: (clear lkd2) (on clr1 afy3) (arm-empty) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (clear lyc4) (clear clr1) (on-table afy3)
STATE: (on clr1 afy3) (arm-empty) (on-table lkd2) (on lyc4 ugd5) (on afy3 lkd2) (clear lyc4) (on ugd5 clr1)
|
[
[
"unstack lyc4 ugd5"
],
[
"put-down lyc4"
],
[
"unstack ugd5 clr1"
],
[
"put-down ugd5"
],
[
"pick-up lyc4"
],
[
"stack lyc4 ugd5"
],
[
"unstack clr1 afy3"
],
[
"stack clr1 lyc4"
],
[
"unstack afy3 lkd2"
],
[
"put-down afy3"
],
[
"unstack clr1 lyc4"
],
[
"stack clr1 afy3"
]
] |
[
"(on clr1 afy3) (on-table lkd2) (holding lyc4) (clear ugd5) (on afy3 lkd2) (on ugd5 clr1)",
"(on clr1 afy3) (arm-empty) (on-table lkd2) (clear lyc4) (clear ugd5) (on afy3 lkd2) (on ugd5 clr1) (on-table lyc4)",
"(on clr1 afy3) (on-table lkd2) (on afy3 lkd2) (clear lyc4) (holding ugd5) (on-table lyc4) (clear clr1)",
"(on clr1 afy3) (arm-empty) (on-table lkd2) (on-table ugd5) (clear lyc4) (clear ugd5) (on afy3 lkd2) (on-table lyc4) (clear clr1)",
"(on clr1 afy3) (on-table lkd2) (on-table ugd5) (holding lyc4) (on afy3 lkd2) (clear clr1) (clear ugd5)",
"(on clr1 afy3) (arm-empty) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (on afy3 lkd2) (clear lyc4) (clear clr1)",
"(holding clr1) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (on afy3 lkd2) (clear lyc4) (clear afy3)",
"(arm-empty) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (on afy3 lkd2) (on clr1 lyc4) (clear afy3) (clear clr1)",
"(clear lkd2) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (on clr1 lyc4) (holding afy3) (clear clr1)",
"(arm-empty) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (clear lkd2) (on clr1 lyc4) (clear afy3) (clear clr1) (on-table afy3)",
"(holding clr1) (clear lkd2) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (clear lyc4) (clear afy3) (on-table afy3)",
"(clear lkd2) (on clr1 afy3) (arm-empty) (on-table lkd2) (on-table ugd5) (on lyc4 ugd5) (clear lyc4) (clear clr1) (on-table afy3)"
] |
file_27423
|
GOAL: (on xsi3 gky5) (on-table gky5) (holding hmm2) (on-table ucp4) (on nyf1 ucp4) (clear xsi3) (clear nyf1)
|
GOAL: (on xsi3 gky5) (on-table gky5) (holding hmm2) (on-table ucp4) (on nyf1 ucp4) (clear xsi3) (clear nyf1)
STATE: (holding nyf1) (clear hmm2) (on-table hmm2) (on-table gky5) (clear ucp4) (on-table ucp4) (clear xsi3) (on-table xsi3) (clear gky5)
|
[
[
"stack nyf1 ucp4"
],
[
"pick-up xsi3"
],
[
"stack xsi3 gky5"
],
[
"pick-up hmm2"
]
] |
[
"(clear hmm2) (arm-empty) (on-table hmm2) (on-table gky5) (on-table ucp4) (on nyf1 ucp4) (clear xsi3) (clear nyf1) (on-table xsi3) (clear gky5)",
"(clear hmm2) (on-table hmm2) (on-table gky5) (on-table ucp4) (on nyf1 ucp4) (holding xsi3) (clear nyf1) (clear gky5)",
"(clear hmm2) (on xsi3 gky5) (arm-empty) (on-table hmm2) (on-table gky5) (on-table ucp4) (on nyf1 ucp4) (clear xsi3) (clear nyf1)",
"(on xsi3 gky5) (on-table gky5) (holding hmm2) (on-table ucp4) (on nyf1 ucp4) (clear xsi3) (clear nyf1)"
] |
file_25204
|
GOAL: (clear rnv2) (on phf5 fph4) (on-table kai1) (on-table fph4) (on rnv2 phf5) (holding pzm3) (clear kai1)
|
GOAL: (clear rnv2) (on phf5 fph4) (on-table kai1) (on-table fph4) (on rnv2 phf5) (holding pzm3) (clear kai1)
STATE: (holding kai1) (on-table rnv2) (on pzm3 rnv2) (clear fph4) (on phf5 pzm3) (on-table fph4) (clear phf5)
|
[
[
"put-down kai1"
],
[
"unstack phf5 pzm3"
],
[
"stack phf5 fph4"
],
[
"unstack pzm3 rnv2"
],
[
"stack pzm3 kai1"
],
[
"pick-up rnv2"
],
[
"stack rnv2 phf5"
],
[
"unstack pzm3 kai1"
]
] |
[
"(arm-empty) (on-table rnv2) (clear fph4) (on phf5 pzm3) (clear phf5) (on-table kai1) (on pzm3 rnv2) (on-table fph4) (clear kai1)",
"(on-table rnv2) (on-table kai1) (on pzm3 rnv2) (clear fph4) (holding phf5) (on-table fph4) (clear pzm3) (clear kai1)",
"(arm-empty) (on phf5 fph4) (on-table rnv2) (on-table kai1) (on pzm3 rnv2) (on-table fph4) (clear pzm3) (clear kai1) (clear phf5)",
"(clear rnv2) (on phf5 fph4) (on-table rnv2) (on-table kai1) (on-table fph4) (holding pzm3) (clear kai1) (clear phf5)",
"(clear rnv2) (arm-empty) (on phf5 fph4) (on-table rnv2) (on-table kai1) (on-table fph4) (on pzm3 kai1) (clear pzm3) (clear phf5)",
"(on phf5 fph4) (on-table kai1) (on-table fph4) (holding rnv2) (on pzm3 kai1) (clear pzm3) (clear phf5)",
"(clear rnv2) (arm-empty) (on phf5 fph4) (on-table kai1) (on-table fph4) (on pzm3 kai1) (on rnv2 phf5) (clear pzm3)",
"(clear rnv2) (on phf5 fph4) (on-table kai1) (on-table fph4) (on rnv2 phf5) (holding pzm3) (clear kai1)"
] |
file_10032
|
GOAL: (clear anx2) (on har5 lwk4) (on-table anx2) (on-table ebs1) (on-table lwk4) (holding ejz3) (clear ebs1) (clear har5)
|
GOAL: (clear anx2) (on har5 lwk4) (on-table anx2) (on-table ebs1) (on-table lwk4) (holding ejz3) (clear ebs1) (clear har5)
STATE: (on ebs1 ejz3) (arm-empty) (on lwk4 har5) (on har5 anx2) (clear lwk4) (on anx2 ebs1) (on-table ejz3)
|
[
[
"unstack lwk4 har5"
],
[
"put-down lwk4"
],
[
"unstack har5 anx2"
],
[
"stack har5 lwk4"
],
[
"unstack anx2 ebs1"
],
[
"put-down anx2"
],
[
"unstack ebs1 ejz3"
],
[
"stack ebs1 har5"
],
[
"pick-up anx2"
],
[
"stack anx2 ejz3"
],
[
"unstack ebs1 har5"
],
[
"put-down ebs1"
],
[
"unstack anx2 ejz3"
],
[
"put-down anx2"
],
[
"pick-up ejz3"
]
] |
[
"(on ebs1 ejz3) (holding lwk4) (on har5 anx2) (on anx2 ebs1) (clear har5) (on-table ejz3)",
"(on ebs1 ejz3) (arm-empty) (on har5 anx2) (clear lwk4) (on anx2 ebs1) (clear har5) (on-table lwk4) (on-table ejz3)",
"(clear anx2) (on ebs1 ejz3) (clear lwk4) (holding har5) (on-table lwk4) (on anx2 ebs1) (on-table ejz3)",
"(clear anx2) (on ebs1 ejz3) (on har5 lwk4) (arm-empty) (on-table lwk4) (on anx2 ebs1) (on-table ejz3) (clear har5)",
"(on ebs1 ejz3) (on har5 lwk4) (on-table lwk4) (holding anx2) (clear ebs1) (on-table ejz3) (clear har5)",
"(on ebs1 ejz3) (on har5 lwk4) (on-table anx2) (arm-empty) (clear har5) (clear anx2) (on-table lwk4) (clear ebs1) (on-table ejz3)",
"(holding ebs1) (clear anx2) (on har5 lwk4) (on-table anx2) (on-table lwk4) (clear ejz3) (on-table ejz3) (clear har5)",
"(on ebs1 har5) (clear anx2) (arm-empty) (on har5 lwk4) (on-table anx2) (on-table lwk4) (clear ejz3) (clear ebs1) (on-table ejz3)",
"(on ebs1 har5) (on har5 lwk4) (on-table lwk4) (holding anx2) (clear ejz3) (clear ebs1) (on-table ejz3)",
"(on ebs1 har5) (clear anx2) (arm-empty) (on har5 lwk4) (on-table lwk4) (on anx2 ejz3) (clear ebs1) (on-table ejz3)",
"(holding ebs1) (clear anx2) (on har5 lwk4) (on-table lwk4) (on anx2 ejz3) (on-table ejz3) (clear har5)",
"(arm-empty) (on har5 lwk4) (clear har5) (clear anx2) (on-table ebs1) (on-table lwk4) (on anx2 ejz3) (clear ebs1) (on-table ejz3)",
"(on har5 lwk4) (on-table ebs1) (on-table lwk4) (holding anx2) (clear ejz3) (clear ebs1) (on-table ejz3) (clear har5)",
"(clear anx2) (arm-empty) (on har5 lwk4) (on-table anx2) (on-table ebs1) (on-table lwk4) (clear ejz3) (clear ebs1) (on-table ejz3) (clear har5)",
"(clear anx2) (on har5 lwk4) (on-table anx2) (on-table ebs1) (on-table lwk4) (holding ejz3) (clear ebs1) (clear har5)"
] |
file_184976
|
GOAL: (clear hsw2) (on elr4 qrc1) (on-table hsw2) (on-table ipm5) (on-table qrc1) (clear elr4) (holding fov3) (clear ipm5)
|
GOAL: (clear hsw2) (on elr4 qrc1) (on-table hsw2) (on-table ipm5) (on-table qrc1) (clear elr4) (holding fov3) (clear ipm5)
STATE: (on qrc1 ipm5) (on fov3 elr4) (on elr4 qrc1) (arm-empty) (on-table hsw2) (on ipm5 hsw2) (clear fov3)
|
[
[
"unstack fov3 elr4"
],
[
"put-down fov3"
],
[
"unstack elr4 qrc1"
],
[
"put-down elr4"
],
[
"unstack qrc1 ipm5"
],
[
"put-down qrc1"
],
[
"pick-up fov3"
],
[
"stack fov3 ipm5"
],
[
"pick-up elr4"
],
[
"stack elr4 qrc1"
],
[
"unstack fov3 ipm5"
],
[
"stack fov3 elr4"
],
[
"unstack ipm5 hsw2"
],
[
"put-down ipm5"
],
[
"unstack fov3 elr4"
]
] |
[
"(on qrc1 ipm5) (on elr4 qrc1) (on-table hsw2) (on ipm5 hsw2) (clear elr4) (holding fov3)",
"(on qrc1 ipm5) (on elr4 qrc1) (arm-empty) (on-table hsw2) (on ipm5 hsw2) (clear fov3) (clear elr4) (on-table fov3)",
"(on qrc1 ipm5) (on-table hsw2) (holding elr4) (on ipm5 hsw2) (clear fov3) (clear qrc1) (on-table fov3)",
"(on qrc1 ipm5) (arm-empty) (on-table hsw2) (on ipm5 hsw2) (clear elr4) (on-table elr4) (clear fov3) (clear qrc1) (on-table fov3)",
"(holding qrc1) (on-table hsw2) (on ipm5 hsw2) (clear elr4) (on-table elr4) (clear fov3) (on-table fov3) (clear ipm5)",
"(arm-empty) (on-table hsw2) (on-table qrc1) (on ipm5 hsw2) (clear elr4) (on-table elr4) (clear fov3) (clear qrc1) (on-table fov3) (clear ipm5)",
"(on-table hsw2) (on-table qrc1) (on ipm5 hsw2) (clear elr4) (on-table elr4) (holding fov3) (clear qrc1) (clear ipm5)",
"(on fov3 ipm5) (arm-empty) (on-table hsw2) (on-table qrc1) (on ipm5 hsw2) (clear elr4) (on-table elr4) (clear fov3) (clear qrc1)",
"(on fov3 ipm5) (on-table hsw2) (on-table qrc1) (holding elr4) (on ipm5 hsw2) (clear fov3) (clear qrc1)",
"(on fov3 ipm5) (on elr4 qrc1) (arm-empty) (on-table hsw2) (on-table qrc1) (on ipm5 hsw2) (clear elr4) (clear fov3)",
"(on elr4 qrc1) (on-table hsw2) (on-table qrc1) (on ipm5 hsw2) (clear elr4) (holding fov3) (clear ipm5)",
"(on fov3 elr4) (on elr4 qrc1) (arm-empty) (on-table hsw2) (on-table qrc1) (on ipm5 hsw2) (clear fov3) (clear ipm5)",
"(on fov3 elr4) (clear hsw2) (on elr4 qrc1) (on-table hsw2) (on-table qrc1) (holding ipm5) (clear fov3)",
"(on elr4 qrc1) (arm-empty) (on-table hsw2) (on-table ipm5) (clear ipm5) (on fov3 elr4) (clear hsw2) (on-table qrc1) (clear fov3)",
"(clear hsw2) (on elr4 qrc1) (on-table hsw2) (on-table ipm5) (on-table qrc1) (clear elr4) (holding fov3) (clear ipm5)"
] |
file_177438
|
GOAL: (holding gro1) (on-table pse2) (on-table zsx5) (on vif3 pse2) (clear xrz4) (on xrz4 vif3) (clear zsx5)
|
GOAL: (holding gro1) (on-table pse2) (on-table zsx5) (on vif3 pse2) (clear xrz4) (on xrz4 vif3) (clear zsx5)
STATE: (arm-empty) (on-table pse2) (on-table zsx5) (clear xrz4) (on-table xrz4) (clear vif3) (on gro1 pse2) (clear gro1) (on-table vif3) (clear zsx5)
|
[
[
"unstack gro1 pse2"
],
[
"stack gro1 zsx5"
],
[
"pick-up vif3"
],
[
"stack vif3 pse2"
],
[
"pick-up xrz4"
],
[
"stack xrz4 vif3"
],
[
"unstack gro1 zsx5"
]
] |
[
"(holding gro1) (clear pse2) (on-table pse2) (on-table zsx5) (clear xrz4) (on-table xrz4) (clear vif3) (on-table vif3) (clear zsx5)",
"(on gro1 zsx5) (clear pse2) (arm-empty) (on-table pse2) (on-table zsx5) (clear xrz4) (on-table xrz4) (clear vif3) (clear gro1) (on-table vif3)",
"(on gro1 zsx5) (clear pse2) (on-table pse2) (on-table zsx5) (clear xrz4) (on-table xrz4) (holding vif3) (clear gro1)",
"(on gro1 zsx5) (arm-empty) (on-table pse2) (on-table zsx5) (on vif3 pse2) (clear xrz4) (on-table xrz4) (clear vif3) (clear gro1)",
"(on gro1 zsx5) (on-table pse2) (on-table zsx5) (holding xrz4) (on vif3 pse2) (clear vif3) (clear gro1)",
"(on gro1 zsx5) (arm-empty) (on-table pse2) (on-table zsx5) (on vif3 pse2) (clear xrz4) (on xrz4 vif3) (clear gro1)",
"(holding gro1) (on-table pse2) (on-table zsx5) (on vif3 pse2) (clear xrz4) (on xrz4 vif3) (clear zsx5)"
] |
file_7701
|
GOAL: (on pee3 pxz5) (clear cqq2) (on-table cqq2) (on-table pxz5) (on-table olq1) (holding bim4) (clear pee3) (clear olq1)
|
GOAL: (on pee3 pxz5) (clear cqq2) (on-table cqq2) (on-table pxz5) (on-table olq1) (holding bim4) (clear pee3) (clear olq1)
STATE: (arm-empty) (on-table cqq2) (clear bim4) (on pxz5 olq1) (on-table bim4) (clear pee3) (on olq1 cqq2) (on-table pee3) (clear pxz5)
|
[
[
"pick-up pee3"
],
[
"stack pee3 bim4"
],
[
"unstack pxz5 olq1"
],
[
"put-down pxz5"
],
[
"unstack pee3 bim4"
],
[
"stack pee3 pxz5"
],
[
"pick-up bim4"
],
[
"stack bim4 pee3"
],
[
"unstack olq1 cqq2"
],
[
"put-down olq1"
],
[
"unstack bim4 pee3"
]
] |
[
"(on-table cqq2) (clear bim4) (on pxz5 olq1) (on-table bim4) (on olq1 cqq2) (holding pee3) (clear pxz5)",
"(on pee3 bim4) (arm-empty) (on-table cqq2) (on pxz5 olq1) (on-table bim4) (clear pee3) (on olq1 cqq2) (clear pxz5)",
"(on pee3 bim4) (on-table cqq2) (holding pxz5) (on-table bim4) (clear pee3) (on olq1 cqq2) (clear olq1)",
"(arm-empty) (on-table cqq2) (on-table pxz5) (on olq1 cqq2) (clear pxz5) (on pee3 bim4) (on-table bim4) (clear pee3) (clear olq1)",
"(on-table cqq2) (on-table pxz5) (clear bim4) (on-table bim4) (on olq1 cqq2) (clear olq1) (holding pee3) (clear pxz5)",
"(on pee3 pxz5) (arm-empty) (on-table cqq2) (on-table pxz5) (clear bim4) (on-table bim4) (clear pee3) (on olq1 cqq2) (clear olq1)",
"(on pee3 pxz5) (on-table cqq2) (on-table pxz5) (holding bim4) (clear pee3) (on olq1 cqq2) (clear olq1)",
"(on pee3 pxz5) (arm-empty) (on-table cqq2) (on-table pxz5) (clear bim4) (on bim4 pee3) (on olq1 cqq2) (clear olq1)",
"(holding olq1) (on pee3 pxz5) (clear cqq2) (on-table cqq2) (on-table pxz5) (clear bim4) (on bim4 pee3)",
"(on pee3 pxz5) (arm-empty) (on-table cqq2) (on-table pxz5) (clear bim4) (clear cqq2) (on-table olq1) (on bim4 pee3) (clear olq1)",
"(on pee3 pxz5) (clear cqq2) (on-table cqq2) (on-table pxz5) (on-table olq1) (holding bim4) (clear pee3) (clear olq1)"
] |
file_159207
|
GOAL: (arm-empty) (on-table ijn2) (on dud4 nhh5) (on-table aor1) (on cay3 ijn2) (clear dud4) (on nhh5 aor1) (clear cay3)
|
GOAL: (arm-empty) (on-table ijn2) (on dud4 nhh5) (on-table aor1) (on cay3 ijn2) (clear dud4) (on nhh5 aor1) (clear cay3)
STATE: (holding aor1) (on nhh5 dud4) (on-table ijn2) (on cay3 ijn2) (on dud4 cay3) (clear nhh5)
|
[
[
"put-down aor1"
],
[
"unstack nhh5 dud4"
],
[
"stack nhh5 aor1"
],
[
"unstack dud4 cay3"
],
[
"stack dud4 nhh5"
]
] |
[
"(arm-empty) (on nhh5 dud4) (on-table ijn2) (clear nhh5) (on-table aor1) (on cay3 ijn2) (on dud4 cay3) (clear aor1)",
"(on-table ijn2) (on-table aor1) (on cay3 ijn2) (clear dud4) (on dud4 cay3) (holding nhh5) (clear aor1)",
"(arm-empty) (on-table ijn2) (clear dud4) (clear nhh5) (on-table aor1) (on cay3 ijn2) (on dud4 cay3) (on nhh5 aor1)",
"(on-table ijn2) (on-table aor1) (holding dud4) (on cay3 ijn2) (on nhh5 aor1) (clear cay3) (clear nhh5)",
"(arm-empty) (on-table ijn2) (on dud4 nhh5) (on-table aor1) (on cay3 ijn2) (clear dud4) (on nhh5 aor1) (clear cay3)"
] |
file_55028
|
GOAL: (on sby1 yoh5) (clear dhz2) (arm-empty) (on yoh5 ugq3) (on-table wwj4) (on dhz2 wwj4) (clear sby1) (on-table ugq3)
|
GOAL: (on sby1 yoh5) (clear dhz2) (arm-empty) (on yoh5 ugq3) (on-table wwj4) (on dhz2 wwj4) (clear sby1) (on-table ugq3)
STATE: (arm-empty) (clear wwj4) (on yoh5 ugq3) (on-table wwj4) (on dhz2 yoh5) (on sby1 dhz2) (clear sby1) (on-table ugq3)
|
[
[
"unstack sby1 dhz2"
],
[
"stack sby1 wwj4"
],
[
"unstack dhz2 yoh5"
],
[
"put-down dhz2"
],
[
"unstack sby1 wwj4"
],
[
"stack sby1 yoh5"
],
[
"pick-up dhz2"
],
[
"stack dhz2 wwj4"
]
] |
[
"(holding sby1) (clear dhz2) (clear wwj4) (on yoh5 ugq3) (on-table wwj4) (on dhz2 yoh5) (on-table ugq3)",
"(clear dhz2) (arm-empty) (on yoh5 ugq3) (on-table wwj4) (on sby1 wwj4) (on dhz2 yoh5) (clear sby1) (on-table ugq3)",
"(holding dhz2) (on yoh5 ugq3) (on-table wwj4) (on sby1 wwj4) (clear sby1) (on-table ugq3) (clear yoh5)",
"(arm-empty) (on-table dhz2) (on yoh5 ugq3) (clear yoh5) (clear dhz2) (on-table wwj4) (on sby1 wwj4) (clear sby1) (on-table ugq3)",
"(holding sby1) (clear dhz2) (on-table dhz2) (clear wwj4) (on yoh5 ugq3) (on-table wwj4) (on-table ugq3) (clear yoh5)",
"(on sby1 yoh5) (clear dhz2) (arm-empty) (on-table dhz2) (clear wwj4) (on yoh5 ugq3) (on-table wwj4) (clear sby1) (on-table ugq3)",
"(on sby1 yoh5) (clear wwj4) (on yoh5 ugq3) (on-table wwj4) (holding dhz2) (clear sby1) (on-table ugq3)",
"(on sby1 yoh5) (clear dhz2) (arm-empty) (on yoh5 ugq3) (on-table wwj4) (on dhz2 wwj4) (clear sby1) (on-table ugq3)"
] |
file_130226
|
GOAL: (on hxl3 cco4) (clear cpv2) (arm-empty) (on-table cpv2) (on-table hnm1) (on adq5 hnm1) (on-table cco4) (clear hxl3) (clear adq5)
|
GOAL: (on hxl3 cco4) (clear cpv2) (arm-empty) (on-table cpv2) (on-table hnm1) (on adq5 hnm1) (on-table cco4) (clear hxl3) (clear adq5)
STATE: (on hxl3 adq5) (arm-empty) (on-table cpv2) (clear cco4) (on adq5 hnm1) (on cco4 hxl3) (on hnm1 cpv2)
|
[
[
"unstack cco4 hxl3"
],
[
"put-down cco4"
],
[
"unstack hxl3 adq5"
],
[
"stack hxl3 cco4"
],
[
"unstack adq5 hnm1"
],
[
"stack adq5 hxl3"
],
[
"unstack hnm1 cpv2"
],
[
"put-down hnm1"
],
[
"unstack adq5 hxl3"
],
[
"stack adq5 hnm1"
]
] |
[
"(on hxl3 adq5) (on-table cpv2) (holding cco4) (on hnm1 cpv2) (on adq5 hnm1) (clear hxl3)",
"(on hxl3 adq5) (arm-empty) (on-table cpv2) (clear cco4) (on hnm1 cpv2) (on adq5 hnm1) (on-table cco4) (clear hxl3)",
"(on-table cpv2) (clear cco4) (on adq5 hnm1) (on-table cco4) (on hnm1 cpv2) (holding hxl3) (clear adq5)",
"(on hxl3 cco4) (arm-empty) (on-table cpv2) (on adq5 hnm1) (on-table cco4) (clear hxl3) (on hnm1 cpv2) (clear adq5)",
"(on hxl3 cco4) (on-table cpv2) (holding adq5) (on-table cco4) (clear hxl3) (on hnm1 cpv2) (clear hnm1)",
"(on hxl3 cco4) (arm-empty) (on-table cpv2) (on adq5 hxl3) (on-table cco4) (on hnm1 cpv2) (clear hnm1) (clear adq5)",
"(holding hnm1) (on hxl3 cco4) (clear cpv2) (on-table cpv2) (on adq5 hxl3) (on-table cco4) (clear adq5)",
"(arm-empty) (on-table cpv2) (on adq5 hxl3) (clear adq5) (on hxl3 cco4) (clear cpv2) (on-table hnm1) (on-table cco4) (clear hnm1)",
"(on hxl3 cco4) (clear cpv2) (on-table cpv2) (on-table hnm1) (holding adq5) (on-table cco4) (clear hxl3) (clear hnm1)",
"(on hxl3 cco4) (clear cpv2) (arm-empty) (on-table cpv2) (on-table hnm1) (on adq5 hnm1) (on-table cco4) (clear hxl3) (clear adq5)"
] |
file_59524
|
GOAL: (on nge1 vto5) (arm-empty) (on-table vto5) (clear ewt4) (on zir2 nge1) (on ewt4 zir2) (clear vun3) (on-table vun3)
|
GOAL: (on nge1 vto5) (arm-empty) (on-table vto5) (clear ewt4) (on zir2 nge1) (on ewt4 zir2) (clear vun3) (on-table vun3)
STATE: (clear zir2) (arm-empty) (on-table zir2) (on-table vto5) (on ewt4 vun3) (on nge1 ewt4) (clear nge1) (on-table vun3) (clear vto5)
|
[
[
"unstack nge1 ewt4"
],
[
"stack nge1 vto5"
],
[
"pick-up zir2"
],
[
"stack zir2 nge1"
],
[
"unstack ewt4 vun3"
],
[
"stack ewt4 zir2"
]
] |
[
"(holding nge1) (clear zir2) (on-table zir2) (on-table vto5) (clear ewt4) (on ewt4 vun3) (on-table vun3) (clear vto5)",
"(on nge1 vto5) (clear zir2) (arm-empty) (on-table zir2) (on-table vto5) (clear ewt4) (on ewt4 vun3) (clear nge1) (on-table vun3)",
"(on nge1 vto5) (on-table vto5) (clear ewt4) (on ewt4 vun3) (holding zir2) (clear nge1) (on-table vun3)",
"(on nge1 vto5) (clear zir2) (arm-empty) (on-table vto5) (clear ewt4) (on ewt4 vun3) (on zir2 nge1) (on-table vun3)",
"(on nge1 vto5) (clear zir2) (on-table vto5) (holding ewt4) (on zir2 nge1) (clear vun3) (on-table vun3)",
"(on nge1 vto5) (arm-empty) (on-table vto5) (clear ewt4) (on zir2 nge1) (on ewt4 zir2) (clear vun3) (on-table vun3)"
] |
file_107403
|
GOAL: (clear yrr2) (on-table yrr2) (on-table svn1) (holding qhb4) (on tca3 svn1) (clear tca3)
|
GOAL: (clear yrr2) (on-table yrr2) (on-table svn1) (holding qhb4) (on tca3 svn1) (clear tca3)
STATE: (clear yrr2) (on-table yrr2) (holding qhb4) (on-table svn1) (clear tca3) (clear svn1) (on-table tca3)
|
[
[
"stack qhb4 tca3"
],
[
"pick-up yrr2"
],
[
"stack yrr2 svn1"
],
[
"unstack qhb4 tca3"
],
[
"put-down qhb4"
],
[
"pick-up tca3"
],
[
"stack tca3 qhb4"
],
[
"unstack yrr2 svn1"
],
[
"put-down yrr2"
],
[
"unstack tca3 qhb4"
],
[
"stack tca3 svn1"
],
[
"pick-up qhb4"
]
] |
[
"(clear yrr2) (arm-empty) (on-table yrr2) (on-table svn1) (clear qhb4) (on qhb4 tca3) (clear svn1) (on-table tca3)",
"(on-table svn1) (clear qhb4) (on qhb4 tca3) (holding yrr2) (clear svn1) (on-table tca3)",
"(clear yrr2) (arm-empty) (on-table svn1) (clear qhb4) (on qhb4 tca3) (on yrr2 svn1) (on-table tca3)",
"(holding qhb4) (clear yrr2) (on-table svn1) (on yrr2 svn1) (clear tca3) (on-table tca3)",
"(arm-empty) (clear qhb4) (on yrr2 svn1) (clear yrr2) (on-table svn1) (on-table qhb4) (clear tca3) (on-table tca3)",
"(clear yrr2) (on-table svn1) (clear qhb4) (on-table qhb4) (on yrr2 svn1) (holding tca3)",
"(on tca3 qhb4) (clear yrr2) (arm-empty) (on-table svn1) (on-table qhb4) (on yrr2 svn1) (clear tca3)",
"(on tca3 qhb4) (on-table svn1) (on-table qhb4) (holding yrr2) (clear tca3) (clear svn1)",
"(arm-empty) (on-table yrr2) (on tca3 qhb4) (clear yrr2) (on-table svn1) (on-table qhb4) (clear tca3) (clear svn1)",
"(clear yrr2) (on-table yrr2) (on-table svn1) (clear qhb4) (on-table qhb4) (holding tca3) (clear svn1)",
"(clear yrr2) (arm-empty) (on-table yrr2) (on-table svn1) (clear qhb4) (on-table qhb4) (on tca3 svn1) (clear tca3)",
"(clear yrr2) (on-table yrr2) (on-table svn1) (holding qhb4) (on tca3 svn1) (clear tca3)"
] |
file_223725
|
GOAL: (holding qaa1) (clear ifd2) (on-table vyl4) (on ifd2 vyl4) (clear qgy3) (on-table qgy3)
|
GOAL: (holding qaa1) (clear ifd2) (on-table vyl4) (on ifd2 vyl4) (clear qgy3) (on-table qgy3)
STATE: (clear ifd2) (on-table qaa1) (on-table vyl4) (on ifd2 vyl4) (holding qgy3) (clear qaa1)
|
[
[
"put-down qgy3"
],
[
"pick-up qaa1"
]
] |
[
"(arm-empty) (on ifd2 vyl4) (clear ifd2) (on-table qaa1) (on-table vyl4) (clear qgy3) (clear qaa1) (on-table qgy3)",
"(holding qaa1) (clear ifd2) (on-table vyl4) (on ifd2 vyl4) (clear qgy3) (on-table qgy3)"
] |
file_149702
|
GOAL: (on vpa3 ouo4) (on ouo4 gqa5) (on-table faq1) (on gqa5 faq1) (holding idi2) (clear vpa3)
|
GOAL: (on vpa3 ouo4) (on ouo4 gqa5) (on-table faq1) (on gqa5 faq1) (holding idi2) (clear vpa3)
STATE: (clear idi2) (arm-empty) (on ouo4 gqa5) (on-table faq1) (on gqa5 faq1) (on idi2 ouo4) (clear vpa3) (on-table vpa3)
|
[
[
"unstack idi2 ouo4"
],
[
"put-down idi2"
],
[
"pick-up vpa3"
],
[
"stack vpa3 ouo4"
],
[
"pick-up idi2"
]
] |
[
"(on ouo4 gqa5) (on-table faq1) (clear ouo4) (on gqa5 faq1) (holding idi2) (clear vpa3) (on-table vpa3)",
"(arm-empty) (on-table idi2) (on ouo4 gqa5) (clear ouo4) (clear idi2) (on-table faq1) (on gqa5 faq1) (clear vpa3) (on-table vpa3)",
"(clear idi2) (on-table idi2) (on ouo4 gqa5) (on-table faq1) (clear ouo4) (on gqa5 faq1) (holding vpa3)",
"(on vpa3 ouo4) (clear idi2) (arm-empty) (on-table idi2) (on ouo4 gqa5) (on-table faq1) (on gqa5 faq1) (clear vpa3)",
"(on vpa3 ouo4) (on ouo4 gqa5) (on-table faq1) (on gqa5 faq1) (holding idi2) (clear vpa3)"
] |
file_98982
|
GOAL: (on gir1 spp3) (on ili4 gir1) (on-table dgs2) (on spp3 dgs2) (clear ili4) (holding jfp5)
|
GOAL: (on gir1 spp3) (on ili4 gir1) (on-table dgs2) (on spp3 dgs2) (clear ili4) (holding jfp5)
STATE: (on gir1 spp3) (arm-empty) (on-table dgs2) (on-table jfp5) (on spp3 dgs2) (clear ili4) (on-table ili4) (clear gir1) (clear jfp5)
|
[
[
"pick-up ili4"
],
[
"stack ili4 gir1"
],
[
"pick-up jfp5"
]
] |
[
"(on gir1 spp3) (on-table dgs2) (on-table jfp5) (holding ili4) (on spp3 dgs2) (clear gir1) (clear jfp5)",
"(on gir1 spp3) (on ili4 gir1) (on-table dgs2) (on-table jfp5) (arm-empty) (on spp3 dgs2) (clear ili4) (clear jfp5)",
"(on gir1 spp3) (on ili4 gir1) (on-table dgs2) (on spp3 dgs2) (clear ili4) (holding jfp5)"
] |
file_110717
|
GOAL: (on hrt1 jmd5) (on-table aaz2) (on jmd5 aaz2) (clear bju4) (on-table bju4) (holding scn3) (clear hrt1)
|
GOAL: (on hrt1 jmd5) (on-table aaz2) (on jmd5 aaz2) (clear bju4) (on-table bju4) (holding scn3) (clear hrt1)
STATE: (on hrt1 jmd5) (on-table aaz2) (holding bju4) (on jmd5 aaz2) (clear scn3) (clear hrt1) (on-table scn3)
|
[
[
"put-down bju4"
],
[
"pick-up scn3"
]
] |
[
"(on hrt1 jmd5) (arm-empty) (on-table aaz2) (on jmd5 aaz2) (clear bju4) (on-table bju4) (clear scn3) (clear hrt1) (on-table scn3)",
"(on hrt1 jmd5) (on-table aaz2) (on jmd5 aaz2) (clear bju4) (on-table bju4) (holding scn3) (clear hrt1)"
] |
file_50726
|
GOAL: (on-table kmd5) (holding rzu2) (on-table wpj4) (on uqg1 wpj4) (clear tpa3) (clear uqg1) (on-table tpa3) (clear kmd5)
|
GOAL: (on-table kmd5) (holding rzu2) (on-table wpj4) (on uqg1 wpj4) (clear tpa3) (clear uqg1) (on-table tpa3) (clear kmd5)
STATE: (on tpa3 wpj4) (clear rzu2) (on uqg1 tpa3) (arm-empty) (on-table rzu2) (on-table kmd5) (on-table wpj4) (clear uqg1) (clear kmd5)
|
[
[
"pick-up rzu2"
],
[
"stack rzu2 kmd5"
],
[
"unstack uqg1 tpa3"
],
[
"stack uqg1 rzu2"
],
[
"unstack tpa3 wpj4"
],
[
"put-down tpa3"
],
[
"unstack uqg1 rzu2"
],
[
"stack uqg1 wpj4"
],
[
"unstack rzu2 kmd5"
]
] |
[
"(on tpa3 wpj4) (on uqg1 tpa3) (on-table kmd5) (on-table wpj4) (holding rzu2) (clear uqg1) (clear kmd5)",
"(on tpa3 wpj4) (clear rzu2) (on uqg1 tpa3) (arm-empty) (on-table kmd5) (on-table wpj4) (on rzu2 kmd5) (clear uqg1)",
"(holding uqg1) (on tpa3 wpj4) (clear rzu2) (on-table kmd5) (on-table wpj4) (on rzu2 kmd5) (clear tpa3)",
"(on tpa3 wpj4) (arm-empty) (on-table kmd5) (on-table wpj4) (on rzu2 kmd5) (clear tpa3) (on uqg1 rzu2) (clear uqg1)",
"(on-table kmd5) (clear wpj4) (on-table wpj4) (on rzu2 kmd5) (on uqg1 rzu2) (clear uqg1) (holding tpa3)",
"(arm-empty) (on-table kmd5) (clear wpj4) (on rzu2 kmd5) (on uqg1 rzu2) (on-table wpj4) (clear tpa3) (clear uqg1) (on-table tpa3)",
"(holding uqg1) (clear rzu2) (on-table kmd5) (clear wpj4) (on-table wpj4) (on rzu2 kmd5) (clear tpa3) (on-table tpa3)",
"(clear rzu2) (arm-empty) (on-table kmd5) (on-table wpj4) (on uqg1 wpj4) (on rzu2 kmd5) (clear tpa3) (clear uqg1) (on-table tpa3)",
"(on-table kmd5) (holding rzu2) (on-table wpj4) (on uqg1 wpj4) (clear tpa3) (clear uqg1) (on-table tpa3) (clear kmd5)"
] |
file_120532
|
GOAL: (arm-empty) (clear aui4) (on jlp2 beo1) (clear jlp2) (on-table beo1) (on-table aui4) (clear mpt3) (on-table mpt3)
|
GOAL: (arm-empty) (clear aui4) (on jlp2 beo1) (clear jlp2) (on-table beo1) (on-table aui4) (clear mpt3) (on-table mpt3)
STATE: (clear jlp2) (arm-empty) (on-table jlp2) (on-table beo1) (clear aui4) (on aui4 mpt3) (on mpt3 beo1)
|
[
[
"unstack aui4 mpt3"
],
[
"stack aui4 jlp2"
],
[
"unstack mpt3 beo1"
],
[
"put-down mpt3"
],
[
"unstack aui4 jlp2"
],
[
"stack aui4 mpt3"
],
[
"pick-up jlp2"
],
[
"stack jlp2 beo1"
],
[
"unstack aui4 mpt3"
],
[
"put-down aui4"
]
] |
[
"(holding aui4) (on mpt3 beo1) (clear jlp2) (on-table jlp2) (on-table beo1) (clear mpt3)",
"(on mpt3 beo1) (arm-empty) (clear aui4) (on-table jlp2) (on aui4 jlp2) (clear mpt3) (on-table beo1)",
"(on-table jlp2) (clear aui4) (on-table beo1) (on aui4 jlp2) (holding mpt3) (clear beo1)",
"(on aui4 jlp2) (arm-empty) (on-table jlp2) (on-table beo1) (clear mpt3) (clear aui4) (clear beo1) (on-table mpt3)",
"(clear jlp2) (on-table jlp2) (on-table beo1) (holding aui4) (clear mpt3) (clear beo1) (on-table mpt3)",
"(arm-empty) (on-table jlp2) (clear aui4) (clear jlp2) (on-table beo1) (on aui4 mpt3) (clear beo1) (on-table mpt3)",
"(on-table beo1) (clear aui4) (on aui4 mpt3) (holding jlp2) (clear beo1) (on-table mpt3)",
"(clear jlp2) (arm-empty) (on-table beo1) (clear aui4) (on aui4 mpt3) (on jlp2 beo1) (on-table mpt3)",
"(holding aui4) (clear jlp2) (on-table beo1) (on jlp2 beo1) (clear mpt3) (on-table mpt3)",
"(arm-empty) (clear aui4) (on jlp2 beo1) (clear jlp2) (on-table beo1) (on-table aui4) (clear mpt3) (on-table mpt3)"
] |
file_178095
|
GOAL: (clear jiq2) (arm-empty) (on-table lrz5) (on asc4 lrz5) (on xwa1 asc4) (on suc3 xwa1) (on jiq2 suc3)
|
GOAL: (clear jiq2) (arm-empty) (on-table lrz5) (on asc4 lrz5) (on xwa1 asc4) (on suc3 xwa1) (on jiq2 suc3)
STATE: (clear jiq2) (on suc3 lrz5) (arm-empty) (on lrz5 asc4) (on-table jiq2) (on-table xwa1) (on-table asc4) (clear suc3) (clear xwa1)
|
[
[
"unstack suc3 lrz5"
],
[
"stack suc3 jiq2"
],
[
"unstack lrz5 asc4"
],
[
"put-down lrz5"
],
[
"pick-up asc4"
],
[
"stack asc4 lrz5"
],
[
"pick-up xwa1"
],
[
"stack xwa1 asc4"
],
[
"unstack suc3 jiq2"
],
[
"stack suc3 xwa1"
],
[
"pick-up jiq2"
],
[
"stack jiq2 suc3"
]
] |
[
"(clear jiq2) (on lrz5 asc4) (on-table jiq2) (on-table xwa1) (on-table asc4) (holding suc3) (clear xwa1) (clear lrz5)",
"(arm-empty) (on lrz5 asc4) (on-table jiq2) (on-table xwa1) (on suc3 jiq2) (on-table asc4) (clear suc3) (clear xwa1) (clear lrz5)",
"(on-table jiq2) (on-table xwa1) (on suc3 jiq2) (clear asc4) (holding lrz5) (on-table asc4) (clear suc3) (clear xwa1)",
"(arm-empty) (on-table jiq2) (on-table lrz5) (on-table xwa1) (on suc3 jiq2) (clear asc4) (on-table asc4) (clear suc3) (clear xwa1) (clear lrz5)",
"(on-table jiq2) (on-table lrz5) (on-table xwa1) (holding asc4) (on suc3 jiq2) (clear suc3) (clear xwa1) (clear lrz5)",
"(arm-empty) (on-table jiq2) (on-table lrz5) (on-table xwa1) (on asc4 lrz5) (on suc3 jiq2) (clear asc4) (clear suc3) (clear xwa1)",
"(holding xwa1) (on-table jiq2) (on-table lrz5) (on asc4 lrz5) (on suc3 jiq2) (clear asc4) (clear suc3)",
"(arm-empty) (on-table jiq2) (on-table lrz5) (on asc4 lrz5) (on suc3 jiq2) (on xwa1 asc4) (clear suc3) (clear xwa1)",
"(clear jiq2) (on-table jiq2) (on-table lrz5) (on asc4 lrz5) (on xwa1 asc4) (holding suc3) (clear xwa1)",
"(clear jiq2) (arm-empty) (on-table jiq2) (on-table lrz5) (on asc4 lrz5) (on xwa1 asc4) (on suc3 xwa1) (clear suc3)",
"(on-table lrz5) (on asc4 lrz5) (holding jiq2) (on xwa1 asc4) (on suc3 xwa1) (clear suc3)",
"(clear jiq2) (arm-empty) (on-table lrz5) (on asc4 lrz5) (on xwa1 asc4) (on suc3 xwa1) (on jiq2 suc3)"
] |
file_121883
|
GOAL: (arm-empty) (on-table ngw2) (on ixl4 cgg5) (on-table eyv1) (on cgg5 ngw2) (clear ixl4) (clear sgm3) (clear eyv1) (on-table sgm3)
|
GOAL: (arm-empty) (on-table ngw2) (on ixl4 cgg5) (on-table eyv1) (on cgg5 ngw2) (clear ixl4) (clear sgm3) (clear eyv1) (on-table sgm3)
STATE: (on sgm3 cgg5) (arm-empty) (on-table ngw2) (on-table eyv1) (on cgg5 ngw2) (clear ixl4) (on ixl4 sgm3) (clear eyv1)
|
[
[
"unstack ixl4 sgm3"
],
[
"stack ixl4 eyv1"
],
[
"unstack sgm3 cgg5"
],
[
"put-down sgm3"
],
[
"unstack ixl4 eyv1"
],
[
"stack ixl4 cgg5"
]
] |
[
"(on sgm3 cgg5) (on-table ngw2) (on-table eyv1) (holding ixl4) (on cgg5 ngw2) (clear sgm3) (clear eyv1)",
"(on sgm3 cgg5) (on ixl4 eyv1) (arm-empty) (on-table ngw2) (on-table eyv1) (on cgg5 ngw2) (clear ixl4) (clear sgm3)",
"(on ixl4 eyv1) (on-table ngw2) (on-table eyv1) (on cgg5 ngw2) (clear ixl4) (holding sgm3) (clear cgg5)",
"(on ixl4 eyv1) (arm-empty) (on-table ngw2) (on cgg5 ngw2) (clear ixl4) (clear cgg5) (on-table eyv1) (clear sgm3) (on-table sgm3)",
"(on-table ngw2) (on-table eyv1) (holding ixl4) (on cgg5 ngw2) (clear sgm3) (clear eyv1) (on-table sgm3) (clear cgg5)",
"(arm-empty) (on-table ngw2) (on ixl4 cgg5) (on-table eyv1) (on cgg5 ngw2) (clear ixl4) (clear sgm3) (clear eyv1) (on-table sgm3)"
] |
file_217033
|
GOAL: (arm-empty) (on gpv5 ict2) (on zes4 zeo3) (on rap1 zes4) (on ict2 rap1) (on-table zeo3) (clear gpv5)
|
GOAL: (arm-empty) (on gpv5 ict2) (on zes4 zeo3) (on rap1 zes4) (on ict2 rap1) (on-table zeo3) (clear gpv5)
STATE: (on rap1 gpv5) (on zes4 rap1) (arm-empty) (on-table ict2) (on gpv5 ict2) (clear zes4) (clear zeo3) (on-table zeo3)
|
[
[
"unstack zes4 rap1"
],
[
"stack zes4 zeo3"
],
[
"unstack rap1 gpv5"
],
[
"stack rap1 zes4"
],
[
"unstack gpv5 ict2"
],
[
"put-down gpv5"
],
[
"pick-up ict2"
],
[
"stack ict2 rap1"
],
[
"pick-up gpv5"
],
[
"stack gpv5 ict2"
]
] |
[
"(on rap1 gpv5) (on-table ict2) (holding zes4) (on gpv5 ict2) (clear zeo3) (clear rap1) (on-table zeo3)",
"(on rap1 gpv5) (arm-empty) (on-table ict2) (on gpv5 ict2) (clear zes4) (on zes4 zeo3) (clear rap1) (on-table zeo3)",
"(holding rap1) (on-table ict2) (on gpv5 ict2) (clear zes4) (on zes4 zeo3) (on-table zeo3) (clear gpv5)",
"(arm-empty) (on-table ict2) (on gpv5 ict2) (on zes4 zeo3) (on rap1 zes4) (clear rap1) (on-table zeo3) (clear gpv5)",
"(clear ict2) (on-table ict2) (on zes4 zeo3) (holding gpv5) (on rap1 zes4) (clear rap1) (on-table zeo3)",
"(arm-empty) (on-table ict2) (on-table gpv5) (clear gpv5) (clear ict2) (on zes4 zeo3) (on rap1 zes4) (clear rap1) (on-table zeo3)",
"(on-table gpv5) (holding ict2) (on zes4 zeo3) (on rap1 zes4) (clear rap1) (on-table zeo3) (clear gpv5)",
"(arm-empty) (on-table gpv5) (on ict2 rap1) (clear gpv5) (clear ict2) (on zes4 zeo3) (on rap1 zes4) (on-table zeo3)",
"(clear ict2) (on zes4 zeo3) (holding gpv5) (on rap1 zes4) (on ict2 rap1) (on-table zeo3)",
"(arm-empty) (on gpv5 ict2) (on zes4 zeo3) (on rap1 zes4) (on ict2 rap1) (on-table zeo3) (clear gpv5)"
] |
file_1487
|
GOAL: (on wiv1 ucq5) (arm-empty) (on-table gok2) (on ucq5 gok2) (clear ics4) (on ics4 iiz3) (on iiz3 wiv1)
|
GOAL: (on wiv1 ucq5) (arm-empty) (on-table gok2) (on ucq5 gok2) (clear ics4) (on ics4 iiz3) (on iiz3 wiv1)
STATE: (on wiv1 ucq5) (on-table gok2) (holding ics4) (on ucq5 gok2) (clear iiz3) (clear wiv1) (on-table iiz3)
|
[
[
"put-down ics4"
],
[
"pick-up iiz3"
],
[
"stack iiz3 wiv1"
],
[
"pick-up ics4"
],
[
"stack ics4 iiz3"
]
] |
[
"(on wiv1 ucq5) (arm-empty) (on-table gok2) (on ucq5 gok2) (clear ics4) (on-table ics4) (clear iiz3) (clear wiv1) (on-table iiz3)",
"(on wiv1 ucq5) (on-table gok2) (on ucq5 gok2) (clear ics4) (on-table ics4) (holding iiz3) (clear wiv1)",
"(on wiv1 ucq5) (arm-empty) (on-table gok2) (on ucq5 gok2) (clear ics4) (on-table ics4) (on iiz3 wiv1) (clear iiz3)",
"(on wiv1 ucq5) (on-table gok2) (holding ics4) (on ucq5 gok2) (on iiz3 wiv1) (clear iiz3)",
"(on wiv1 ucq5) (arm-empty) (on-table gok2) (on ucq5 gok2) (clear ics4) (on ics4 iiz3) (on iiz3 wiv1)"
] |
file_50722
|
GOAL: (on-table mfs2) (on-table aeq1) (holding zgn4) (on fas5 mfs2) (on rgq3 aeq1) (clear rgq3) (clear fas5)
|
GOAL: (on-table mfs2) (on-table aeq1) (holding zgn4) (on fas5 mfs2) (on rgq3 aeq1) (clear rgq3) (clear fas5)
STATE: (on aeq1 fas5) (on-table mfs2) (on fas5 mfs2) (clear zgn4) (on-table zgn4) (holding rgq3) (clear aeq1)
|
[
[
"put-down rgq3"
],
[
"unstack aeq1 fas5"
],
[
"put-down aeq1"
],
[
"pick-up rgq3"
],
[
"stack rgq3 aeq1"
],
[
"pick-up zgn4"
]
] |
[
"(on aeq1 fas5) (arm-empty) (on-table mfs2) (on fas5 mfs2) (clear zgn4) (on-table zgn4) (clear rgq3) (clear aeq1) (on-table rgq3)",
"(holding aeq1) (on-table mfs2) (on fas5 mfs2) (clear zgn4) (on-table zgn4) (clear rgq3) (on-table rgq3) (clear fas5)",
"(arm-empty) (on-table mfs2) (on-table aeq1) (on fas5 mfs2) (clear zgn4) (on-table zgn4) (clear rgq3) (clear aeq1) (on-table rgq3) (clear fas5)",
"(on-table mfs2) (on-table aeq1) (on fas5 mfs2) (clear zgn4) (on-table zgn4) (holding rgq3) (clear aeq1) (clear fas5)",
"(arm-empty) (on-table mfs2) (on-table aeq1) (on fas5 mfs2) (clear zgn4) (on-table zgn4) (on rgq3 aeq1) (clear rgq3) (clear fas5)",
"(on-table mfs2) (on-table aeq1) (holding zgn4) (on fas5 mfs2) (on rgq3 aeq1) (clear rgq3) (clear fas5)"
] |
file_157203
|
GOAL: (on yrz3 usl4) (clear zlx2) (on dgp1 yrz3) (arm-empty) (on-table xar5) (on-table usl4) (on zlx2 dgp1) (clear xar5)
|
GOAL: (on yrz3 usl4) (clear zlx2) (on dgp1 yrz3) (arm-empty) (on-table xar5) (on-table usl4) (on zlx2 dgp1) (clear xar5)
STATE: (arm-empty) (on-table xar5) (clear usl4) (on usl4 yrz3) (on yrz3 dgp1) (on zlx2 xar5) (on dgp1 zlx2)
|
[
[
"unstack usl4 yrz3"
],
[
"put-down usl4"
],
[
"unstack yrz3 dgp1"
],
[
"stack yrz3 usl4"
],
[
"unstack dgp1 zlx2"
],
[
"stack dgp1 yrz3"
],
[
"unstack zlx2 xar5"
],
[
"stack zlx2 dgp1"
]
] |
[
"(holding usl4) (on-table xar5) (on yrz3 dgp1) (on zlx2 xar5) (clear yrz3) (on dgp1 zlx2)",
"(arm-empty) (on-table xar5) (clear usl4) (on yrz3 dgp1) (on zlx2 xar5) (on dgp1 zlx2) (on-table usl4) (clear yrz3)",
"(on-table xar5) (clear usl4) (on-table usl4) (on zlx2 xar5) (on dgp1 zlx2) (clear dgp1) (holding yrz3)",
"(on yrz3 usl4) (arm-empty) (on-table xar5) (on-table usl4) (on zlx2 xar5) (clear yrz3) (on dgp1 zlx2) (clear dgp1)",
"(holding dgp1) (on yrz3 usl4) (clear zlx2) (on-table xar5) (on-table usl4) (on zlx2 xar5) (clear yrz3)",
"(on yrz3 usl4) (clear zlx2) (on dgp1 yrz3) (arm-empty) (on-table xar5) (on-table usl4) (on zlx2 xar5) (clear dgp1)",
"(on yrz3 usl4) (on dgp1 yrz3) (on-table xar5) (on-table usl4) (holding zlx2) (clear dgp1) (clear xar5)",
"(on yrz3 usl4) (clear zlx2) (on dgp1 yrz3) (arm-empty) (on-table xar5) (on-table usl4) (on zlx2 dgp1) (clear xar5)"
] |
file_11143
|
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