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WatchAct

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  1. meta_data/Temporal_Sort.json +272 -1516
meta_data/Temporal_Sort.json CHANGED
@@ -29,30 +29,12 @@
29
  [
30
  "On",
31
  "milk_1",
32
- "main_front_right_region"
33
  ]
34
  ],
35
  "final_goal": [
36
- [
37
- "On",
38
- "wooden_tray_1",
39
- "fixture_back_region"
40
- ],
41
- [
42
- "On",
43
- "basket_1",
44
- "fixture_front_region"
45
- ],
46
- [
47
- "On",
48
- "cheese_1",
49
- "main_back_right_region"
50
- ],
51
- [
52
- "On",
53
- "milk_1",
54
- "main_middle_right_region"
55
- ]
56
  ],
57
  "primitive_action_sequence": null,
58
  "sub_goals": null,
@@ -61,28 +43,16 @@
61
  "milk_1"
62
  ],
63
  "interest_objects_final_states": [
64
- [
65
- "On",
66
- "cheese_1",
67
- "main_back_right_region"
68
- ],
69
- [
70
- "On",
71
- "milk_1",
72
- "main_middle_right_region"
73
- ]
74
  ],
75
  "oracle_plan": [
76
- "PICK(milk_1, main_front_right_region)",
77
- "PLACE(milk_1, main_middle_right_region)",
78
- "PICK(cheese_1, main_middle_center_region)",
79
- "PLACE(cheese_1, main_back_right_region)"
80
  ],
81
  "oracle_plan_human": [
82
- "PICK(milk_1, main_back_left_region)",
83
- "PLACE(milk_1, main_middle_left_region)",
84
- "PICK(cheese_1, main_middle_center_region)",
85
- "PLACE(cheese_1, main_front_left_region)"
86
  ]
87
  },
88
  "video": {
@@ -125,26 +95,8 @@
125
  ]
126
  ],
127
  "final_goal": [
128
- [
129
- "On",
130
- "wooden_tray_1",
131
- "fixture_back_region"
132
- ],
133
- [
134
- "On",
135
- "basket_1",
136
- "fixture_front_region"
137
- ],
138
- [
139
- "On",
140
- "ketchup_1",
141
- "main_middle_left_region"
142
- ],
143
- [
144
- "On",
145
- "milk_1",
146
- "main_middle_center_region"
147
- ]
148
  ],
149
  "primitive_action_sequence": null,
150
  "sub_goals": null,
@@ -152,11 +104,8 @@
152
  "ketchup_1"
153
  ],
154
  "interest_objects_final_states": [
155
- [
156
- "On",
157
- "ketchup_1",
158
- "main_middle_left_region"
159
- ]
160
  ],
161
  "oracle_plan": [
162
  "PICK(ketchup_1, main_middle_right_region)",
@@ -207,26 +156,8 @@
207
  ]
208
  ],
209
  "final_goal": [
210
- [
211
- "On",
212
- "wooden_tray_1",
213
- "fixture_back_region"
214
- ],
215
- [
216
- "On",
217
- "basket_1",
218
- "fixture_front_region"
219
- ],
220
- [
221
- "On",
222
- "mango_1",
223
- "main_back_right_region"
224
- ],
225
- [
226
- "On",
227
- "ketchup_1",
228
- "main_back_center_region"
229
- ]
230
  ],
231
  "primitive_action_sequence": null,
232
  "sub_goals": null,
@@ -234,11 +165,8 @@
234
  "mango_1"
235
  ],
236
  "interest_objects_final_states": [
237
- [
238
- "On",
239
- "mango_1",
240
- "main_back_right_region"
241
- ]
242
  ],
243
  "oracle_plan": [
244
  "PICK(mango_1, main_middle_left_region)",
@@ -289,26 +217,8 @@
289
  ]
290
  ],
291
  "final_goal": [
292
- [
293
- "On",
294
- "wooden_tray_1",
295
- "fixture_back_region"
296
- ],
297
- [
298
- "On",
299
- "basket_1",
300
- "fixture_front_region"
301
- ],
302
- [
303
- "On",
304
- "butter_1",
305
- "main_back_left_region"
306
- ],
307
- [
308
- "On",
309
- "cream_cheese_1",
310
- "main_back_center_region"
311
- ]
312
  ],
313
  "primitive_action_sequence": null,
314
  "sub_goals": null,
@@ -316,11 +226,8 @@
316
  "cream_cheese_1"
317
  ],
318
  "interest_objects_final_states": [
319
- [
320
- "On",
321
- "cream_cheese_1",
322
- "main_back_center_region"
323
- ]
324
  ],
325
  "oracle_plan": [
326
  "PICK(cream_cheese_1, main_middle_center_region)",
@@ -377,31 +284,8 @@
377
  ]
378
  ],
379
  "final_goal": [
380
- [
381
- "On",
382
- "wooden_tray_1",
383
- "fixture_back_region"
384
- ],
385
- [
386
- "On",
387
- "basket_1",
388
- "fixture_front_region"
389
- ],
390
- [
391
- "On",
392
- "butter_1",
393
- "main_back_left_region"
394
- ],
395
- [
396
- "On",
397
- "cream_cheese_1",
398
- "main_back_center_region"
399
- ],
400
- [
401
- "On",
402
- "cream_cheese_2",
403
- "main_back_right_region"
404
- ]
405
  ],
406
  "primitive_action_sequence": null,
407
  "sub_goals": null,
@@ -409,11 +293,8 @@
409
  "cream_cheese_2"
410
  ],
411
  "interest_objects_final_states": [
412
- [
413
- "On",
414
- "cream_cheese_2",
415
- "main_back_right_region"
416
- ]
417
  ],
418
  "oracle_plan": [
419
  "PICK(cream_cheese_2, main_middle_center_region)",
@@ -470,31 +351,8 @@
470
  ]
471
  ],
472
  "final_goal": [
473
- [
474
- "On",
475
- "wooden_tray_1",
476
- "fixture_back_region"
477
- ],
478
- [
479
- "On",
480
- "basket_1",
481
- "fixture_front_region"
482
- ],
483
- [
484
- "On",
485
- "butter_1",
486
- "main_middle_center_region"
487
- ],
488
- [
489
- "On",
490
- "cream_cheese_1",
491
- "main_middle_left_region"
492
- ],
493
- [
494
- "On",
495
- "cream_cheese_2",
496
- "main_back_center_region"
497
- ]
498
  ],
499
  "primitive_action_sequence": null,
500
  "sub_goals": null,
@@ -503,27 +361,19 @@
503
  "cream_cheese_1"
504
  ],
505
  "interest_objects_final_states": [
506
- [
507
- "On",
508
- "butter_1",
509
- "main_middle_center_region"
510
- ],
511
- [
512
- "On",
513
- "cream_cheese_1",
514
- "main_middle_left_region"
515
- ]
516
  ],
517
  "oracle_plan": [
518
  "PICK(cream_cheese_1, main_back_left_region)",
519
- "PLACE(cream_cheese_1, main_middle_left_region)",
520
- "PICK(butter_1, main_middle_left_region)",
521
  "PLACE(butter_1, main_middle_center_region)"
522
  ],
523
  "oracle_plan_human": [
524
  "PICK(cream_cheese_1, main_front_right_region)",
525
- "PLACE(cream_cheese_1, main_middle_right_region)",
526
- "PICK(butter_1, main_middle_right_region)",
527
  "PLACE(butter_1, main_middle_center_region)"
528
  ]
529
  },
@@ -573,31 +423,8 @@
573
  ]
574
  ],
575
  "final_goal": [
576
- [
577
- "On",
578
- "wooden_tray_1",
579
- "fixture_back_region"
580
- ],
581
- [
582
- "On",
583
- "basket_1",
584
- "fixture_front_region"
585
- ],
586
- [
587
- "On",
588
- "butter_1",
589
- "main_back_center_region"
590
- ],
591
- [
592
- "On",
593
- "cream_cheese_1",
594
- "main_back_left_region"
595
- ],
596
- [
597
- "On",
598
- "cream_cheese_2",
599
- "main_back_right_region"
600
- ]
601
  ],
602
  "primitive_action_sequence": null,
603
  "sub_goals": null,
@@ -605,11 +432,8 @@
605
  "cream_cheese_2"
606
  ],
607
  "interest_objects_final_states": [
608
- [
609
- "On",
610
- "cream_cheese_2",
611
- "main_back_right_region"
612
- ]
613
  ],
614
  "oracle_plan": [
615
  "PICK(cream_cheese_2, main_middle_center_region)",
@@ -666,31 +490,8 @@
666
  ]
667
  ],
668
  "final_goal": [
669
- [
670
- "On",
671
- "wooden_tray_1",
672
- "fixture_back_region"
673
- ],
674
- [
675
- "On",
676
- "basket_1",
677
- "fixture_front_region"
678
- ],
679
- [
680
- "On",
681
- "butter_1",
682
- "main_back_center_region"
683
- ],
684
- [
685
- "On",
686
- "cream_cheese_1",
687
- "main_middle_right_region"
688
- ],
689
- [
690
- "On",
691
- "cream_cheese_2",
692
- "main_middle_center_region"
693
- ]
694
  ],
695
  "primitive_action_sequence": null,
696
  "sub_goals": null,
@@ -698,11 +499,8 @@
698
  "cream_cheese_1"
699
  ],
700
  "interest_objects_final_states": [
701
- [
702
- "On",
703
- "cream_cheese_1",
704
- "main_middle_right_region"
705
- ]
706
  ],
707
  "oracle_plan": [
708
  "PICK(cream_cheese_1, main_middle_left_region)",
@@ -759,31 +557,8 @@
759
  ]
760
  ],
761
  "final_goal": [
762
- [
763
- "On",
764
- "wooden_tray_1",
765
- "fixture_back_region"
766
- ],
767
- [
768
- "On",
769
- "basket_1",
770
- "fixture_front_region"
771
- ],
772
- [
773
- "On",
774
- "butter_1",
775
- "main_back_right_region"
776
- ],
777
- [
778
- "On",
779
- "cream_cheese_1",
780
- "main_back_left_region"
781
- ],
782
- [
783
- "On",
784
- "cream_cheese_2",
785
- "main_back_center_region"
786
- ]
787
  ],
788
  "primitive_action_sequence": null,
789
  "sub_goals": null,
@@ -791,11 +566,8 @@
791
  "butter_1"
792
  ],
793
  "interest_objects_final_states": [
794
- [
795
- "On",
796
- "butter_1",
797
- "main_back_right_region"
798
- ]
799
  ],
800
  "oracle_plan": [
801
  "PICK(butter_1, main_middle_right_region)",
@@ -852,31 +624,8 @@
852
  ]
853
  ],
854
  "final_goal": [
855
- [
856
- "On",
857
- "wooden_tray_1",
858
- "fixture_back_region"
859
- ],
860
- [
861
- "On",
862
- "basket_1",
863
- "fixture_front_region"
864
- ],
865
- [
866
- "On",
867
- "butter_1",
868
- "main_middle_right_region"
869
- ],
870
- [
871
- "On",
872
- "cream_cheese_1",
873
- "main_middle_left_region"
874
- ],
875
- [
876
- "On",
877
- "cream_cheese_2",
878
- "main_middle_center_region"
879
- ]
880
  ],
881
  "primitive_action_sequence": null,
882
  "sub_goals": null,
@@ -884,11 +633,8 @@
884
  "cream_cheese_2"
885
  ],
886
  "interest_objects_final_states": [
887
- [
888
- "On",
889
- "cream_cheese_2",
890
- "main_middle_center_region"
891
- ]
892
  ],
893
  "oracle_plan": [
894
  "PICK(cream_cheese_2, main_back_center_region)",
@@ -945,31 +691,8 @@
945
  ]
946
  ],
947
  "final_goal": [
948
- [
949
- "On",
950
- "wooden_tray_1",
951
- "fixture_back_region"
952
- ],
953
- [
954
- "On",
955
- "basket_1",
956
- "fixture_front_region"
957
- ],
958
- [
959
- "On",
960
- "butter_1",
961
- "main_back_center_region"
962
- ],
963
- [
964
- "On",
965
- "cream_cheese_1",
966
- "main_back_right_region"
967
- ],
968
- [
969
- "On",
970
- "ketchup_1",
971
- "main_middle_center_region"
972
- ]
973
  ],
974
  "primitive_action_sequence": null,
975
  "sub_goals": null,
@@ -977,11 +700,8 @@
977
  "butter_1"
978
  ],
979
  "interest_objects_final_states": [
980
- [
981
- "On",
982
- "butter_1",
983
- "main_back_center_region"
984
- ]
985
  ],
986
  "oracle_plan": [
987
  "PICK(butter_1, main_middle_left_region)",
@@ -1038,31 +758,8 @@
1038
  ]
1039
  ],
1040
  "final_goal": [
1041
- [
1042
- "On",
1043
- "wooden_tray_1",
1044
- "fixture_back_region"
1045
- ],
1046
- [
1047
- "On",
1048
- "basket_1",
1049
- "fixture_front_region"
1050
- ],
1051
- [
1052
- "On",
1053
- "butter_1",
1054
- "main_back_left_region"
1055
- ],
1056
- [
1057
- "On",
1058
- "cream_cheese_1",
1059
- "main_back_right_region"
1060
- ],
1061
- [
1062
- "On",
1063
- "ketchup_1",
1064
- "main_back_center_region"
1065
- ]
1066
  ],
1067
  "primitive_action_sequence": null,
1068
  "sub_goals": null,
@@ -1070,11 +767,8 @@
1070
  "butter_1"
1071
  ],
1072
  "interest_objects_final_states": [
1073
- [
1074
- "On",
1075
- "butter_1",
1076
- "main_back_left_region"
1077
- ]
1078
  ],
1079
  "oracle_plan": [
1080
  "PICK(butter_1, main_back_right_region)",
@@ -1125,37 +819,16 @@
1125
  ]
1126
  ],
1127
  "final_goal": [
1128
- [
1129
- "On",
1130
- "wooden_tray_1",
1131
- "fixture_back_region"
1132
- ],
1133
- [
1134
- "On",
1135
- "basket_1",
1136
- "fixture_front_region"
1137
- ],
1138
- [
1139
- "On",
1140
- "cream_cheese_1",
1141
- "main_back_center_region"
1142
- ],
1143
- [
1144
- "On",
1145
- "alphabet_soup_1",
1146
- "main_back_right_region"
1147
- ]
1148
  ],
1149
  "primitive_action_sequence": null,
1150
  "interest_objects": [
1151
  "alphabet_soup_1"
1152
  ],
1153
  "interest_objects_final_states": [
1154
- [
1155
- "On",
1156
- "alphabet_soup_1",
1157
- "main_back_right_region"
1158
- ]
1159
  ],
1160
  "oracle_plan": [
1161
  "PICK(alphabet_soup_1, main_middle_right_region)",
@@ -1206,26 +879,8 @@
1206
  ]
1207
  ],
1208
  "final_goal": [
1209
- [
1210
- "On",
1211
- "wooden_tray_1",
1212
- "fixture_back_region"
1213
- ],
1214
- [
1215
- "On",
1216
- "basket_1",
1217
- "fixture_front_region"
1218
- ],
1219
- [
1220
- "On",
1221
- "tennis_ball_1",
1222
- "main_back_center_region"
1223
- ],
1224
- [
1225
- "On",
1226
- "cream_cheese_1",
1227
- "main_back_right_region"
1228
- ]
1229
  ],
1230
  "primitive_action_sequence": null,
1231
  "sub_goals": null,
@@ -1233,11 +888,8 @@
1233
  "cream_cheese_1"
1234
  ],
1235
  "interest_objects_final_states": [
1236
- [
1237
- "On",
1238
- "cream_cheese_1",
1239
- "main_back_right_region"
1240
- ]
1241
  ],
1242
  "oracle_plan": [
1243
  "PICK(cream_cheese_1, main_middle_center_region)",
@@ -1288,26 +940,8 @@
1288
  ]
1289
  ],
1290
  "final_goal": [
1291
- [
1292
- "On",
1293
- "wooden_tray_1",
1294
- "fixture_back_region"
1295
- ],
1296
- [
1297
- "On",
1298
- "basket_1",
1299
- "fixture_front_region"
1300
- ],
1301
- [
1302
- "On",
1303
- "tennis_ball_1",
1304
- "main_back_right_region"
1305
- ],
1306
- [
1307
- "On",
1308
- "cream_cheese_1",
1309
- "main_back_center_region"
1310
- ]
1311
  ],
1312
  "primitive_action_sequence": null,
1313
  "sub_goals": null,
@@ -1315,11 +949,8 @@
1315
  "cream_cheese_1"
1316
  ],
1317
  "interest_objects_final_states": [
1318
- [
1319
- "On",
1320
- "cream_cheese_1",
1321
- "main_back_center_region"
1322
- ]
1323
  ],
1324
  "oracle_plan": [
1325
  "PICK(cream_cheese_1, main_middle_center_region)",
@@ -1370,26 +1001,8 @@
1370
  ]
1371
  ],
1372
  "final_goal": [
1373
- [
1374
- "On",
1375
- "wooden_tray_1",
1376
- "fixture_back_region"
1377
- ],
1378
- [
1379
- "On",
1380
- "basket_1",
1381
- "fixture_front_region"
1382
- ],
1383
- [
1384
- "On",
1385
- "tennis_ball_1",
1386
- "main_back_center_region"
1387
- ],
1388
- [
1389
- "On",
1390
- "tennis_ball_2",
1391
- "main_back_right_region"
1392
- ]
1393
  ],
1394
  "primitive_action_sequence": null,
1395
  "sub_goals": null,
@@ -1397,11 +1010,8 @@
1397
  "tennis_ball_2"
1398
  ],
1399
  "interest_objects_final_states": [
1400
- [
1401
- "On",
1402
- "tennis_ball_2",
1403
- "main_back_right_region"
1404
- ]
1405
  ],
1406
  "oracle_plan": [
1407
  "PICK(tennis_ball_2, main_middle_center_region)",
@@ -1452,26 +1062,8 @@
1452
  ]
1453
  ],
1454
  "final_goal": [
1455
- [
1456
- "On",
1457
- "wooden_tray_1",
1458
- "fixture_back_region"
1459
- ],
1460
- [
1461
- "On",
1462
- "basket_1",
1463
- "fixture_front_region"
1464
- ],
1465
- [
1466
- "On",
1467
- "tennis_ball_1",
1468
- "main_back_center_region"
1469
- ],
1470
- [
1471
- "On",
1472
- "tennis_ball_2",
1473
- "main_back_left_region"
1474
- ]
1475
  ],
1476
  "primitive_action_sequence": null,
1477
  "sub_goals": null,
@@ -1479,11 +1071,8 @@
1479
  "tennis_ball_2"
1480
  ],
1481
  "interest_objects_final_states": [
1482
- [
1483
- "On",
1484
- "tennis_ball_2",
1485
- "main_back_left_region"
1486
- ]
1487
  ],
1488
  "oracle_plan": [
1489
  "PICK(tennis_ball_2, main_middle_center_region)",
@@ -1534,26 +1123,8 @@
1534
  ]
1535
  ],
1536
  "final_goal": [
1537
- [
1538
- "On",
1539
- "wooden_tray_1",
1540
- "fixture_back_region"
1541
- ],
1542
- [
1543
- "On",
1544
- "basket_1",
1545
- "fixture_front_region"
1546
- ],
1547
- [
1548
- "On",
1549
- "tennis_ball_1",
1550
- "main_back_center_region"
1551
- ],
1552
- [
1553
- "On",
1554
- "apple_1",
1555
- "main_back_left_region"
1556
- ]
1557
  ],
1558
  "primitive_action_sequence": null,
1559
  "sub_goals": null,
@@ -1561,11 +1132,8 @@
1561
  "apple_1"
1562
  ],
1563
  "interest_objects_final_states": [
1564
- [
1565
- "On",
1566
- "apple_1",
1567
- "main_back_left_region"
1568
- ]
1569
  ],
1570
  "oracle_plan": [
1571
  "PICK(apple_1, main_middle_left_region)",
@@ -1622,31 +1190,8 @@
1622
  ]
1623
  ],
1624
  "final_goal": [
1625
- [
1626
- "On",
1627
- "wooden_tray_1",
1628
- "fixture_back_region"
1629
- ],
1630
- [
1631
- "On",
1632
- "basket_1",
1633
- "fixture_front_region"
1634
- ],
1635
- [
1636
- "On",
1637
- "tennis_ball_1",
1638
- "main_back_center_region"
1639
- ],
1640
- [
1641
- "On",
1642
- "apple_1",
1643
- "main_back_left_region"
1644
- ],
1645
- [
1646
- "On",
1647
- "cream_cheese_1",
1648
- "main_back_right_region"
1649
- ]
1650
  ],
1651
  "primitive_action_sequence": null,
1652
  "sub_goals": null,
@@ -1654,11 +1199,8 @@
1654
  "cream_cheese_1"
1655
  ],
1656
  "interest_objects_final_states": [
1657
- [
1658
- "On",
1659
- "cream_cheese_1",
1660
- "main_back_right_region"
1661
- ]
1662
  ],
1663
  "oracle_plan": [
1664
  "PICK(cream_cheese_1, main_middle_right_region)",
@@ -1715,31 +1257,9 @@
1715
  ]
1716
  ],
1717
  "final_goal": [
1718
- [
1719
- "On",
1720
- "wooden_tray_1",
1721
- "fixture_back_region"
1722
- ],
1723
- [
1724
- "On",
1725
- "basket_1",
1726
- "fixture_front_region"
1727
- ],
1728
- [
1729
- "On",
1730
- "ketchup_1",
1731
- "main_back_center_region"
1732
- ],
1733
- [
1734
- "On",
1735
- "apple_1",
1736
- "main_back_right_region"
1737
- ],
1738
- [
1739
- "On",
1740
- "cream_cheese_1",
1741
- "main_back_left_region"
1742
- ]
1743
  ],
1744
  "primitive_action_sequence": null,
1745
  "sub_goals": null,
@@ -1748,16 +1268,9 @@
1748
  "ketchup_1"
1749
  ],
1750
  "interest_objects_final_states": [
1751
- [
1752
- "On",
1753
- "ketchup_1",
1754
- "main_back_center_region"
1755
- ],
1756
- [
1757
- "On",
1758
- "apple_1",
1759
- "main_back_right_region"
1760
- ]
1761
  ],
1762
  "oracle_plan": [
1763
  "PICK(ketchup_1, main_middle_center_region)",
@@ -1812,26 +1325,8 @@
1812
  ]
1813
  ],
1814
  "final_goal": [
1815
- [
1816
- "On",
1817
- "wooden_tray_1",
1818
- "fixture_back_region"
1819
- ],
1820
- [
1821
- "On",
1822
- "basket_1",
1823
- "fixture_front_region"
1824
- ],
1825
- [
1826
- "On",
1827
- "milk_1",
1828
- "main_back_center_region"
1829
- ],
1830
- [
1831
- "On",
1832
- "orange_juice_1",
1833
- "main_back_left_region"
1834
- ]
1835
  ],
1836
  "primitive_action_sequence": null,
1837
  "sub_goals": null,
@@ -1839,11 +1334,8 @@
1839
  "orange_juice_1"
1840
  ],
1841
  "interest_objects_final_states": [
1842
- [
1843
- "On",
1844
- "orange_juice_1",
1845
- "main_back_left_region"
1846
- ]
1847
  ],
1848
  "oracle_plan": [
1849
  "PICK(orange_juice_1, main_middle_center_region)",
@@ -1900,31 +1392,9 @@
1900
  ]
1901
  ],
1902
  "final_goal": [
1903
- [
1904
- "On",
1905
- "wooden_tray_1",
1906
- "fixture_back_region"
1907
- ],
1908
- [
1909
- "On",
1910
- "basket_1",
1911
- "fixture_front_region"
1912
- ],
1913
- [
1914
- "On",
1915
- "milk_1",
1916
- "main_middle_center_region"
1917
- ],
1918
- [
1919
- "On",
1920
- "cream_cheese_1",
1921
- "main_middle_right_region"
1922
- ],
1923
- [
1924
- "On",
1925
- "orange_juice_1",
1926
- "main_middle_left_region"
1927
- ]
1928
  ],
1929
  "primitive_action_sequence": null,
1930
  "sub_goals": null,
@@ -1933,16 +1403,9 @@
1933
  "milk_1"
1934
  ],
1935
  "interest_objects_final_states": [
1936
- [
1937
- "On",
1938
- "milk_1",
1939
- "main_middle_center_region"
1940
- ],
1941
- [
1942
- "On",
1943
- "cream_cheese_1",
1944
- "main_middle_right_region"
1945
- ]
1946
  ],
1947
  "oracle_plan": [
1948
  "PICK(milk_1, main_back_center_region)",
@@ -2003,31 +1466,8 @@
2003
  ]
2004
  ],
2005
  "final_goal": [
2006
- [
2007
- "On",
2008
- "wooden_tray_1",
2009
- "fixture_back_region"
2010
- ],
2011
- [
2012
- "On",
2013
- "basket_1",
2014
- "fixture_front_region"
2015
- ],
2016
- [
2017
- "On",
2018
- "milk_1",
2019
- "main_back_center_region"
2020
- ],
2021
- [
2022
- "On",
2023
- "cream_cheese_1",
2024
- "main_back_left_region"
2025
- ],
2026
- [
2027
- "On",
2028
- "orange_juice_1",
2029
- "main_back_right_region"
2030
- ]
2031
  ],
2032
  "primitive_action_sequence": null,
2033
  "sub_goals": null,
@@ -2035,11 +1475,8 @@
2035
  "orange_juice_1"
2036
  ],
2037
  "interest_objects_final_states": [
2038
- [
2039
- "On",
2040
- "orange_juice_1",
2041
- "main_back_right_region"
2042
- ]
2043
  ],
2044
  "oracle_plan": [
2045
  "PICK(orange_juice_1, main_middle_right_region)",
@@ -2090,26 +1527,8 @@
2090
  ]
2091
  ],
2092
  "final_goal": [
2093
- [
2094
- "On",
2095
- "wooden_tray_1",
2096
- "fixture_front_region"
2097
- ],
2098
- [
2099
- "On",
2100
- "mango_1",
2101
- "main_middle_left_region"
2102
- ],
2103
- [
2104
- "On",
2105
- "apple_1",
2106
- "main_middle_right_region"
2107
- ],
2108
- [
2109
- "On",
2110
- "banana_1",
2111
- "main_middle_center_region"
2112
- ]
2113
  ],
2114
  "primitive_action_sequence": null,
2115
  "sub_goals": null,
@@ -2118,16 +1537,8 @@
2118
  "banana_1"
2119
  ],
2120
  "interest_objects_final_states": [
2121
- [
2122
- "On",
2123
- "apple_1",
2124
- "main_middle_right_region"
2125
- ],
2126
- [
2127
- "On",
2128
- "banana_1",
2129
- "main_middle_center_region"
2130
- ]
2131
  ],
2132
  "oracle_plan": [
2133
  "PICK(apple_1, main_middle_center_region)",
@@ -2186,26 +1597,8 @@
2186
  ]
2187
  ],
2188
  "final_goal": [
2189
- [
2190
- "On",
2191
- "wooden_tray_1",
2192
- "fixture_front_region"
2193
- ],
2194
- [
2195
- "On",
2196
- "banana_1",
2197
- "main_back_left_region"
2198
- ],
2199
- [
2200
- "On",
2201
- "mango_1",
2202
- "main_back_center_region"
2203
- ],
2204
- [
2205
- "On",
2206
- "apple_1",
2207
- "main_back_right_region"
2208
- ]
2209
  ],
2210
  "primitive_action_sequence": null,
2211
  "sub_goals": null,
@@ -2214,16 +1607,8 @@
2214
  "mango_1"
2215
  ],
2216
  "interest_objects_final_states": [
2217
- [
2218
- "On",
2219
- "banana_1",
2220
- "main_back_left_region"
2221
- ],
2222
- [
2223
- "On",
2224
- "mango_1",
2225
- "main_back_center_region"
2226
- ]
2227
  ],
2228
  "oracle_plan": [
2229
  "PICK(banana_1, main_middle_center_region)",
@@ -2278,26 +1663,9 @@
2278
  ]
2279
  ],
2280
  "final_goal": [
2281
- [
2282
- "On",
2283
- "wooden_tray_1",
2284
- "fixture_front_region"
2285
- ],
2286
- [
2287
- "On",
2288
- "cheese_1",
2289
- "main_middle_right_region"
2290
- ],
2291
- [
2292
- "On",
2293
- "banana_1",
2294
- "main_middle_center_region"
2295
- ],
2296
- [
2297
- "On",
2298
- "mango_1",
2299
- "main_middle_left_region"
2300
- ]
2301
  ],
2302
  "primitive_action_sequence": null,
2303
  "sub_goals": null,
@@ -2306,16 +1674,9 @@
2306
  "mango_1"
2307
  ],
2308
  "interest_objects_final_states": [
2309
- [
2310
- "On",
2311
- "cheese_1",
2312
- "main_middle_right_region"
2313
- ],
2314
- [
2315
- "On",
2316
- "mango_1",
2317
- "main_middle_left_region"
2318
- ]
2319
  ],
2320
  "oracle_plan": [
2321
  "PICK(mango_1, main_front_left_region)",
@@ -2370,26 +1731,8 @@
2370
  ]
2371
  ],
2372
  "final_goal": [
2373
- [
2374
- "On",
2375
- "wooden_tray_1",
2376
- "fixture_front_region"
2377
- ],
2378
- [
2379
- "On",
2380
- "pear_1",
2381
- "main_middle_center_region"
2382
- ],
2383
- [
2384
- "On",
2385
- "cheese_1",
2386
- "main_middle_right_region"
2387
- ],
2388
- [
2389
- "On",
2390
- "mango_1",
2391
- "main_front_left_region"
2392
- ]
2393
  ],
2394
  "primitive_action_sequence": null,
2395
  "sub_goals": null,
@@ -2397,11 +1740,8 @@
2397
  "cheese_1"
2398
  ],
2399
  "interest_objects_final_states": [
2400
- [
2401
- "On",
2402
- "cheese_1",
2403
- "main_middle_right_region"
2404
- ]
2405
  ],
2406
  "oracle_plan": [
2407
  "PICK(cheese_1, main_back_right_region)",
@@ -2452,26 +1792,9 @@
2452
  ]
2453
  ],
2454
  "final_goal": [
2455
- [
2456
- "On",
2457
- "wooden_tray_1",
2458
- "fixture_front_region"
2459
- ],
2460
- [
2461
- "On",
2462
- "pear_1",
2463
- "main_middle_center_region"
2464
- ],
2465
- [
2466
- "On",
2467
- "cheese_1",
2468
- "main_middle_left_region"
2469
- ],
2470
- [
2471
- "On",
2472
- "mango_1",
2473
- "main_middle_right_region"
2474
- ]
2475
  ],
2476
  "primitive_action_sequence": null,
2477
  "sub_goals": null,
@@ -2480,16 +1803,9 @@
2480
  "mango_1"
2481
  ],
2482
  "interest_objects_final_states": [
2483
- [
2484
- "On",
2485
- "cheese_1",
2486
- "main_middle_left_region"
2487
- ],
2488
- [
2489
- "On",
2490
- "mango_1",
2491
- "main_middle_right_region"
2492
- ]
2493
  ],
2494
  "oracle_plan": [
2495
  "PICK(mango_1, main_middle_left_region)",
@@ -2538,21 +1854,8 @@
2538
  ]
2539
  ],
2540
  "final_goal": [
2541
- [
2542
- "On",
2543
- "wooden_tray_1",
2544
- "fixture_front_region"
2545
- ],
2546
- [
2547
- "On",
2548
- "pear_1",
2549
- "main_middle_center_region"
2550
- ],
2551
- [
2552
- "On",
2553
- "mango_1",
2554
- "main_middle_right_region"
2555
- ]
2556
  ],
2557
  "primitive_action_sequence": null,
2558
  "sub_goals": null,
@@ -2560,11 +1863,8 @@
2560
  "mango_1"
2561
  ],
2562
  "interest_objects_final_states": [
2563
- [
2564
- "On",
2565
- "mango_1",
2566
- "main_middle_right_region"
2567
- ]
2568
  ],
2569
  "oracle_plan": [
2570
  "PICK(mango_1, main_back_center_region)",
@@ -2609,21 +1909,8 @@
2609
  ]
2610
  ],
2611
  "final_goal": [
2612
- [
2613
- "On",
2614
- "wooden_tray_1",
2615
- "fixture_front_region"
2616
- ],
2617
- [
2618
- "On",
2619
- "pear_1",
2620
- "main_back_center_region"
2621
- ],
2622
- [
2623
- "On",
2624
- "mango_1",
2625
- "main_back_right_region"
2626
- ]
2627
  ],
2628
  "primitive_action_sequence": null,
2629
  "sub_goals": null,
@@ -2631,11 +1918,8 @@
2631
  "mango_1"
2632
  ],
2633
  "interest_objects_final_states": [
2634
- [
2635
- "On",
2636
- "mango_1",
2637
- "main_back_right_region"
2638
- ]
2639
  ],
2640
  "oracle_plan": [
2641
  "PICK(mango_1, main_middle_center_region)",
@@ -2686,26 +1970,9 @@
2686
  ]
2687
  ],
2688
  "final_goal": [
2689
- [
2690
- "On",
2691
- "wooden_tray_1",
2692
- "fixture_front_region"
2693
- ],
2694
- [
2695
- "On",
2696
- "tennis_ball_1",
2697
- "main_middle_left_region"
2698
- ],
2699
- [
2700
- "On",
2701
- "cream_cheese_1",
2702
- "main_middle_center_region"
2703
- ],
2704
- [
2705
- "On",
2706
- "mango_1",
2707
- "main_middle_right_region"
2708
- ]
2709
  ],
2710
  "primitive_action_sequence": null,
2711
  "sub_goals": [
@@ -2736,16 +2003,9 @@
2736
  "tennis_ball_1"
2737
  ],
2738
  "interest_objects_final_states": [
2739
- [
2740
- "On",
2741
- "tennis_ball_1",
2742
- "main_middle_left_region"
2743
- ],
2744
- [
2745
- "On",
2746
- "cream_cheese_1",
2747
- "main_middle_center_region"
2748
- ]
2749
  ],
2750
  "oracle_plan": [
2751
  "PICK(tennis_ball_1, main_front_left_region)",
@@ -2800,26 +2060,9 @@
2800
  ]
2801
  ],
2802
  "final_goal": [
2803
- [
2804
- "On",
2805
- "wooden_tray_1",
2806
- "fixture_front_region"
2807
- ],
2808
- [
2809
- "On",
2810
- "tennis_ball_1",
2811
- "main_back_left_region"
2812
- ],
2813
- [
2814
- "On",
2815
- "cream_cheese_1",
2816
- "main_back_right_region"
2817
- ],
2818
- [
2819
- "On",
2820
- "mango_1",
2821
- "main_back_center_region"
2822
- ]
2823
  ],
2824
  "primitive_action_sequence": null,
2825
  "sub_goals": null,
@@ -2828,16 +2071,9 @@
2828
  "tennis_ball_1"
2829
  ],
2830
  "interest_objects_final_states": [
2831
- [
2832
- "On",
2833
- "tennis_ball_1",
2834
- "main_back_left_region"
2835
- ],
2836
- [
2837
- "On",
2838
- "mango_1",
2839
- "main_back_center_region"
2840
- ]
2841
  ],
2842
  "oracle_plan": [
2843
  "PICK(tennis_ball_1, main_front_right_region)",
@@ -2892,26 +2128,9 @@
2892
  ]
2893
  ],
2894
  "final_goal": [
2895
- [
2896
- "On",
2897
- "wooden_tray_1",
2898
- "fixture_front_region"
2899
- ],
2900
- [
2901
- "On",
2902
- "tennis_ball_1",
2903
- "main_middle_left_region"
2904
- ],
2905
- [
2906
- "On",
2907
- "cream_cheese_1",
2908
- "main_middle_center_region"
2909
- ],
2910
- [
2911
- "On",
2912
- "mango_1",
2913
- "main_middle_right_region"
2914
- ]
2915
  ],
2916
  "primitive_action_sequence": null,
2917
  "sub_goals": null,
@@ -2920,16 +2139,9 @@
2920
  "tennis_ball_1"
2921
  ],
2922
  "interest_objects_final_states": [
2923
- [
2924
- "On",
2925
- "tennis_ball_1",
2926
- "main_middle_left_region"
2927
- ],
2928
- [
2929
- "On",
2930
- "cream_cheese_1",
2931
- "main_middle_center_region"
2932
- ]
2933
  ],
2934
  "oracle_plan": [
2935
  "PICK(tennis_ball_1, main_front_right_region)",
@@ -2991,31 +2203,9 @@
2991
  ]
2992
  ],
2993
  "final_goal": [
2994
- [
2995
- "On",
2996
- "basket_2",
2997
- "fixture_back_region"
2998
- ],
2999
- [
3000
- "On",
3001
- "basket_1",
3002
- "fixture_front_region"
3003
- ],
3004
- [
3005
- "On",
3006
- "tennis_ball_1",
3007
- "main_middle_left_region"
3008
- ],
3009
- [
3010
- "On",
3011
- "cheese_1",
3012
- "main_middle_right_region"
3013
- ],
3014
- [
3015
- "On",
3016
- "cream_cheese_1",
3017
- "main_middle_center_region"
3018
- ]
3019
  ],
3020
  "primitive_action_sequence": null,
3021
  "sub_goals": null,
@@ -3023,11 +2213,9 @@
3023
  "tennis_ball_1"
3024
  ],
3025
  "interest_objects_final_states": [
3026
- [
3027
- "On",
3028
- "tennis_ball_1",
3029
- "main_middle_left_region"
3030
- ]
3031
  ],
3032
  "oracle_plan": [
3033
  "PICK(tennis_ball_1, main_back_center_region)",
@@ -3084,31 +2272,9 @@
3084
  ]
3085
  ],
3086
  "final_goal": [
3087
- [
3088
- "On",
3089
- "basket_1",
3090
- "fixture_back_region"
3091
- ],
3092
- [
3093
- "On",
3094
- "basket_2",
3095
- "fixture_front_region"
3096
- ],
3097
- [
3098
- "On",
3099
- "tennis_ball_1",
3100
- "main_middle_right_region"
3101
- ],
3102
- [
3103
- "On",
3104
- "cheese_1",
3105
- "main_middle_center_region"
3106
- ],
3107
- [
3108
- "On",
3109
- "cream_cheese_1",
3110
- "main_middle_left_region"
3111
- ]
3112
  ],
3113
  "primitive_action_sequence": null,
3114
  "sub_goals": null,
@@ -3121,7 +2287,11 @@
3121
  "PLACE(tennis_ball_1, main_middle_left_region)"
3122
  ],
3123
  "interest_objects": [],
3124
- "interest_objects_final_states": []
 
 
 
 
3125
  },
3126
  "video": {
3127
  "front": "front/GX010673.MP4",
@@ -3169,31 +2339,9 @@
3169
  ]
3170
  ],
3171
  "final_goal": [
3172
- [
3173
- "On",
3174
- "basket_1",
3175
- "fixture_back_region"
3176
- ],
3177
- [
3178
- "On",
3179
- "basket_2",
3180
- "fixture_front_region"
3181
- ],
3182
- [
3183
- "On",
3184
- "tennis_ball_1",
3185
- "main_back_center_region"
3186
- ],
3187
- [
3188
- "On",
3189
- "cheese_1",
3190
- "main_back_right_region"
3191
- ],
3192
- [
3193
- "On",
3194
- "cream_cheese_1",
3195
- "main_back_left_region"
3196
- ]
3197
  ],
3198
  "primitive_action_sequence": null,
3199
  "sub_goals": null,
@@ -3203,21 +2351,9 @@
3203
  "tennis_ball_1"
3204
  ],
3205
  "interest_objects_final_states": [
3206
- [
3207
- "On",
3208
- "tennis_ball_1",
3209
- "main_back_center_region"
3210
- ],
3211
- [
3212
- "On",
3213
- "cheese_1",
3214
- "main_back_right_region"
3215
- ],
3216
- [
3217
- "On",
3218
- "cream_cheese_1",
3219
- "main_back_left_region"
3220
- ]
3221
  ],
3222
  "oracle_plan": [
3223
  "PICK(cream_cheese_1, main_middle_left_region)",
@@ -3268,7 +2404,7 @@
3268
  [
3269
  "On",
3270
  "tennis_ball_1",
3271
- "main_back_left_region"
3272
  ],
3273
  [
3274
  "On",
@@ -3282,31 +2418,9 @@
3282
  ]
3283
  ],
3284
  "final_goal": [
3285
- [
3286
- "On",
3287
- "basket_1",
3288
- "fixture_back_region"
3289
- ],
3290
- [
3291
- "On",
3292
- "basket_2",
3293
- "fixture_front_region"
3294
- ],
3295
- [
3296
- "On",
3297
- "tennis_ball_1",
3298
- "main_back_right_region"
3299
- ],
3300
- [
3301
- "On",
3302
- "mango_1",
3303
- "main_back_center_region"
3304
- ],
3305
- [
3306
- "On",
3307
- "cheese_1",
3308
- "main_back_left_region"
3309
- ]
3310
  ],
3311
  "primitive_action_sequence": null,
3312
  "sub_goals": null,
@@ -3315,32 +2429,17 @@
3315
  "tennis_ball_1"
3316
  ],
3317
  "interest_objects_final_states": [
3318
- [
3319
- "On",
3320
- "tennis_ball_1",
3321
- "main_back_right_region"
3322
- ],
3323
- [
3324
- "On",
3325
- "cheese_1",
3326
- "main_back_left_region"
3327
- ]
3328
  ],
3329
  "oracle_plan": [
3330
- "PICK(tennis_ball_1, main_back_left_region)",
3331
- "PLACE(tennis_ball_1, main_front_left_region)",
3332
- "PICK(cheese_1, main_back_right_region)",
3333
- "PLACE(cheese_1, main_back_left_region)",
3334
- "PICK(tennis_ball_1, main_front_left_region)",
3335
- "PLACE(tennis_ball_1, main_back_right_region)"
3336
  ],
3337
  "oracle_plan_human": [
3338
- "PICK(tennis_ball_1, main_front_right_region)",
3339
- "PLACE(tennis_ball_1, main_back_right_region)",
3340
- "PICK(cheese_1, main_front_left_region)",
3341
- "PLACE(cheese_1, main_front_right_region)",
3342
- "PICK(tennis_ball_1, main_back_right_region)",
3343
- "PLACE(tennis_ball_1, main_front_left_region)"
3344
  ]
3345
  },
3346
  "video": {
@@ -3389,31 +2488,9 @@
3389
  ]
3390
  ],
3391
  "final_goal": [
3392
- [
3393
- "On",
3394
- "basket_1",
3395
- "fixture_back_region"
3396
- ],
3397
- [
3398
- "On",
3399
- "basket_2",
3400
- "fixture_front_region"
3401
- ],
3402
- [
3403
- "On",
3404
- "tennis_ball_1",
3405
- "main_back_left_region"
3406
- ],
3407
- [
3408
- "On",
3409
- "tennis_ball_2",
3410
- "main_back_center_region"
3411
- ],
3412
- [
3413
- "On",
3414
- "tennis_ball_3",
3415
- "main_back_right_region"
3416
- ]
3417
  ],
3418
  "primitive_action_sequence": null,
3419
  "sub_goals": null,
@@ -3422,16 +2499,9 @@
3422
  "tennis_ball_3"
3423
  ],
3424
  "interest_objects_final_states": [
3425
- [
3426
- "On",
3427
- "tennis_ball_2",
3428
- "main_back_center_region"
3429
- ],
3430
- [
3431
- "On",
3432
- "tennis_ball_3",
3433
- "main_back_right_region"
3434
- ]
3435
  ],
3436
  "oracle_plan": [
3437
  "PICK(tennis_ball_2, main_back_right_region)",
@@ -3492,31 +2562,9 @@
3492
  ]
3493
  ],
3494
  "final_goal": [
3495
- [
3496
- "On",
3497
- "basket_1",
3498
- "fixture_back_region"
3499
- ],
3500
- [
3501
- "On",
3502
- "basket_2",
3503
- "fixture_front_region"
3504
- ],
3505
- [
3506
- "On",
3507
- "tennis_ball_1",
3508
- "main_back_right_region"
3509
- ],
3510
- [
3511
- "On",
3512
- "tennis_ball_2",
3513
- "main_back_center_region"
3514
- ],
3515
- [
3516
- "On",
3517
- "tennis_ball_3",
3518
- "main_back_left_region"
3519
- ]
3520
  ],
3521
  "primitive_action_sequence": null,
3522
  "sub_goals": null,
@@ -3524,11 +2572,9 @@
3524
  "tennis_ball_3"
3525
  ],
3526
  "interest_objects_final_states": [
3527
- [
3528
- "On",
3529
- "tennis_ball_3",
3530
- "main_back_left_region"
3531
- ]
3532
  ],
3533
  "oracle_plan": [
3534
  "PICK(tennis_ball_3, main_middle_right_region)",
@@ -3579,26 +2625,8 @@
3579
  ]
3580
  ],
3581
  "final_goal": [
3582
- [
3583
- "On",
3584
- "basket_1",
3585
- "fixture_back_region"
3586
- ],
3587
- [
3588
- "On",
3589
- "basket_2",
3590
- "fixture_front_region"
3591
- ],
3592
- [
3593
- "On",
3594
- "pear_1",
3595
- "main_middle_center_region"
3596
- ],
3597
- [
3598
- "On",
3599
- "apple_1",
3600
- "main_middle_right_region"
3601
- ]
3602
  ],
3603
  "primitive_action_sequence": null,
3604
  "sub_goals": null,
@@ -3606,11 +2634,8 @@
3606
  "pear_1"
3607
  ],
3608
  "interest_objects_final_states": [
3609
- [
3610
- "On",
3611
- "pear_1",
3612
- "main_middle_center_region"
3613
- ]
3614
  ],
3615
  "oracle_plan": [
3616
  "PICK(pear_1, main_back_right_region)",
@@ -3653,7 +2678,7 @@
3653
  [
3654
  "On",
3655
  "mango_1",
3656
- "main_middle_left_region"
3657
  ],
3658
  [
3659
  "On",
@@ -3667,31 +2692,9 @@
3667
  ]
3668
  ],
3669
  "final_goal": [
3670
- [
3671
- "On",
3672
- "basket_1",
3673
- "fixture_back_region"
3674
- ],
3675
- [
3676
- "On",
3677
- "basket_2",
3678
- "fixture_front_region"
3679
- ],
3680
- [
3681
- "On",
3682
- "mango_1",
3683
- "main_middle_left_region"
3684
- ],
3685
- [
3686
- "On",
3687
- "apple_1",
3688
- "main_back_center_region"
3689
- ],
3690
- [
3691
- "On",
3692
- "pear_1",
3693
- "main_back_left_region"
3694
- ]
3695
  ],
3696
  "primitive_action_sequence": null,
3697
  "sub_goals": null,
@@ -3699,11 +2702,9 @@
3699
  "apple_1"
3700
  ],
3701
  "interest_objects_final_states": [
3702
- [
3703
- "On",
3704
- "apple_1",
3705
- "main_back_center_region"
3706
- ]
3707
  ],
3708
  "oracle_plan": [
3709
  "PICK(apple_1, main_middle_center_region)",
@@ -3760,31 +2761,9 @@
3760
  ]
3761
  ],
3762
  "final_goal": [
3763
- [
3764
- "On",
3765
- "basket_1",
3766
- "fixture_back_region"
3767
- ],
3768
- [
3769
- "On",
3770
- "basket_2",
3771
- "fixture_front_region"
3772
- ],
3773
- [
3774
- "On",
3775
- "tennis_ball_1",
3776
- "main_back_right_region"
3777
- ],
3778
- [
3779
- "On",
3780
- "apple_1",
3781
- "main_back_center_region"
3782
- ],
3783
- [
3784
- "On",
3785
- "tennis_ball_2",
3786
- "main_back_left_region"
3787
- ]
3788
  ],
3789
  "primitive_action_sequence": null,
3790
  "sub_goals": null,
@@ -3792,11 +2771,9 @@
3792
  "apple_1"
3793
  ],
3794
  "interest_objects_final_states": [
3795
- [
3796
- "On",
3797
- "apple_1",
3798
- "main_back_center_region"
3799
- ]
3800
  ],
3801
  "oracle_plan": [
3802
  "PICK(apple_1, main_middle_center_region)",
@@ -3816,43 +2793,16 @@
3816
  },
3817
  {
3818
  "id": "temporal_sort_42",
3819
- "simulation_task": {
3820
- "language_instruction": "Arrange the objects being touched by the person in a row, ordered from the person's left to right according to the sequence in which the person touches them.",
3821
- "objects": [
3822
- "basket_1",
3823
- "basket_2",
3824
- "tennis_ball_1",
3825
- "apple_1",
3826
- "tennis_ball_2"
3827
- ],
3828
- "initial_states": [
3829
- [
3830
- "On",
3831
- "basket_1",
3832
- "fixture_back_region"
3833
- ],
3834
- [
3835
- "On",
3836
- "basket_2",
3837
- "fixture_front_region"
3838
- ],
3839
- [
3840
- "On",
3841
- "tennis_ball_1",
3842
- "main_back_right_region"
3843
- ],
3844
- [
3845
- "On",
3846
- "apple_1",
3847
- "main_middle_center_region"
3848
- ],
3849
- [
3850
- "On",
3851
- "tennis_ball_2",
3852
- "main_back_left_region"
3853
- ]
3854
  ],
3855
- "final_goal": [
3856
  [
3857
  "On",
3858
  "basket_1",
@@ -3871,14 +2821,19 @@
3871
  [
3872
  "On",
3873
  "apple_1",
3874
- "main_back_left_region"
3875
  ],
3876
  [
3877
  "On",
3878
  "tennis_ball_2",
3879
- "main_back_center_region"
3880
  ]
3881
  ],
 
 
 
 
 
3882
  "primitive_action_sequence": null,
3883
  "sub_goals": null,
3884
  "interest_objects": [
@@ -3886,16 +2841,9 @@
3886
  "tennis_ball_2"
3887
  ],
3888
  "interest_objects_final_states": [
3889
- [
3890
- "On",
3891
- "apple_1",
3892
- "main_back_left_region"
3893
- ],
3894
- [
3895
- "On",
3896
- "tennis_ball_2",
3897
- "main_back_center_region"
3898
- ]
3899
  ],
3900
  "oracle_plan": [
3901
  "PICK(tennis_ball_2, main_back_left_region)",
@@ -3956,31 +2904,9 @@
3956
  ]
3957
  ],
3958
  "final_goal": [
3959
- [
3960
- "On",
3961
- "basket_1",
3962
- "fixture_back_region"
3963
- ],
3964
- [
3965
- "On",
3966
- "basket_2",
3967
- "fixture_front_region"
3968
- ],
3969
- [
3970
- "On",
3971
- "tennis_ball_1",
3972
- "main_middle_right_region"
3973
- ],
3974
- [
3975
- "On",
3976
- "apple_1",
3977
- "main_middle_center_region"
3978
- ],
3979
- [
3980
- "On",
3981
- "tennis_ball_2",
3982
- "main_middle_left_region"
3983
- ]
3984
  ],
3985
  "primitive_action_sequence": null,
3986
  "sub_goals": null,
@@ -3989,16 +2915,9 @@
3989
  "tennis_ball_2"
3990
  ],
3991
  "interest_objects_final_states": [
3992
- [
3993
- "On",
3994
- "apple_1",
3995
- "main_middle_center_region"
3996
- ],
3997
- [
3998
- "On",
3999
- "tennis_ball_2",
4000
- "main_middle_left_region"
4001
- ]
4002
  ],
4003
  "oracle_plan": [
4004
  "PICK(tennis_ball_2, main_middle_center_region)",
@@ -4059,31 +2978,9 @@
4059
  ]
4060
  ],
4061
  "final_goal": [
4062
- [
4063
- "On",
4064
- "basket_1",
4065
- "fixture_back_region"
4066
- ],
4067
- [
4068
- "On",
4069
- "basket_2",
4070
- "fixture_front_region"
4071
- ],
4072
- [
4073
- "On",
4074
- "tennis_ball_1",
4075
- "main_middle_right_region"
4076
- ],
4077
- [
4078
- "On",
4079
- "apple_1",
4080
- "main_middle_center_region"
4081
- ],
4082
- [
4083
- "On",
4084
- "tennis_ball_2",
4085
- "main_middle_left_region"
4086
- ]
4087
  ],
4088
  "primitive_action_sequence": null,
4089
  "sub_goals": null,
@@ -4092,16 +2989,9 @@
4092
  "tennis_ball_2"
4093
  ],
4094
  "interest_objects_final_states": [
4095
- [
4096
- "On",
4097
- "apple_1",
4098
- "main_middle_center_region"
4099
- ],
4100
- [
4101
- "On",
4102
- "tennis_ball_2",
4103
- "main_middle_left_region"
4104
- ]
4105
  ],
4106
  "oracle_plan": [
4107
  "PICK(apple_1, main_middle_left_region)",
@@ -4156,26 +3046,8 @@
4156
  ]
4157
  ],
4158
  "final_goal": [
4159
- [
4160
- "On",
4161
- "basket_1",
4162
- "fixture_back_region"
4163
- ],
4164
- [
4165
- "On",
4166
- "basket_2",
4167
- "fixture_front_region"
4168
- ],
4169
- [
4170
- "On",
4171
- "mango_1",
4172
- "main_middle_right_region"
4173
- ],
4174
- [
4175
- "On",
4176
- "tennis_ball_1",
4177
- "main_middle_center_region"
4178
- ]
4179
  ],
4180
  "primitive_action_sequence": null,
4181
  "sub_goals": null,
@@ -4183,11 +3055,8 @@
4183
  "tennis_ball_1"
4184
  ],
4185
  "interest_objects_final_states": [
4186
- [
4187
- "On",
4188
- "tennis_ball_1",
4189
- "main_middle_center_region"
4190
- ]
4191
  ],
4192
  "oracle_plan": [
4193
  "PICK(tennis_ball_1, main_back_right_region)",
@@ -4238,26 +3107,8 @@
4238
  ]
4239
  ],
4240
  "final_goal": [
4241
- [
4242
- "On",
4243
- "basket_1",
4244
- "fixture_back_region"
4245
- ],
4246
- [
4247
- "On",
4248
- "basket_2",
4249
- "fixture_front_region"
4250
- ],
4251
- [
4252
- "On",
4253
- "mango_1",
4254
- "main_middle_left_region"
4255
- ],
4256
- [
4257
- "On",
4258
- "pear_1",
4259
- "main_middle_center_region"
4260
- ]
4261
  ],
4262
  "primitive_action_sequence": null,
4263
  "sub_goals": null,
@@ -4265,11 +3116,8 @@
4265
  "mango_1"
4266
  ],
4267
  "interest_objects_final_states": [
4268
- [
4269
- "On",
4270
- "mango_1",
4271
- "main_middle_left_region"
4272
- ]
4273
  ],
4274
  "oracle_plan": [
4275
  "PICK(mango_1, main_back_center_region)",
@@ -4320,26 +3168,8 @@
4320
  ]
4321
  ],
4322
  "final_goal": [
4323
- [
4324
- "On",
4325
- "basket_1",
4326
- "fixture_back_region"
4327
- ],
4328
- [
4329
- "On",
4330
- "basket_2",
4331
- "fixture_front_region"
4332
- ],
4333
- [
4334
- "On",
4335
- "mango_1",
4336
- "main_back_center_region"
4337
- ],
4338
- [
4339
- "On",
4340
- "tennis_ball_1",
4341
- "main_back_right_region"
4342
- ]
4343
  ],
4344
  "primitive_action_sequence": null,
4345
  "sub_goals": null,
@@ -4347,11 +3177,8 @@
4347
  "mango_1"
4348
  ],
4349
  "interest_objects_final_states": [
4350
- [
4351
- "On",
4352
- "mango_1",
4353
- "main_back_center_region"
4354
- ]
4355
  ],
4356
  "oracle_plan": [
4357
  "PICK(mango_1, main_middle_center_region)",
@@ -4402,26 +3229,8 @@
4402
  ]
4403
  ],
4404
  "final_goal": [
4405
- [
4406
- "On",
4407
- "basket_1",
4408
- "fixture_back_region"
4409
- ],
4410
- [
4411
- "On",
4412
- "basket_2",
4413
- "fixture_front_region"
4414
- ],
4415
- [
4416
- "On",
4417
- "mango_1",
4418
- "main_middle_center_region"
4419
- ],
4420
- [
4421
- "On",
4422
- "tennis_ball_1",
4423
- "main_middle_left_region"
4424
- ]
4425
  ],
4426
  "primitive_action_sequence": null,
4427
  "sub_goals": null,
@@ -4429,11 +3238,8 @@
4429
  "tennis_ball_1"
4430
  ],
4431
  "interest_objects_final_states": [
4432
- [
4433
- "On",
4434
- "tennis_ball_1",
4435
- "main_middle_left_region"
4436
- ]
4437
  ],
4438
  "oracle_plan": [
4439
  "PICK(tennis_ball_1, main_back_right_region)",
@@ -4484,26 +3290,8 @@
4484
  ]
4485
  ],
4486
  "final_goal": [
4487
- [
4488
- "On",
4489
- "basket_1",
4490
- "fixture_back_region"
4491
- ],
4492
- [
4493
- "On",
4494
- "basket_2",
4495
- "fixture_front_region"
4496
- ],
4497
- [
4498
- "On",
4499
- "tennis_ball_1",
4500
- "main_middle_right_region"
4501
- ],
4502
- [
4503
- "On",
4504
- "tennis_ball_2",
4505
- "main_middle_center_region"
4506
- ]
4507
  ],
4508
  "primitive_action_sequence": null,
4509
  "sub_goals": null,
@@ -4511,11 +3299,8 @@
4511
  "tennis_ball_2"
4512
  ],
4513
  "interest_objects_final_states": [
4514
- [
4515
- "On",
4516
- "tennis_ball_2",
4517
- "main_middle_center_region"
4518
- ]
4519
  ],
4520
  "oracle_plan": [
4521
  "PICK(tennis_ball_2, main_back_center_region)",
@@ -4572,31 +3357,9 @@
4572
  ]
4573
  ],
4574
  "final_goal": [
4575
- [
4576
- "On",
4577
- "basket_1",
4578
- "fixture_back_region"
4579
- ],
4580
- [
4581
- "On",
4582
- "basket_2",
4583
- "fixture_front_region"
4584
- ],
4585
- [
4586
- "On",
4587
- "tennis_ball_1",
4588
- "main_middle_right_region"
4589
- ],
4590
- [
4591
- "On",
4592
- "mango_1",
4593
- "main_middle_center_region"
4594
- ],
4595
- [
4596
- "On",
4597
- "tennis_ball_2",
4598
- "main_middle_left_region"
4599
- ]
4600
  ],
4601
  "primitive_action_sequence": null,
4602
  "sub_goals": null,
@@ -4605,16 +3368,9 @@
4605
  "tennis_ball_2"
4606
  ],
4607
  "interest_objects_final_states": [
4608
- [
4609
- "On",
4610
- "mango_1",
4611
- "main_middle_center_region"
4612
- ],
4613
- [
4614
- "On",
4615
- "tennis_ball_2",
4616
- "main_middle_left_region"
4617
- ]
4618
  ],
4619
  "oracle_plan": [
4620
  "PICK(mango_1, main_back_right_region)",
 
29
  [
30
  "On",
31
  "milk_1",
32
+ "main_middle_right_region"
33
  ]
34
  ],
35
  "final_goal": [
36
+ "Horizontal(cheese_1, milk_1)",
37
+ "Right(cheese_1, milk_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
38
  ],
39
  "primitive_action_sequence": null,
40
  "sub_goals": null,
 
43
  "milk_1"
44
  ],
45
  "interest_objects_final_states": [
46
+ "Horizontal(cheese_1, milk_1)",
47
+ "Right(cheese_1, milk_1)"
 
 
 
 
 
 
 
 
48
  ],
49
  "oracle_plan": [
50
+ "PICK(milk_1, main_middle_right_region)",
51
+ "PLACE(milk_1, main_middle_left_region)"
 
 
52
  ],
53
  "oracle_plan_human": [
54
+ "PICK(milk_1, main_middle_left_region)",
55
+ "PLACE(milk_1, main_middle_right_region)"
 
 
56
  ]
57
  },
58
  "video": {
 
95
  ]
96
  ],
97
  "final_goal": [
98
+ "Horizontal(ketchup_1, milk_1)",
99
+ "Right(milk_1, ketchup_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
100
  ],
101
  "primitive_action_sequence": null,
102
  "sub_goals": null,
 
104
  "ketchup_1"
105
  ],
106
  "interest_objects_final_states": [
107
+ "Horizontal(ketchup_1, milk_1)",
108
+ "Right(milk_1, ketchup_1)"
 
 
 
109
  ],
110
  "oracle_plan": [
111
  "PICK(ketchup_1, main_middle_right_region)",
 
156
  ]
157
  ],
158
  "final_goal": [
159
+ "Horizontal(mango_1, ketchup_1)",
160
+ "Right(mango_1, ketchup_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
161
  ],
162
  "primitive_action_sequence": null,
163
  "sub_goals": null,
 
165
  "mango_1"
166
  ],
167
  "interest_objects_final_states": [
168
+ "Horizontal(mango_1, ketchup_1)",
169
+ "Right(mango_1, ketchup_1)"
 
 
 
170
  ],
171
  "oracle_plan": [
172
  "PICK(mango_1, main_middle_left_region)",
 
217
  ]
218
  ],
219
  "final_goal": [
220
+ "Horizontal(cream_cheese_1, butter_1)",
221
+ "Right(cream_cheese_1, butter_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
222
  ],
223
  "primitive_action_sequence": null,
224
  "sub_goals": null,
 
226
  "cream_cheese_1"
227
  ],
228
  "interest_objects_final_states": [
229
+ "Horizontal(cream_cheese_1, butter_1)",
230
+ "Right(cream_cheese_1, butter_1)"
 
 
 
231
  ],
232
  "oracle_plan": [
233
  "PICK(cream_cheese_1, main_middle_center_region)",
 
284
  ]
285
  ],
286
  "final_goal": [
287
+ "Horizontal(cream_cheese_2, cream_cheese_1)",
288
+ "Right(cream_cheese_2, cream_cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
289
  ],
290
  "primitive_action_sequence": null,
291
  "sub_goals": null,
 
293
  "cream_cheese_2"
294
  ],
295
  "interest_objects_final_states": [
296
+ "Horizontal(cream_cheese_2, cream_cheese_1)",
297
+ "Right(cream_cheese_2, cream_cheese_1)"
 
 
 
298
  ],
299
  "oracle_plan": [
300
  "PICK(cream_cheese_2, main_middle_center_region)",
 
351
  ]
352
  ],
353
  "final_goal": [
354
+ "Horizontal(butter_1, cream_cheese_1)",
355
+ "Right(butter_1, cream_cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
356
  ],
357
  "primitive_action_sequence": null,
358
  "sub_goals": null,
 
361
  "cream_cheese_1"
362
  ],
363
  "interest_objects_final_states": [
364
+ "Horizontal(butter_1, cream_cheese_1)",
365
+ "Right(butter_1, cream_cheese_1)"
 
 
 
 
 
 
 
 
366
  ],
367
  "oracle_plan": [
368
  "PICK(cream_cheese_1, main_back_left_region)",
369
+ "PLACE(cream_cheese_1, main_middle_center_region)",
370
+ "PICK(butter_1, main_middle_right_region)",
371
  "PLACE(butter_1, main_middle_center_region)"
372
  ],
373
  "oracle_plan_human": [
374
  "PICK(cream_cheese_1, main_front_right_region)",
375
+ "PLACE(cream_cheese_1, main_middle_center_region)",
376
+ "PICK(butter_1, main_middle_left_region)",
377
  "PLACE(butter_1, main_middle_center_region)"
378
  ]
379
  },
 
423
  ]
424
  ],
425
  "final_goal": [
426
+ "Horizontal(cream_cheese_2, butter_1)",
427
+ "Right(cream_cheese_2, butter_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
428
  ],
429
  "primitive_action_sequence": null,
430
  "sub_goals": null,
 
432
  "cream_cheese_2"
433
  ],
434
  "interest_objects_final_states": [
435
+ "Horizontal(cream_cheese_2, butter_1)",
436
+ "Right(cream_cheese_2, butter_1)"
 
 
 
437
  ],
438
  "oracle_plan": [
439
  "PICK(cream_cheese_2, main_middle_center_region)",
 
490
  ]
491
  ],
492
  "final_goal": [
493
+ "Horizontal(cream_cheese_1, cream_cheese_2)",
494
+ "Right(cream_cheese_1, cream_cheese_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
495
  ],
496
  "primitive_action_sequence": null,
497
  "sub_goals": null,
 
499
  "cream_cheese_1"
500
  ],
501
  "interest_objects_final_states": [
502
+ "Horizontal(cream_cheese_1, cream_cheese_2)",
503
+ "Right(cream_cheese_1, cream_cheese_2)"
 
 
 
504
  ],
505
  "oracle_plan": [
506
  "PICK(cream_cheese_1, main_middle_left_region)",
 
557
  ]
558
  ],
559
  "final_goal": [
560
+ "Horizontal(butter_1, cream_cheese_2)",
561
+ "Right(butter_1, cream_cheese_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
562
  ],
563
  "primitive_action_sequence": null,
564
  "sub_goals": null,
 
566
  "butter_1"
567
  ],
568
  "interest_objects_final_states": [
569
+ "Horizontal(butter_1, cream_cheese_2)",
570
+ "Right(butter_1, cream_cheese_2)"
 
 
 
571
  ],
572
  "oracle_plan": [
573
  "PICK(butter_1, main_middle_right_region)",
 
624
  ]
625
  ],
626
  "final_goal": [
627
+ "Horizontal(butter_1, cream_cheese_2)",
628
+ "Right(butter_1, cream_cheese_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
629
  ],
630
  "primitive_action_sequence": null,
631
  "sub_goals": null,
 
633
  "cream_cheese_2"
634
  ],
635
  "interest_objects_final_states": [
636
+ "Horizontal(butter_1, cream_cheese_2)",
637
+ "Right(butter_1, cream_cheese_2)"
 
 
 
638
  ],
639
  "oracle_plan": [
640
  "PICK(cream_cheese_2, main_back_center_region)",
 
691
  ]
692
  ],
693
  "final_goal": [
694
+ "Horizontal(cream_cheese_1, butter_1)",
695
+ "Right(cream_cheese_1, butter_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
696
  ],
697
  "primitive_action_sequence": null,
698
  "sub_goals": null,
 
700
  "butter_1"
701
  ],
702
  "interest_objects_final_states": [
703
+ "Horizontal(cream_cheese_1, butter_1)",
704
+ "Right(cream_cheese_1, butter_1)"
 
 
 
705
  ],
706
  "oracle_plan": [
707
  "PICK(butter_1, main_middle_left_region)",
 
758
  ]
759
  ],
760
  "final_goal": [
761
+ "Horizontal(ketchup_1, butter_1)",
762
+ "Right(ketchup_1, butter_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
763
  ],
764
  "primitive_action_sequence": null,
765
  "sub_goals": null,
 
767
  "butter_1"
768
  ],
769
  "interest_objects_final_states": [
770
+ "Horizontal(ketchup_1, butter_1)",
771
+ "Right(ketchup_1, butter_1)"
 
 
 
772
  ],
773
  "oracle_plan": [
774
  "PICK(butter_1, main_back_right_region)",
 
819
  ]
820
  ],
821
  "final_goal": [
822
+ "Horizontal(alphabet_soup_1, cream_cheese_1)",
823
+ "Right(alphabet_soup_1, cream_cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
824
  ],
825
  "primitive_action_sequence": null,
826
  "interest_objects": [
827
  "alphabet_soup_1"
828
  ],
829
  "interest_objects_final_states": [
830
+ "Horizontal(alphabet_soup_1, cream_cheese_1)",
831
+ "Right(alphabet_soup_1, cream_cheese_1)"
 
 
 
832
  ],
833
  "oracle_plan": [
834
  "PICK(alphabet_soup_1, main_middle_right_region)",
 
879
  ]
880
  ],
881
  "final_goal": [
882
+ "Horizontal(cream_cheese_1, tennis_ball_1)",
883
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
884
  ],
885
  "primitive_action_sequence": null,
886
  "sub_goals": null,
 
888
  "cream_cheese_1"
889
  ],
890
  "interest_objects_final_states": [
891
+ "Horizontal(cream_cheese_1, tennis_ball_1)",
892
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
893
  ],
894
  "oracle_plan": [
895
  "PICK(cream_cheese_1, main_middle_center_region)",
 
940
  ]
941
  ],
942
  "final_goal": [
943
+ "Horizontal(tennis_ball_1, cream_cheese_1)",
944
+ "Right(tennis_ball_1, cream_cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
945
  ],
946
  "primitive_action_sequence": null,
947
  "sub_goals": null,
 
949
  "cream_cheese_1"
950
  ],
951
  "interest_objects_final_states": [
952
+ "Horizontal(tennis_ball_1, cream_cheese_1)",
953
+ "Right(tennis_ball_1, cream_cheese_1)"
 
 
 
954
  ],
955
  "oracle_plan": [
956
  "PICK(cream_cheese_1, main_middle_center_region)",
 
1001
  ]
1002
  ],
1003
  "final_goal": [
1004
+ "Horizontal(tennis_ball_2, tennis_ball_1)",
1005
+ "Right(tennis_ball_2, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1006
  ],
1007
  "primitive_action_sequence": null,
1008
  "sub_goals": null,
 
1010
  "tennis_ball_2"
1011
  ],
1012
  "interest_objects_final_states": [
1013
+ "Horizontal(tennis_ball_2, tennis_ball_1)",
1014
+ "Right(tennis_ball_2, tennis_ball_1)"
 
 
 
1015
  ],
1016
  "oracle_plan": [
1017
  "PICK(tennis_ball_2, main_middle_center_region)",
 
1062
  ]
1063
  ],
1064
  "final_goal": [
1065
+ "Horizontal(tennis_ball_1, tennis_ball_2)",
1066
+ "Right(tennis_ball_1, tennis_ball_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1067
  ],
1068
  "primitive_action_sequence": null,
1069
  "sub_goals": null,
 
1071
  "tennis_ball_2"
1072
  ],
1073
  "interest_objects_final_states": [
1074
+ "Horizontal(tennis_ball_1, tennis_ball_2)",
1075
+ "Right(tennis_ball_1, tennis_ball_2)"
 
 
 
1076
  ],
1077
  "oracle_plan": [
1078
  "PICK(tennis_ball_2, main_middle_center_region)",
 
1123
  ]
1124
  ],
1125
  "final_goal": [
1126
+ "Horizontal(tennis_ball_1, apple_1)",
1127
+ "Right(tennis_ball_1, apple_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1128
  ],
1129
  "primitive_action_sequence": null,
1130
  "sub_goals": null,
 
1132
  "apple_1"
1133
  ],
1134
  "interest_objects_final_states": [
1135
+ "Horizontal(tennis_ball_1, apple_1)",
1136
+ "Right(tennis_ball_1, apple_1)"
 
 
 
1137
  ],
1138
  "oracle_plan": [
1139
  "PICK(apple_1, main_middle_left_region)",
 
1190
  ]
1191
  ],
1192
  "final_goal": [
1193
+ "Horizontal(cream_cheese_1, tennis_ball_1)",
1194
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1195
  ],
1196
  "primitive_action_sequence": null,
1197
  "sub_goals": null,
 
1199
  "cream_cheese_1"
1200
  ],
1201
  "interest_objects_final_states": [
1202
+ "Horizontal(cream_cheese_1, tennis_ball_1)",
1203
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
1204
  ],
1205
  "oracle_plan": [
1206
  "PICK(cream_cheese_1, main_middle_right_region)",
 
1257
  ]
1258
  ],
1259
  "final_goal": [
1260
+ "Horizontal(apple_1, ketchup_1, cream_cheese_1)",
1261
+ "Right(apple_1, ketchup_1)",
1262
+ "Right(ketchup_1, cream_cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1263
  ],
1264
  "primitive_action_sequence": null,
1265
  "sub_goals": null,
 
1268
  "ketchup_1"
1269
  ],
1270
  "interest_objects_final_states": [
1271
+ "Horizontal(apple_1, ketchup_1, cream_cheese_1)",
1272
+ "Right(apple_1, ketchup_1)",
1273
+ "Right(ketchup_1, cream_cheese_1)"
 
 
 
 
 
 
 
1274
  ],
1275
  "oracle_plan": [
1276
  "PICK(ketchup_1, main_middle_center_region)",
 
1325
  ]
1326
  ],
1327
  "final_goal": [
1328
+ "Horizontal(milk_1, orange_juice_1)",
1329
+ "Right(milk_1, orange_juice_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1330
  ],
1331
  "primitive_action_sequence": null,
1332
  "sub_goals": null,
 
1334
  "orange_juice_1"
1335
  ],
1336
  "interest_objects_final_states": [
1337
+ "Horizontal(milk_1, orange_juice_1)",
1338
+ "Right(milk_1, orange_juice_1)"
 
 
 
1339
  ],
1340
  "oracle_plan": [
1341
  "PICK(orange_juice_1, main_middle_center_region)",
 
1392
  ]
1393
  ],
1394
  "final_goal": [
1395
+ "Horizontal(cream_cheese_1, milk_1, orange_juice_1)",
1396
+ "Right(cream_cheese_1, milk_1)",
1397
+ "Right(milk_1, orange_juice_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1398
  ],
1399
  "primitive_action_sequence": null,
1400
  "sub_goals": null,
 
1403
  "milk_1"
1404
  ],
1405
  "interest_objects_final_states": [
1406
+ "Horizontal(cream_cheese_1, milk_1, orange_juice_1)",
1407
+ "Right(cream_cheese_1, milk_1)",
1408
+ "Right(milk_1, orange_juice_1)"
 
 
 
 
 
 
 
1409
  ],
1410
  "oracle_plan": [
1411
  "PICK(milk_1, main_back_center_region)",
 
1466
  ]
1467
  ],
1468
  "final_goal": [
1469
+ "Horizontal(orange_juice_1, milk_1)",
1470
+ "Right(orange_juice_1, milk_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1471
  ],
1472
  "primitive_action_sequence": null,
1473
  "sub_goals": null,
 
1475
  "orange_juice_1"
1476
  ],
1477
  "interest_objects_final_states": [
1478
+ "Horizontal(orange_juice_1, milk_1)",
1479
+ "Right(orange_juice_1, milk_1)"
 
 
 
1480
  ],
1481
  "oracle_plan": [
1482
  "PICK(orange_juice_1, main_middle_right_region)",
 
1527
  ]
1528
  ],
1529
  "final_goal": [
1530
+ "Horizontal(apple_1, banana_1)",
1531
+ "Right(apple_1, banana_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1532
  ],
1533
  "primitive_action_sequence": null,
1534
  "sub_goals": null,
 
1537
  "banana_1"
1538
  ],
1539
  "interest_objects_final_states": [
1540
+ "Horizontal(apple_1, banana_1)",
1541
+ "Right(apple_1, banana_1)"
 
 
 
 
 
 
 
 
1542
  ],
1543
  "oracle_plan": [
1544
  "PICK(apple_1, main_middle_center_region)",
 
1597
  ]
1598
  ],
1599
  "final_goal": [
1600
+ "Horizontal(apple_1, mango_1)",
1601
+ "Right(apple_1, mango_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1602
  ],
1603
  "primitive_action_sequence": null,
1604
  "sub_goals": null,
 
1607
  "mango_1"
1608
  ],
1609
  "interest_objects_final_states": [
1610
+ "Horizontal(apple_1, mango_1)",
1611
+ "Right(apple_1, mango_1)"
 
 
 
 
 
 
 
 
1612
  ],
1613
  "oracle_plan": [
1614
  "PICK(banana_1, main_middle_center_region)",
 
1663
  ]
1664
  ],
1665
  "final_goal": [
1666
+ "Horizontal(cheese_1, banana_1, mango_1)",
1667
+ "Right(cheese_1, banana_1)",
1668
+ "Right(banana_1, mango_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1669
  ],
1670
  "primitive_action_sequence": null,
1671
  "sub_goals": null,
 
1674
  "mango_1"
1675
  ],
1676
  "interest_objects_final_states": [
1677
+ "Horizontal(cheese_1, banana_1, mango_1)",
1678
+ "Right(cheese_1, banana_1)",
1679
+ "Right(banana_1, mango_1)"
 
 
 
 
 
 
 
1680
  ],
1681
  "oracle_plan": [
1682
  "PICK(mango_1, main_front_left_region)",
 
1731
  ]
1732
  ],
1733
  "final_goal": [
1734
+ "Horizontal(cheese_1, pear_1)",
1735
+ "Right(cheese_1, pear_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1736
  ],
1737
  "primitive_action_sequence": null,
1738
  "sub_goals": null,
 
1740
  "cheese_1"
1741
  ],
1742
  "interest_objects_final_states": [
1743
+ "Horizontal(cheese_1, pear_1)",
1744
+ "Right(cheese_1, pear_1)"
 
 
 
1745
  ],
1746
  "oracle_plan": [
1747
  "PICK(cheese_1, main_back_right_region)",
 
1792
  ]
1793
  ],
1794
  "final_goal": [
1795
+ "Horizontal(mango_1, pear_1, cheese_1)",
1796
+ "Right(mango_1, pear_1)",
1797
+ "Right(pear_1, cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1798
  ],
1799
  "primitive_action_sequence": null,
1800
  "sub_goals": null,
 
1803
  "mango_1"
1804
  ],
1805
  "interest_objects_final_states": [
1806
+ "Horizontal(mango_1, pear_1, cheese_1)",
1807
+ "Right(mango_1, pear_1)",
1808
+ "Right(pear_1, cheese_1)"
 
 
 
 
 
 
 
1809
  ],
1810
  "oracle_plan": [
1811
  "PICK(mango_1, main_middle_left_region)",
 
1854
  ]
1855
  ],
1856
  "final_goal": [
1857
+ "Horizontal(mango_1, pear_1)",
1858
+ "Right(mango_1, pear_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
1859
  ],
1860
  "primitive_action_sequence": null,
1861
  "sub_goals": null,
 
1863
  "mango_1"
1864
  ],
1865
  "interest_objects_final_states": [
1866
+ "Horizontal(mango_1, pear_1)",
1867
+ "Right(mango_1, pear_1)"
 
 
 
1868
  ],
1869
  "oracle_plan": [
1870
  "PICK(mango_1, main_back_center_region)",
 
1909
  ]
1910
  ],
1911
  "final_goal": [
1912
+ "Horizontal(mango_1, pear_1)",
1913
+ "Right(mango_1, pear_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
1914
  ],
1915
  "primitive_action_sequence": null,
1916
  "sub_goals": null,
 
1918
  "mango_1"
1919
  ],
1920
  "interest_objects_final_states": [
1921
+ "Horizontal(mango_1, pear_1)",
1922
+ "Right(mango_1, pear_1)"
 
 
 
1923
  ],
1924
  "oracle_plan": [
1925
  "PICK(mango_1, main_middle_center_region)",
 
1970
  ]
1971
  ],
1972
  "final_goal": [
1973
+ "Horizontal(mango_1, cream_cheese_1, tennis_ball_1)",
1974
+ "Right(mango_1, cream_cheese_1)",
1975
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1976
  ],
1977
  "primitive_action_sequence": null,
1978
  "sub_goals": [
 
2003
  "tennis_ball_1"
2004
  ],
2005
  "interest_objects_final_states": [
2006
+ "Horizontal(mango_1, cream_cheese_1, tennis_ball_1)",
2007
+ "Right(mango_1, cream_cheese_1)",
2008
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
 
 
 
 
2009
  ],
2010
  "oracle_plan": [
2011
  "PICK(tennis_ball_1, main_front_left_region)",
 
2060
  ]
2061
  ],
2062
  "final_goal": [
2063
+ "Horizontal(cream_cheese_1, mango_1, tennis_ball_1)",
2064
+ "Right(cream_cheese_1, mango_1)",
2065
+ "Right(mango_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2066
  ],
2067
  "primitive_action_sequence": null,
2068
  "sub_goals": null,
 
2071
  "tennis_ball_1"
2072
  ],
2073
  "interest_objects_final_states": [
2074
+ "Horizontal(cream_cheese_1, mango_1, tennis_ball_1)",
2075
+ "Right(cream_cheese_1, mango_1)",
2076
+ "Right(mango_1, tennis_ball_1)"
 
 
 
 
 
 
 
2077
  ],
2078
  "oracle_plan": [
2079
  "PICK(tennis_ball_1, main_front_right_region)",
 
2128
  ]
2129
  ],
2130
  "final_goal": [
2131
+ "Horizontal(mango_1, cream_cheese_1, tennis_ball_1)",
2132
+ "Right(mango_1, cream_cheese_1)",
2133
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2134
  ],
2135
  "primitive_action_sequence": null,
2136
  "sub_goals": null,
 
2139
  "tennis_ball_1"
2140
  ],
2141
  "interest_objects_final_states": [
2142
+ "Horizontal(mango_1, cream_cheese_1, tennis_ball_1)",
2143
+ "Right(mango_1, cream_cheese_1)",
2144
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
 
 
 
 
2145
  ],
2146
  "oracle_plan": [
2147
  "PICK(tennis_ball_1, main_front_right_region)",
 
2203
  ]
2204
  ],
2205
  "final_goal": [
2206
+ "Horizontal(cheese_1, cream_cheese_1, tennis_ball_1)",
2207
+ "Right(cheese_1, cream_cheese_1)",
2208
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2209
  ],
2210
  "primitive_action_sequence": null,
2211
  "sub_goals": null,
 
2213
  "tennis_ball_1"
2214
  ],
2215
  "interest_objects_final_states": [
2216
+ "Horizontal(cheese_1, cream_cheese_1, tennis_ball_1)",
2217
+ "Right(cheese_1, cream_cheese_1)",
2218
+ "Right(cream_cheese_1, tennis_ball_1)"
 
 
2219
  ],
2220
  "oracle_plan": [
2221
  "PICK(tennis_ball_1, main_back_center_region)",
 
2272
  ]
2273
  ],
2274
  "final_goal": [
2275
+ "Horizontal(tennis_ball_1, cheese_1, cream_cheese_1)",
2276
+ "Right(tennis_ball_1, cheese_1)",
2277
+ "Right(cheese_1, cream_cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2278
  ],
2279
  "primitive_action_sequence": null,
2280
  "sub_goals": null,
 
2287
  "PLACE(tennis_ball_1, main_middle_left_region)"
2288
  ],
2289
  "interest_objects": [],
2290
+ "interest_objects_final_states": [
2291
+ "Horizontal(tennis_ball_1, cheese_1, cream_cheese_1)",
2292
+ "Right(tennis_ball_1, cheese_1)",
2293
+ "Right(cheese_1, cream_cheese_1)"
2294
+ ]
2295
  },
2296
  "video": {
2297
  "front": "front/GX010673.MP4",
 
2339
  ]
2340
  ],
2341
  "final_goal": [
2342
+ "Horizontal(cheese_1, tennis_ball_1, cream_cheese_1)",
2343
+ "Right(cheese_1, tennis_ball_1)",
2344
+ "Right(tennis_ball_1, cream_cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2345
  ],
2346
  "primitive_action_sequence": null,
2347
  "sub_goals": null,
 
2351
  "tennis_ball_1"
2352
  ],
2353
  "interest_objects_final_states": [
2354
+ "Horizontal(cheese_1, tennis_ball_1, cream_cheese_1)",
2355
+ "Right(cheese_1, tennis_ball_1)",
2356
+ "Right(tennis_ball_1, cream_cheese_1)"
 
 
 
 
 
 
 
 
 
 
 
 
2357
  ],
2358
  "oracle_plan": [
2359
  "PICK(cream_cheese_1, main_middle_left_region)",
 
2404
  [
2405
  "On",
2406
  "tennis_ball_1",
2407
+ "main_middle_right_region"
2408
  ],
2409
  [
2410
  "On",
 
2418
  ]
2419
  ],
2420
  "final_goal": [
2421
+ "Horizontal(cheese_1, mango_1, tennis_ball_1)",
2422
+ "Right(cheese_1, mango_1)",
2423
+ "Right(mango_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2424
  ],
2425
  "primitive_action_sequence": null,
2426
  "sub_goals": null,
 
2429
  "tennis_ball_1"
2430
  ],
2431
  "interest_objects_final_states": [
2432
+ "Horizontal(cheese_1, mango_1, tennis_ball_1)",
2433
+ "Right(cheese_1, mango_1)",
2434
+ "Right(mango_1, tennis_ball_1)"
 
 
 
 
 
 
 
2435
  ],
2436
  "oracle_plan": [
2437
+ "PICK(tennis_ball_1, main_middle_right_region)",
2438
+ "PLACE(tennis_ball_1, main_back_left_region)"
 
 
 
 
2439
  ],
2440
  "oracle_plan_human": [
2441
+ "PICK(tennis_ball_1, main_middle_left_region)",
2442
+ "PLACE(tennis_ball_1, main_front_right_region)"
 
 
 
 
2443
  ]
2444
  },
2445
  "video": {
 
2488
  ]
2489
  ],
2490
  "final_goal": [
2491
+ "Horizontal(tennis_ball_3, tennis_ball_2, tennis_ball_1)",
2492
+ "Right(tennis_ball_3, tennis_ball_2)",
2493
+ "Right(tennis_ball_2, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2494
  ],
2495
  "primitive_action_sequence": null,
2496
  "sub_goals": null,
 
2499
  "tennis_ball_3"
2500
  ],
2501
  "interest_objects_final_states": [
2502
+ "Horizontal(tennis_ball_3, tennis_ball_2, tennis_ball_1)",
2503
+ "Right(tennis_ball_3, tennis_ball_2)",
2504
+ "Right(tennis_ball_2, tennis_ball_1)"
 
 
 
 
 
 
 
2505
  ],
2506
  "oracle_plan": [
2507
  "PICK(tennis_ball_2, main_back_right_region)",
 
2562
  ]
2563
  ],
2564
  "final_goal": [
2565
+ "Horizontal(tennis_ball_1, tennis_ball_2, tennis_ball_3)",
2566
+ "Right(tennis_ball_1, tennis_ball_2)",
2567
+ "Right(tennis_ball_2, tennis_ball_3)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2568
  ],
2569
  "primitive_action_sequence": null,
2570
  "sub_goals": null,
 
2572
  "tennis_ball_3"
2573
  ],
2574
  "interest_objects_final_states": [
2575
+ "Horizontal(tennis_ball_1, tennis_ball_2, tennis_ball_3)",
2576
+ "Right(tennis_ball_1, tennis_ball_2)",
2577
+ "Right(tennis_ball_2, tennis_ball_3)"
 
 
2578
  ],
2579
  "oracle_plan": [
2580
  "PICK(tennis_ball_3, main_middle_right_region)",
 
2625
  ]
2626
  ],
2627
  "final_goal": [
2628
+ "Horizontal(apple_1, pear_1)",
2629
+ "Right(apple_1, pear_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2630
  ],
2631
  "primitive_action_sequence": null,
2632
  "sub_goals": null,
 
2634
  "pear_1"
2635
  ],
2636
  "interest_objects_final_states": [
2637
+ "Horizontal(apple_1, pear_1)",
2638
+ "Right(apple_1, pear_1)"
 
 
 
2639
  ],
2640
  "oracle_plan": [
2641
  "PICK(pear_1, main_back_right_region)",
 
2678
  [
2679
  "On",
2680
  "mango_1",
2681
+ "main_back_right_region"
2682
  ],
2683
  [
2684
  "On",
 
2692
  ]
2693
  ],
2694
  "final_goal": [
2695
+ "Horizontal(mango_1, apple_1, pear_1)",
2696
+ "Right(mango_1, apple_1)",
2697
+ "Right(apple_1, pear_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2698
  ],
2699
  "primitive_action_sequence": null,
2700
  "sub_goals": null,
 
2702
  "apple_1"
2703
  ],
2704
  "interest_objects_final_states": [
2705
+ "Horizontal(mango_1, apple_1, pear_1)",
2706
+ "Right(mango_1, apple_1)",
2707
+ "Right(apple_1, pear_1)"
 
 
2708
  ],
2709
  "oracle_plan": [
2710
  "PICK(apple_1, main_middle_center_region)",
 
2761
  ]
2762
  ],
2763
  "final_goal": [
2764
+ "Horizontal(tennis_ball_1, apple_1, tennis_ball_2)",
2765
+ "Right(tennis_ball_1, apple_1)",
2766
+ "Right(apple_1, tennis_ball_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2767
  ],
2768
  "primitive_action_sequence": null,
2769
  "sub_goals": null,
 
2771
  "apple_1"
2772
  ],
2773
  "interest_objects_final_states": [
2774
+ "Horizontal(tennis_ball_1, apple_1, tennis_ball_2)",
2775
+ "Right(tennis_ball_1, apple_1)",
2776
+ "Right(apple_1, tennis_ball_2)"
 
 
2777
  ],
2778
  "oracle_plan": [
2779
  "PICK(apple_1, main_middle_center_region)",
 
2793
  },
2794
  {
2795
  "id": "temporal_sort_42",
2796
+ "simulation_task": {
2797
+ "language_instruction": "Arrange the objects being touched by the person in a row, ordered from the person's left to right according to the sequence in which the person touches them.",
2798
+ "objects": [
2799
+ "basket_1",
2800
+ "basket_2",
2801
+ "tennis_ball_1",
2802
+ "apple_1",
2803
+ "tennis_ball_2"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2804
  ],
2805
+ "initial_states": [
2806
  [
2807
  "On",
2808
  "basket_1",
 
2821
  [
2822
  "On",
2823
  "apple_1",
2824
+ "main_middle_center_region"
2825
  ],
2826
  [
2827
  "On",
2828
  "tennis_ball_2",
2829
+ "main_back_left_region"
2830
  ]
2831
  ],
2832
+ "final_goal": [
2833
+ "Horizontal(tennis_ball_1, tennis_ball_2, apple_1)",
2834
+ "Right(tennis_ball_1, tennis_ball_2)",
2835
+ "Right(tennis_ball_2, apple_1)"
2836
+ ],
2837
  "primitive_action_sequence": null,
2838
  "sub_goals": null,
2839
  "interest_objects": [
 
2841
  "tennis_ball_2"
2842
  ],
2843
  "interest_objects_final_states": [
2844
+ "Horizontal(tennis_ball_1, tennis_ball_2, apple_1)",
2845
+ "Right(tennis_ball_1, tennis_ball_2)",
2846
+ "Right(tennis_ball_2, apple_1)"
 
 
 
 
 
 
 
2847
  ],
2848
  "oracle_plan": [
2849
  "PICK(tennis_ball_2, main_back_left_region)",
 
2904
  ]
2905
  ],
2906
  "final_goal": [
2907
+ "Horizontal(tennis_ball_1, apple_1, tennis_ball_2)",
2908
+ "Right(tennis_ball_1, apple_1)",
2909
+ "Right(apple_1, tennis_ball_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2910
  ],
2911
  "primitive_action_sequence": null,
2912
  "sub_goals": null,
 
2915
  "tennis_ball_2"
2916
  ],
2917
  "interest_objects_final_states": [
2918
+ "Horizontal(tennis_ball_1, apple_1, tennis_ball_2)",
2919
+ "Right(tennis_ball_1, apple_1)",
2920
+ "Right(apple_1, tennis_ball_2)"
 
 
 
 
 
 
 
2921
  ],
2922
  "oracle_plan": [
2923
  "PICK(tennis_ball_2, main_middle_center_region)",
 
2978
  ]
2979
  ],
2980
  "final_goal": [
2981
+ "Horizontal(tennis_ball_1, apple_1, tennis_ball_2)",
2982
+ "Right(tennis_ball_1, apple_1)",
2983
+ "Right(apple_1, tennis_ball_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2984
  ],
2985
  "primitive_action_sequence": null,
2986
  "sub_goals": null,
 
2989
  "tennis_ball_2"
2990
  ],
2991
  "interest_objects_final_states": [
2992
+ "Horizontal(tennis_ball_1, apple_1, tennis_ball_2)",
2993
+ "Right(tennis_ball_1, apple_1)",
2994
+ "Right(apple_1, tennis_ball_2)"
 
 
 
 
 
 
 
2995
  ],
2996
  "oracle_plan": [
2997
  "PICK(apple_1, main_middle_left_region)",
 
3046
  ]
3047
  ],
3048
  "final_goal": [
3049
+ "Horizontal(mango_1, tennis_ball_1)",
3050
+ "Right(mango_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3051
  ],
3052
  "primitive_action_sequence": null,
3053
  "sub_goals": null,
 
3055
  "tennis_ball_1"
3056
  ],
3057
  "interest_objects_final_states": [
3058
+ "Horizontal(mango_1, tennis_ball_1)",
3059
+ "Right(mango_1, tennis_ball_1)"
 
 
 
3060
  ],
3061
  "oracle_plan": [
3062
  "PICK(tennis_ball_1, main_back_right_region)",
 
3107
  ]
3108
  ],
3109
  "final_goal": [
3110
+ "Horizontal(pear_1, mango_1)",
3111
+ "Right(pear_1, mango_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3112
  ],
3113
  "primitive_action_sequence": null,
3114
  "sub_goals": null,
 
3116
  "mango_1"
3117
  ],
3118
  "interest_objects_final_states": [
3119
+ "Horizontal(pear_1, mango_1)",
3120
+ "Right(pear_1, mango_1)"
 
 
 
3121
  ],
3122
  "oracle_plan": [
3123
  "PICK(mango_1, main_back_center_region)",
 
3168
  ]
3169
  ],
3170
  "final_goal": [
3171
+ "Horizontal(tennis_ball_1, mango_1)",
3172
+ "Right(tennis_ball_1, mango_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3173
  ],
3174
  "primitive_action_sequence": null,
3175
  "sub_goals": null,
 
3177
  "mango_1"
3178
  ],
3179
  "interest_objects_final_states": [
3180
+ "Horizontal(tennis_ball_1, mango_1)",
3181
+ "Right(tennis_ball_1, mango_1)"
 
 
 
3182
  ],
3183
  "oracle_plan": [
3184
  "PICK(mango_1, main_middle_center_region)",
 
3229
  ]
3230
  ],
3231
  "final_goal": [
3232
+ "Horizontal(mango_1, tennis_ball_1)",
3233
+ "Right(mango_1, tennis_ball_1)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3234
  ],
3235
  "primitive_action_sequence": null,
3236
  "sub_goals": null,
 
3238
  "tennis_ball_1"
3239
  ],
3240
  "interest_objects_final_states": [
3241
+ "Horizontal(mango_1, tennis_ball_1)",
3242
+ "Right(mango_1, tennis_ball_1)"
 
 
 
3243
  ],
3244
  "oracle_plan": [
3245
  "PICK(tennis_ball_1, main_back_right_region)",
 
3290
  ]
3291
  ],
3292
  "final_goal": [
3293
+ "Horizontal(tennis_ball_1, tennis_ball_2)",
3294
+ "Right(tennis_ball_1, tennis_ball_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3295
  ],
3296
  "primitive_action_sequence": null,
3297
  "sub_goals": null,
 
3299
  "tennis_ball_2"
3300
  ],
3301
  "interest_objects_final_states": [
3302
+ "Horizontal(tennis_ball_1, tennis_ball_2)",
3303
+ "Right(tennis_ball_1, tennis_ball_2)"
 
 
 
3304
  ],
3305
  "oracle_plan": [
3306
  "PICK(tennis_ball_2, main_back_center_region)",
 
3357
  ]
3358
  ],
3359
  "final_goal": [
3360
+ "Horizontal(tennis_ball_1, mango_1, tennis_ball_2)",
3361
+ "Right(tennis_ball_1, mango_1)",
3362
+ "Right(mango_1, tennis_ball_2)"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
3363
  ],
3364
  "primitive_action_sequence": null,
3365
  "sub_goals": null,
 
3368
  "tennis_ball_2"
3369
  ],
3370
  "interest_objects_final_states": [
3371
+ "Horizontal(tennis_ball_1, mango_1, tennis_ball_2)",
3372
+ "Right(tennis_ball_1, mango_1)",
3373
+ "Right(mango_1, tennis_ball_2)"
 
 
 
 
 
 
 
3374
  ],
3375
  "oracle_plan": [
3376
  "PICK(mango_1, main_back_right_region)",