3_generalized_planning/cross_embodiment/single_arm/dag.json

[
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_558",
    "actions_list": [
      "move_to(none, mouse)",
      "grasp(mouse)",
      "pick_up(mouse)",
      "move_to(mouse, mouse_pad)",
      "place(mouse, mouse_pad)"
    ],
    "gt_dag": {
      "move_to(none, mouse)": [
        "grasp(mouse)"
      ],
      "grasp(mouse)": [
        "pick_up(mouse)"
      ],
      "pick_up(mouse)": [
        "move_to(mouse, mouse_pad)"
      ],
      "move_to(mouse, mouse_pad)": [
        "place(mouse, mouse_pad)"
      ],
      "place(mouse, mouse_pad)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_arrange_mouse_16_env_4_object_episode_558.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_661",
    "actions_list": [
      "move_to(none, left_edge_of_towel)",
      "grasp(left_edge_of_towel)",
      "fold(left_edge_of_towel, right_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, left_edge_of_towel)": [
        "grasp(left_edge_of_towel)"
      ],
      "grasp(left_edge_of_towel)": [
        "fold(left_edge_of_towel, right_side_of_towel)"
      ],
      "fold(left_edge_of_towel, right_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_661.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_811",
    "actions_list": [
      "move_to(none, left_edge_of_towel)",
      "grasp(left_edge_of_towel)",
      "fold(left_edge_of_towel, right_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, left_edge_of_towel)": [
        "grasp(left_edge_of_towel)"
      ],
      "grasp(left_edge_of_towel)": [
        "fold(left_edge_of_towel, right_side_of_towel)"
      ],
      "fold(left_edge_of_towel, right_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_811.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_938",
    "actions_list": [
      "move_to(none, left_edge_of_towel)",
      "grasp(left_edge_of_towel)",
      "fold(left_edge_of_towel, right_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, left_edge_of_towel)": [
        "grasp(left_edge_of_towel)"
      ],
      "grasp(left_edge_of_towel)": [
        "fold(left_edge_of_towel, right_side_of_towel)"
      ],
      "fold(left_edge_of_towel, right_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_938.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1156",
    "actions_list": [
      "move_to(none, left_edge_of_towel)",
      "grasp(left_edge_of_towel)",
      "fold(left_edge_of_towel, right_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, left_edge_of_towel)": [
        "grasp(left_edge_of_towel)"
      ],
      "grasp(left_edge_of_towel)": [
        "fold(left_edge_of_towel, right_side_of_towel)"
      ],
      "fold(left_edge_of_towel, right_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_1156.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1658",
    "actions_list": [
      "move_to(none, left_edge_of_towel)",
      "grasp(left_edge_of_towel)",
      "fold(left_edge_of_towel, right_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, left_edge_of_towel)": [
        "grasp(left_edge_of_towel)"
      ],
      "grasp(left_edge_of_towel)": [
        "fold(left_edge_of_towel, right_side_of_towel)"
      ],
      "fold(left_edge_of_towel, right_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_1658.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1704",
    "actions_list": [
      "move_to(none, left_edge_of_towel)",
      "grasp(left_edge_of_towel)",
      "fold(left_edge_of_towel, right_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, left_edge_of_towel)": [
        "grasp(left_edge_of_towel)"
      ],
      "grasp(left_edge_of_towel)": [
        "fold(left_edge_of_towel, right_side_of_towel)"
      ],
      "fold(left_edge_of_towel, right_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_1704.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_21",
    "actions_list": [
      "move_to(none, drink_bottle)",
      "grasp(drink_bottle)",
      "pick_up(drink_bottle)",
      "move_to(drink_bottle, cup)",
      "pour(drink_bottle, drink, cup)",
      "move_to(drink_bottle, table)",
      "place(drink_bottle, table)"
    ],
    "gt_dag": {
      "move_to(none, drink_bottle)": [
        "grasp(drink_bottle)"
      ],
      "grasp(drink_bottle)": [
        "pick_up(drink_bottle)"
      ],
      "pick_up(drink_bottle)": [
        "move_to(drink_bottle, cup)"
      ],
      "move_to(drink_bottle, cup)": [
        "pour(drink_bottle, drink, cup)"
      ],
      "pour(drink_bottle, drink, cup)": [
        "move_to(drink_bottle, table)"
      ],
      "move_to(drink_bottle, table)": [
        "place(drink_bottle, table)"
      ],
      "place(drink_bottle, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_21.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_1881",
    "actions_list": [
      "move_to(none, bottle)",
      "grasp(bottle)",
      "pick_up(bottle)",
      "move_to(bottle, cup)",
      "pour(bottle, water , cup)",
      "move_to(bottle, table)",
      "place(bottle, table)"
    ],
    "gt_dag": {
      "move_to(none, bottle)": [
        "grasp(bottle)"
      ],
      "grasp(bottle)": [
        "pick_up(bottle)"
      ],
      "pick_up(bottle)": [
        "move_to(bottle, cup)"
      ],
      "move_to(bottle, cup)": [
        "pour(bottle, water , cup)"
      ],
      "pour(bottle, water , cup)": [
        "move_to(bottle, table)"
      ],
      "move_to(bottle, table)": [
        "place(bottle, table)"
      ],
      "place(bottle, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_1881.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2016",
    "actions_list": [
      "move_to(none, drink_bottle)",
      "grasp(drink_bottle)",
      "pick_up(drink_bottle)",
      "move_to(bottle, cup)",
      "pour(bottle, drink , cup)",
      "move_to(bottle, table)",
      "place(bottle, table)"
    ],
    "gt_dag": {
      "move_to(none, drink_bottle)": [
        "grasp(drink_bottle)"
      ],
      "grasp(drink_bottle)": [
        "pick_up(drink_bottle)"
      ],
      "pick_up(drink_bottle)": [
        "move_to(bottle, cup)"
      ],
      "move_to(bottle, cup)": [
        "pour(bottle, drink , cup)"
      ],
      "pour(bottle, drink , cup)": [
        "move_to(bottle, table)"
      ],
      "move_to(bottle, table)": [
        "place(bottle, table)"
      ],
      "place(bottle, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_2016.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2065",
    "actions_list": [
      "move_to(none, bottle)",
      "grasp(bottle)",
      "pick_up(bottle)",
      "move_to(bottle, cup)",
      "pour(bottle, water , cup)",
      "move_to(bottle, table)",
      "place(bottle, table)"
    ],
    "gt_dag": {
      "move_to(none, bottle)": [
        "grasp(bottle)"
      ],
      "grasp(bottle)": [
        "pick_up(bottle)"
      ],
      "pick_up(bottle)": [
        "move_to(bottle, cup)"
      ],
      "move_to(bottle, cup)": [
        "pour(bottle, water , cup)"
      ],
      "pour(bottle, water , cup)": [
        "move_to(bottle, table)"
      ],
      "move_to(bottle, table)": [
        "place(bottle, table)"
      ],
      "place(bottle, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_2065.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_3235",
    "actions_list": [
      "move_to(none, bottle)",
      "grasp(bottle)",
      "pick_up(bottle)",
      "move_to(bottle, cup)",
      "pour(bottle, water , cup)",
      "move_to(bottle, table)",
      "place(bottle, table)"
    ],
    "gt_dag": {
      "move_to(none, bottle)": [
        "grasp(bottle)"
      ],
      "grasp(bottle)": [
        "pick_up(bottle)"
      ],
      "pick_up(bottle)": [
        "move_to(bottle, cup)"
      ],
      "move_to(bottle, cup)": [
        "pour(bottle, water , cup)"
      ],
      "pour(bottle, water , cup)": [
        "move_to(bottle, table)"
      ],
      "move_to(bottle, table)": [
        "place(bottle, table)"
      ],
      "place(bottle, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_3235.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_79",
    "actions_list": [
      "move_to(none, stuffed_toy)",
      "grasp(stuffed_toy)",
      "pick_up(stuffed_toy)",
      "move_to(stuffed_toy, gray_bowl)",
      "place(stuffed_toy, gray_bowl)"
    ],
    "gt_dag": {
      "move_to(none, stuffed_toy)": [
        "grasp(stuffed_toy)"
      ],
      "grasp(stuffed_toy)": [
        "pick_up(stuffed_toy)"
      ],
      "pick_up(stuffed_toy)": [
        "move_to(stuffed_toy, gray_bowl)"
      ],
      "move_to(stuffed_toy, gray_bowl)": [
        "place(stuffed_toy, gray_bowl)"
      ],
      "place(stuffed_toy, gray_bowl)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_79.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_230",
    "actions_list": [
      "move_to(none, stuffed_toy)",
      "grasp(stuffed_toy)",
      "pick_up(stuffed_toy)",
      "move_to(stuffed_toy, gray_bowl)",
      "place(stuffed_toy, gray_bowl)"
    ],
    "gt_dag": {
      "move_to(none, stuffed_toy)": [
        "grasp(stuffed_toy)"
      ],
      "grasp(stuffed_toy)": [
        "pick_up(stuffed_toy)"
      ],
      "pick_up(stuffed_toy)": [
        "move_to(stuffed_toy, gray_bowl)"
      ],
      "move_to(stuffed_toy, gray_bowl)": [
        "place(stuffed_toy, gray_bowl)"
      ],
      "place(stuffed_toy, gray_bowl)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_230.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10236",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "pull(cloth, bottom_middle_of_the_tabletop)",
      "place(cloth, tabletop)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pull(cloth, bottom_middle_of_the_tabletop)"
      ],
      "pull(cloth, bottom_middle_of_the_tabletop)": [
        "place(cloth, tabletop)"
      ],
      "place(cloth, tabletop)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_2_49_bridge#episode_10236.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10418",
    "actions_list": [
      "move_to(none, spoon_handle)",
      "grasp(spoon_handle)",
      "pick_up(spoon)",
      "move_to(spoon , the_lower_right_corner_of_the_table)",
      "place(spoon , the_lower_right_corner_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, spoon_handle)": [
        "grasp(spoon_handle)"
      ],
      "grasp(spoon_handle)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon , the_lower_right_corner_of_the_table)"
      ],
      "move_to(spoon , the_lower_right_corner_of_the_table)": [
        "place(spoon , the_lower_right_corner_of_the_table)"
      ],
      "place(spoon , the_lower_right_corner_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_2_49_bridge#episode_10418.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10975",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, right_edge_of_the_table)",
      "place(spoon, right_edge_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, right_edge_of_the_table)"
      ],
      "move_to(spoon, right_edge_of_the_table)": [
        "place(spoon, right_edge_of_the_table)"
      ],
      "place(spoon, right_edge_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_3_49_bridge#episode_10975.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11760",
    "actions_list": [
      "move_to(none, mushroom)",
      "grasp(mushroom)",
      "pick_up(mushroom)",
      "move_to(mushroom, front_edge_of_the_table)",
      "place(mushroom, front_edge_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, mushroom)": [
        "grasp(mushroom)"
      ],
      "grasp(mushroom)": [
        "pick_up(mushroom)"
      ],
      "pick_up(mushroom)": [
        "move_to(mushroom, front_edge_of_the_table)"
      ],
      "move_to(mushroom, front_edge_of_the_table)": [
        "place(mushroom, front_edge_of_the_table)"
      ],
      "place(mushroom, front_edge_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_3_49_bridge#episode_11760.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12585",
    "actions_list": [
      "move_to(none, sausage)",
      "grasp(sausage)",
      "pick_up(sausage)",
      "move_to(sausage, the_left_of_the_spoon)",
      "place(sausage, the_left_of_the_spoon)"
    ],
    "gt_dag": {
      "move_to(none, sausage)": [
        "grasp(sausage)"
      ],
      "grasp(sausage)": [
        "pick_up(sausage)"
      ],
      "pick_up(sausage)": [
        "move_to(sausage, the_left_of_the_spoon)"
      ],
      "move_to(sausage, the_left_of_the_spoon)": [
        "place(sausage, the_left_of_the_spoon)"
      ],
      "place(sausage, the_left_of_the_spoon)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_12585.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12946",
    "actions_list": [
      "move_to(none, pot)",
      "grasp(pot)",
      "pick_up(pot)",
      "move_to(pot,  in_front_of_the_mushroom)",
      "place(pot, in_front_of_the_mushroom)"
    ],
    "gt_dag": {
      "move_to(none, pot)": [
        "grasp(pot)"
      ],
      "grasp(pot)": [
        "pick_up(pot)"
      ],
      "pick_up(pot)": [
        "move_to(pot,  in_front_of_the_mushroom)"
      ],
      "move_to(pot,  in_front_of_the_mushroom)": [
        "place(pot, in_front_of_the_mushroom)"
      ],
      "place(pot, in_front_of_the_mushroom)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_12946.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13324",
    "actions_list": [
      "move_to(none, bowl)",
      "grasp(bowl)",
      "pick_up(bowl)",
      "move_to(bowl, bottom_of_the_spoon)",
      "place(bowl, bottom_of_the_spoon)"
    ],
    "gt_dag": {
      "move_to(none, bowl)": [
        "grasp(bowl)"
      ],
      "grasp(bowl)": [
        "pick_up(bowl)"
      ],
      "pick_up(bowl)": [
        "move_to(bowl, bottom_of_the_spoon)"
      ],
      "move_to(bowl, bottom_of_the_spoon)": [
        "place(bowl, bottom_of_the_spoon)"
      ],
      "place(bowl, bottom_of_the_spoon)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_13324.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410",
    "actions_list": [
      "move_to(none, pot)",
      "grasp(pot)",
      "pick_up(pot)",
      "move_to(pot, bottom_of_the_tabletop)",
      "place(pot, bottom_of_the_tabletop)"
    ],
    "gt_dag": {
      "grasp(pot)": [
        "pick_up(pot)"
      ],
      "pick_up(pot)": [
        "move_to(pot, bottom_of_the_tabletop)"
      ],
      "move_to(pot, bottom_of_the_tabletop)": [
        "place(pot, bottom_of_the_tabletop)"
      ],
      "place(pot, bottom_of_the_tabletop)": [],
      "move_to(none, pot)": [
        "grasp(pot)"
      ]
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14536",
    "actions_list": [
      "move_to(none, rag)",
      "grasp(rag)",
      "pull(rag,next_to_the_blue_fork)",
      "place(rag, table)"
    ],
    "gt_dag": {
      "move_to(none, rag)": [
        "grasp(rag)"
      ],
      "grasp(rag)": [
        "pull(rag,next_to_the_blue_fork)"
      ],
      "pull(rag,next_to_the_blue_fork)": [
        "place(rag, table)"
      ],
      "place(rag, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_5_49_bridge#episode_14536.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_15082",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "pull(cloth, left_edge_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pull(cloth, left_edge_of_the_table)"
      ],
      "pull(cloth, left_edge_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_5_49_bridge#episode_15082.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1566",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, in_front_of_the_microwave)",
      "place(spoon,  in_front_of_the_microwave)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, in_front_of_the_microwave)"
      ],
      "move_to(spoon, in_front_of_the_microwave)": [
        "place(spoon,  in_front_of_the_microwave)"
      ],
      "place(spoon,  in_front_of_the_microwave)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_1566.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1609",
    "actions_list": [
      "move_to(none, pot)",
      "grasp(pot)",
      "pick_up(pot)",
      "move_to(pot, in_front_of_a_yellow_towel)",
      "place(pot, in_front_of_a_yellow_towel)"
    ],
    "gt_dag": {
      "move_to(none, pot)": [
        "grasp(pot)"
      ],
      "grasp(pot)": [
        "pick_up(pot)"
      ],
      "pick_up(pot)": [
        "move_to(pot, in_front_of_a_yellow_towel)"
      ],
      "move_to(pot, in_front_of_a_yellow_towel)": [
        "place(pot, in_front_of_a_yellow_towel)"
      ],
      "place(pot, in_front_of_a_yellow_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_1609.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1610",
    "actions_list": [
      "move_to(none, pot)",
      "grasp(pot)",
      "pick_up(pot)",
      "move_to(pot, bottom_left_corner_of_the_table)",
      "place(pot, bottom_left_corner_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, pot)": [
        "grasp(pot)"
      ],
      "grasp(pot)": [
        "pick_up(pot)"
      ],
      "pick_up(pot)": [
        "move_to(pot, bottom_left_corner_of_the_table)"
      ],
      "move_to(pot, bottom_left_corner_of_the_table)": [
        "place(pot, bottom_left_corner_of_the_table)"
      ],
      "place(pot, bottom_left_corner_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_1610.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_15473",
    "actions_list": [
      "move_to(none, spatula)",
      "grasp(spatula)",
      "pick_up(spatula)",
      "move_to(spatula, right_edge_of_the_table)",
      "place(spatula, right_edge_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, spatula)": [
        "grasp(spatula)"
      ],
      "grasp(spatula)": [
        "pick_up(spatula)"
      ],
      "pick_up(spatula)": [
        "move_to(spatula, right_edge_of_the_table)"
      ],
      "move_to(spatula, right_edge_of_the_table)": [
        "place(spatula, right_edge_of_the_table)"
      ],
      "place(spatula, right_edge_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_15473.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_16026",
    "actions_list": [
      "move_to(none, cauliflower)",
      "grasp(cauliflower)",
      "pick_up(cauliflower)",
      "move_to(cauliflower, left_edge_of_the_table)",
      "place(cauliflower, left_edge_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, cauliflower)": [
        "grasp(cauliflower)"
      ],
      "grasp(cauliflower)": [
        "pick_up(cauliflower)"
      ],
      "pick_up(cauliflower)": [
        "move_to(cauliflower, left_edge_of_the_table)"
      ],
      "move_to(cauliflower, left_edge_of_the_table)": [
        "place(cauliflower, left_edge_of_the_table)"
      ],
      "place(cauliflower, left_edge_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_16026.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16744",
    "actions_list": [
      "move_to(none, bottle)",
      "grasp(bottle)",
      "pick_up(bottle)",
      "move_to(bottle, behind_the_cloth)",
      "place(bottle, behind_the_cloth)"
    ],
    "gt_dag": {
      "move_to(none, bottle)": [
        "grasp(bottle)"
      ],
      "grasp(bottle)": [
        "pick_up(bottle)"
      ],
      "pick_up(bottle)": [
        "move_to(bottle, behind_the_cloth)"
      ],
      "move_to(bottle, behind_the_cloth)": [
        "place(bottle, behind_the_cloth)"
      ],
      "place(bottle, behind_the_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_7_49_bridge#episode_16744.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17815",
    "actions_list": [
      "move_to(none, can)",
      "grasp(can)",
      "pick_up(can)",
      "move_to(can , top_right_corner_of_the_table)",
      "place(can , top_right_corner_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, can)": [
        "grasp(can)"
      ],
      "grasp(can)": [
        "pick_up(can)"
      ],
      "pick_up(can)": [
        "move_to(can , top_right_corner_of_the_table)"
      ],
      "move_to(can , top_right_corner_of_the_table)": [
        "place(can , top_right_corner_of_the_table)"
      ],
      "place(can , top_right_corner_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_7_49_bridge#episode_17815.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_1926",
    "actions_list": [
      "move_to(none, pumpkin)",
      "grasp(pumpkin)",
      "pick_up(pumpkin)",
      "move_to(pumpkin, bottom left corner of the table)",
      "place(pumpkin, bottom left corner of the table)"
    ],
    "gt_dag": {
      "move_to(none, pumpkin)": [
        "grasp(pumpkin)"
      ],
      "grasp(pumpkin)": [
        "pick_up(pumpkin)"
      ],
      "pick_up(pumpkin)": [
        "move_to(pumpkin, bottom left corner of the table)"
      ],
      "move_to(pumpkin, bottom left corner of the table)": [
        "place(pumpkin, bottom left corner of the table)"
      ],
      "place(pumpkin, bottom left corner of the table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_8_49_bridge#episode_1926.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18185",
    "actions_list": [
      "move_to(none, mushroom)",
      "grasp(mushroom)",
      "pick_up(mushroom)",
      "move_to(mushroom, in_front_of_the_microwave)",
      "place(mushroom, in_front_of_the_microwave)"
    ],
    "gt_dag": {
      "move_to(none, mushroom)": [
        "grasp(mushroom)"
      ],
      "grasp(mushroom)": [
        "pick_up(mushroom)"
      ],
      "pick_up(mushroom)": [
        "move_to(mushroom, in_front_of_the_microwave)"
      ],
      "move_to(mushroom, in_front_of_the_microwave)": [
        "place(mushroom, in_front_of_the_microwave)"
      ],
      "place(mushroom, in_front_of_the_microwave)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_8_49_bridge#episode_18185.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18257",
    "actions_list": [
      "move_to(none, cabinet_door)",
      "grasp(cabinet_door)",
      "push(cabinet_door)"
    ],
    "gt_dag": {
      "move_to(none, cabinet_door)": [
        "grasp(cabinet_door)"
      ],
      "grasp(cabinet_door)": [
        "push(cabinet_door)"
      ],
      "push(cabinet_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_8_49_bridge#episode_18257.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19131",
    "actions_list": [
      "move_to(none, pot)",
      "grasp(pot)",
      "pick_up(pot)",
      "move_to(pot, table)",
      "place(pot, table)"
    ],
    "gt_dag": {
      "move_to(none, pot)": [
        "grasp(pot)"
      ],
      "grasp(pot)": [
        "pick_up(pot)"
      ],
      "pick_up(pot)": [
        "move_to(pot, table)"
      ],
      "move_to(pot, table)": [
        "place(pot, table)"
      ],
      "place(pot, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_8_49_bridge#episode_19131.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_1974",
    "actions_list": [
      "move_to(none, brush)",
      "grasp(brush)",
      "pick_up(brush)",
      "move_to(brush, behind_the_pan)",
      "place(brush, behind_the_pan)"
    ],
    "gt_dag": {
      "move_to(none, brush)": [
        "grasp(brush)"
      ],
      "grasp(brush)": [
        "pick_up(brush)"
      ],
      "pick_up(brush)": [
        "move_to(brush, behind_the_pan)"
      ],
      "move_to(brush, behind_the_pan)": [
        "place(brush, behind_the_pan)"
      ],
      "place(brush, behind_the_pan)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_1974.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19836",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, right_edge_of_the_table)",
      "place(spoon, right_edge_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, right_edge_of_the_table)"
      ],
      "move_to(spoon, right_edge_of_the_table)": [
        "place(spoon, right_edge_of_the_table)"
      ],
      "place(spoon, right_edge_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_19836.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20302",
    "actions_list": [
      "move_to(none, mushroom)",
      "grasp(mushroom)",
      "pick_up(mushroom)",
      "move_to(mushroom, between_pot_and_cloth)",
      "place(mushroom, between_pot_and_cloth)"
    ],
    "gt_dag": {
      "move_to(none, mushroom)": [
        "grasp(mushroom)"
      ],
      "grasp(mushroom)": [
        "pick_up(mushroom)"
      ],
      "pick_up(mushroom)": [
        "move_to(mushroom, between_pot_and_cloth)"
      ],
      "move_to(mushroom, between_pot_and_cloth)": [
        "place(mushroom, between_pot_and_cloth)"
      ],
      "place(mushroom, between_pot_and_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_20302.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20487",
    "actions_list": [
      "move_to(none , brush)",
      "grasp(brush)",
      "pick_up(brush)",
      "move_to(brush, behind_the_pot)",
      "place(brush, behind_the_pot)"
    ],
    "gt_dag": {
      "move_to(none , brush)": [
        "grasp(brush)"
      ],
      "grasp(brush)": [
        "pick_up(brush)"
      ],
      "pick_up(brush)": [
        "move_to(brush, behind_the_pot)"
      ],
      "move_to(brush, behind_the_pot)": [
        "place(brush, behind_the_pot)"
      ],
      "place(brush, behind_the_pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_20487.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_20952",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "pull(cloth, top_right_corner_of_table)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pull(cloth, top_right_corner_of_table)"
      ],
      "pull(cloth, top_right_corner_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_20952.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21190",
    "actions_list": [
      "move_to(none, chicken_leg)",
      "grasp(chicken_leg)",
      "pick_up(chicken_leg)",
      "move_to(chicken_leg, in_front_of_the_oven)",
      "place(chicken_leg, in_front_of_the_oven)"
    ],
    "gt_dag": {
      "move_to(none, chicken_leg)": [
        "grasp(chicken_leg)"
      ],
      "grasp(chicken_leg)": [
        "pick_up(chicken_leg)"
      ],
      "pick_up(chicken_leg)": [
        "move_to(chicken_leg, in_front_of_the_oven)"
      ],
      "move_to(chicken_leg, in_front_of_the_oven)": [
        "place(chicken_leg, in_front_of_the_oven)"
      ],
      "place(chicken_leg, in_front_of_the_oven)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21190.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21309",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "pull(cloth, left_edge_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pull(cloth, left_edge_of_the_table)"
      ],
      "pull(cloth, left_edge_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21309.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21392",
    "actions_list": [
      "move_to(none, sushi)",
      "pick_up(sushi)",
      "move_to(sushi, bottom_right_corner_of_the_table)",
      "place(sushi, bottom_right_corner_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, sushi)": [
        "pick_up(sushi)"
      ],
      "pick_up(sushi)": [
        "move_to(sushi, bottom_right_corner_of_the_table)"
      ],
      "move_to(sushi, bottom_right_corner_of_the_table)": [
        "place(sushi, bottom_right_corner_of_the_table)"
      ],
      "place(sushi, bottom_right_corner_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21392.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21825",
    "actions_list": [
      "move_to(none, toy)",
      "grasp(toy)",
      "pick_up(toy)",
      "move_to(toy, behind_the_pot)",
      "place(toy, behind_the_pot)"
    ],
    "gt_dag": {
      "move_to(none, toy)": [
        "grasp(toy)"
      ],
      "grasp(toy)": [
        "pick_up(toy)"
      ],
      "pick_up(toy)": [
        "move_to(toy, behind_the_pot)"
      ],
      "move_to(toy, behind_the_pot)": [
        "place(toy, behind_the_pot)"
      ],
      "place(toy, behind_the_pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21825.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21946",
    "actions_list": [
      "move_to(none, cleaning_brush)",
      "grasp(cleaning_brush)",
      "pick_up(cleaning_brush)",
      "move_to(brush, cloth)",
      "place(brush, cloth)"
    ],
    "gt_dag": {
      "move_to(none, cleaning_brush)": [
        "grasp(cleaning_brush)"
      ],
      "grasp(cleaning_brush)": [
        "pick_up(cleaning_brush)"
      ],
      "pick_up(cleaning_brush)": [
        "move_to(brush, cloth)"
      ],
      "move_to(brush, cloth)": [
        "place(brush, cloth)"
      ],
      "place(brush, cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21946.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_22123",
    "actions_list": [
      "move_to(none, avocado)",
      "grasp(avocado)",
      "pick_up(avocado)",
      "move_to(avocado, next_to_spatula)",
      "place(avocado, next_to_spatula)"
    ],
    "gt_dag": {
      "move_to(none, avocado)": [
        "grasp(avocado)"
      ],
      "grasp(avocado)": [
        "pick_up(avocado)"
      ],
      "pick_up(avocado)": [
        "move_to(avocado, next_to_spatula)"
      ],
      "move_to(avocado, next_to_spatula)": [
        "place(avocado, next_to_spatula)"
      ],
      "place(avocado, next_to_spatula)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_22123.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22243",
    "actions_list": [
      "move_to(none, pan)",
      "grasp(pan)",
      "pick_up(pan)",
      "move_to(pan ,  left_stove)",
      "place(pan, left_stove)",
      "move_to(none, stuffed_duck)",
      "pick_up(stuffed_duck)",
      "move_to(stuffed_duck, pan)",
      "place(stuffed_duck, pan)"
    ],
    "gt_dag": {
      "move_to(none, pan)": [
        "grasp(pan)"
      ],
      "grasp(pan)": [
        "pick_up(pan)"
      ],
      "pick_up(pan)": [
        "move_to(pan ,  left_stove)"
      ],
      "move_to(pan ,  left_stove)": [
        "place(pan, left_stove)"
      ],
      "place(pan, left_stove)": [
        "move_to(none, stuffed_duck)"
      ],
      "move_to(none, stuffed_duck)": [
        "pick_up(stuffed_duck)"
      ],
      "pick_up(stuffed_duck)": [
        "move_to(stuffed_duck, pan)"
      ],
      "move_to(stuffed_duck, pan)": [
        "place(stuffed_duck, pan)"
      ],
      "place(stuffed_duck, pan)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_11_49_bridge#episode_22243.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22408",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "pull(cloth, between_pot_and_spoon)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pull(cloth, between_pot_and_spoon)"
      ],
      "pull(cloth, between_pot_and_spoon)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_11_49_bridge#episode_22408.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_23829",
    "actions_list": [
      "move_to(none, can)",
      "grasp(can)",
      "pull(can,in_front_of_the_tabletop)"
    ],
    "gt_dag": {
      "move_to(none, can)": [
        "grasp(can)"
      ],
      "grasp(can)": [
        "pull(can,in_front_of_the_tabletop)"
      ],
      "pull(can,in_front_of_the_tabletop)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_12_49_bridge#episode_23829.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24313",
    "actions_list": [
      "move_to(none, pot)",
      "grasp(pot)",
      "pick_up(pot)",
      "move_to(pot, blue_cloth)",
      "place(pot, blue_cloth)"
    ],
    "gt_dag": {
      "move_to(none, pot)": [
        "grasp(pot)"
      ],
      "grasp(pot)": [
        "pick_up(pot)"
      ],
      "pick_up(pot)": [
        "move_to(pot, blue_cloth)"
      ],
      "move_to(pot, blue_cloth)": [
        "place(pot, blue_cloth)"
      ],
      "place(pot, blue_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_12_49_bridge#episode_24313.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_3800",
    "actions_list": [
      "move_to(none , pan)",
      "grasp(pan)",
      "pick_up(pan)",
      "move_to(pan, left_stove)",
      "place(pan, left_stove)",
      "move_to(none, potato)",
      "grasp(potato)",
      "pick_up(potato)",
      "move_to(potato, pot)",
      "place(potato, pot)"
    ],
    "gt_dag": {
      "move_to(none , pan)": [
        "grasp(pan)"
      ],
      "grasp(pan)": [
        "pick_up(pan)"
      ],
      "pick_up(pan)": [
        "move_to(pan, left_stove)"
      ],
      "move_to(pan, left_stove)": [
        "place(pan, left_stove)"
      ],
      "place(pan, left_stove)": [
        "move_to(none, potato)"
      ],
      "move_to(none, potato)": [
        "grasp(potato)"
      ],
      "grasp(potato)": [
        "pick_up(potato)"
      ],
      "pick_up(potato)": [
        "move_to(potato, pot)"
      ],
      "move_to(potato, pot)": [
        "place(potato, pot)"
      ],
      "place(potato, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_14_49_bridge#episode_3800.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4037",
    "actions_list": [
      "move_to(none , apple)",
      "grasp(apple)",
      "pick_up(apple)",
      "move_to(apple, plate)",
      "place(apple, plate)",
      "move_to(none , croissant)",
      "grasp(croissant)",
      "pick_up(croissant)",
      "move_to(croissant, pot)",
      "place(croissant, pot)"
    ],
    "gt_dag": {
      "move_to(none , apple)": [
        "grasp(apple)"
      ],
      "grasp(apple)": [
        "pick_up(apple)"
      ],
      "pick_up(apple)": [
        "move_to(apple, plate)"
      ],
      "move_to(apple, plate)": [
        "place(apple, plate)"
      ],
      "place(apple, plate)": [],
      "move_to(none , croissant)": [
        "grasp(croissant)"
      ],
      "grasp(croissant)": [
        "pick_up(croissant)"
      ],
      "pick_up(croissant)": [
        "move_to(croissant, pot)"
      ],
      "move_to(croissant, pot)": [
        "place(croissant, pot)"
      ],
      "place(croissant, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_14_49_bridge#episode_4037.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4596",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon,  right_of_the_broccoli)",
      "place(spoon, right_of_the_broccoli)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon,  right_of_the_broccoli)"
      ],
      "move_to(spoon,  right_of_the_broccoli)": [
        "place(spoon, right_of_the_broccoli)"
      ],
      "place(spoon, right_of_the_broccoli)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_14_49_bridge#episode_4596.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4992",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "pull(cloth, middle_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pull(cloth, middle_of_the_table)"
      ],
      "pull(cloth, middle_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_14_49_bridge#episode_4992.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5438",
    "actions_list": [
      "move_to(none, plush_toy)",
      "grasp(plush_toy)",
      "pick_up(plush_toy)",
      "move_to(plush_toy, under_of_knife)",
      "place(plush_toy, under_of_knife)"
    ],
    "gt_dag": {
      "move_to(none, plush_toy)": [
        "grasp(plush_toy)"
      ],
      "grasp(plush_toy)": [
        "pick_up(plush_toy)"
      ],
      "pick_up(plush_toy)": [
        "move_to(plush_toy, under_of_knife)"
      ],
      "move_to(plush_toy, under_of_knife)": [
        "place(plush_toy, under_of_knife)"
      ],
      "place(plush_toy, under_of_knife)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_15_49_bridge#episode_5438.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5503",
    "actions_list": [
      "move_to(none, spatula)",
      "grasp(spatula)",
      "pick_up(spatula)",
      "move_to(spatula, right_of _corn)",
      "place(spatula, right_of _corn)"
    ],
    "gt_dag": {
      "move_to(none, spatula)": [
        "grasp(spatula)"
      ],
      "grasp(spatula)": [
        "pick_up(spatula)"
      ],
      "pick_up(spatula)": [
        "move_to(spatula, right_of _corn)"
      ],
      "move_to(spatula, right_of _corn)": [
        "place(spatula, right_of _corn)"
      ],
      "place(spatula, right_of _corn)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_15_49_bridge#episode_5503.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_6401",
    "actions_list": [
      "move_to(none, sushi_roll)",
      "grasp(sushi_roll)",
      "pick_up(sushi_roll)",
      "move_to(sushi_roll, pot)",
      "place(sushi_roll, pot)"
    ],
    "gt_dag": {
      "move_to(none, sushi_roll)": [
        "grasp(sushi_roll)"
      ],
      "grasp(sushi_roll)": [
        "pick_up(sushi_roll)"
      ],
      "pick_up(sushi_roll)": [
        "move_to(sushi_roll, pot)"
      ],
      "move_to(sushi_roll, pot)": [
        "place(sushi_roll, pot)"
      ],
      "place(sushi_roll, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_15_49_bridge#episode_6401.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_6930",
    "actions_list": [
      "move_to(none , towel)",
      "grasp(towel)",
      "pull(towel, bottom_right_corner_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none , towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "pull(towel, bottom_right_corner_of_the_table)"
      ],
      "pull(towel, bottom_right_corner_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_16_49_bridge#episode_6930.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7051",
    "actions_list": [
      "move_to(none, broccoli)",
      "grasp(broccoli)",
      "pick_up(broccoli)",
      "move_to(vegetable, cloth)",
      "place(vegetable, cloth)"
    ],
    "gt_dag": {
      "move_to(none, broccoli)": [
        "grasp(broccoli)"
      ],
      "grasp(broccoli)": [
        "pick_up(broccoli)"
      ],
      "pick_up(broccoli)": [
        "move_to(vegetable, cloth)"
      ],
      "move_to(vegetable, cloth)": [
        "place(vegetable, cloth)"
      ],
      "place(vegetable, cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_16_49_bridge#episode_7051.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7490",
    "actions_list": [
      "move_to(none, red_cone)",
      "grasp(red_cone)",
      "pick_up(red_cone)",
      "move_to(red_cone, bottom_right_corner_of_the_table)",
      "place(red_cone, table)"
    ],
    "gt_dag": {
      "move_to(none, red_cone)": [
        "grasp(red_cone)"
      ],
      "grasp(red_cone)": [
        "pick_up(red_cone)"
      ],
      "pick_up(red_cone)": [
        "move_to(red_cone, bottom_right_corner_of_the_table)"
      ],
      "move_to(red_cone, bottom_right_corner_of_the_table)": [
        "place(red_cone, table)"
      ],
      "place(red_cone, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_16_49_bridge#episode_7490.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8131",
    "actions_list": [
      "move_to(none, chocolate)",
      "grasp(chocolate)",
      "pick_up(chocolate)",
      "move_to(chocolate, plate)",
      "place(chocolate, plate)",
      "move_to(none, apple)",
      "grasp(apple)",
      "pick_up(apple)",
      "move_to(apple, pot)",
      "place(apple, pot)"
    ],
    "gt_dag": {
      "move_to(none, chocolate)": [
        "grasp(chocolate)"
      ],
      "grasp(chocolate)": [
        "pick_up(chocolate)"
      ],
      "pick_up(chocolate)": [
        "move_to(chocolate, plate)"
      ],
      "move_to(chocolate, plate)": [
        "place(chocolate, plate)"
      ],
      "place(chocolate, plate)": [],
      "move_to(none, apple)": [
        "grasp(apple)"
      ],
      "grasp(apple)": [
        "pick_up(apple)"
      ],
      "pick_up(apple)": [
        "move_to(apple, pot)"
      ],
      "move_to(apple, pot)": [
        "place(apple, pot)"
      ],
      "place(apple, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_17_49_bridge#episode_8131.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9457",
    "actions_list": [
      "move_to(none, knife)",
      "grasp(knife)",
      "pick_up(knife)",
      "move_to(knife, left_of_the_croissant)",
      "place(knife, left_of_the_croissant)"
    ],
    "gt_dag": {
      "move_to(none, knife)": [
        "grasp(knife)"
      ],
      "grasp(knife)": [
        "pick_up(knife)"
      ],
      "pick_up(knife)": [
        "move_to(knife, left_of_the_croissant)"
      ],
      "move_to(knife, left_of_the_croissant)": [
        "place(knife, left_of_the_croissant)"
      ],
      "place(knife, left_of_the_croissant)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_18_49_bridge#episode_9457.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9554",
    "actions_list": [
      "move_to(none, brush)",
      "grasp(brush)",
      "pick_up(brush)",
      "move_to(brush, pan)",
      "place(brush, pan)"
    ],
    "gt_dag": {
      "move_to(none, brush)": [
        "grasp(brush)"
      ],
      "grasp(brush)": [
        "pick_up(brush)"
      ],
      "pick_up(brush)": [
        "move_to(brush, pan)"
      ],
      "move_to(brush, pan)": [
        "place(brush, pan)"
      ],
      "place(brush, pan)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_18_49_bridge#episode_9554.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9868",
    "actions_list": [
      "move_to(none, can)",
      "grasp(can)",
      "pull(can, back_of_the_counter)",
      "place(can, back_of_the_counter)"
    ],
    "gt_dag": {
      "move_to(none, can)": [
        "grasp(can)"
      ],
      "grasp(can)": [
        "pull(can, back_of_the_counter)"
      ],
      "pull(can, back_of_the_counter)": [
        "place(can, back_of_the_counter)"
      ],
      "place(can, back_of_the_counter)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_18_49_bridge#episode_9868.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "pull(cloth, next_to_cans)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pull(cloth, next_to_cans)"
      ],
      "pull(cloth, next_to_cans)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11093",
    "actions_list": [
      "move_to(none, spatula)",
      "grasp(spatula)",
      "pick_up(spatula)",
      "move_to(spatula, between_cloth_and_knife)",
      "place(spatula, between_cloth_and_knife)"
    ],
    "gt_dag": {
      "move_to(none, spatula)": [
        "grasp(spatula)"
      ],
      "grasp(spatula)": [
        "pick_up(spatula)"
      ],
      "pick_up(spatula)": [
        "move_to(spatula, between_cloth_and_knife)"
      ],
      "move_to(spatula, between_cloth_and_knife)": [
        "place(spatula, between_cloth_and_knife)"
      ],
      "place(spatula, between_cloth_and_knife)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11093.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11305",
    "actions_list": [
      "move_to(none, oven_door_handle)",
      "grasp(oven_door_handle)",
      "push(oven_door,open)"
    ],
    "gt_dag": {
      "move_to(none, oven_door_handle)": [
        "grasp(oven_door_handle)"
      ],
      "grasp(oven_door_handle)": [
        "push(oven_door,open)"
      ],
      "push(oven_door,open)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11305.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20248",
    "actions_list": [
      "move_to(none, knife)",
      "grasp(knife)",
      "pick_up(knife)",
      "move_to(knife, lower_left_side_of_the_sink)",
      "place(knife, lower_left_side_of_the_sink)"
    ],
    "gt_dag": {
      "move_to(none, knife)": [
        "grasp(knife)"
      ],
      "grasp(knife)": [
        "pick_up(knife)"
      ],
      "pick_up(knife)": [
        "move_to(knife, lower_left_side_of_the_sink)"
      ],
      "move_to(knife, lower_left_side_of_the_sink)": [
        "place(knife, lower_left_side_of_the_sink)"
      ],
      "place(knife, lower_left_side_of_the_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20248.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_2185",
    "actions_list": [
      "move_to(none, green_cloth_in_the_washing_machine)",
      "grasp(green_cloth_in_the_washing_machine)",
      "pick_up(green_cloth)",
      "move_to(green_cloth)",
      "place(green_cloth)"
    ],
    "gt_dag": {
      "move_to(none, green_cloth_in_the_washing_machine)": [
        "grasp(green_cloth_in_the_washing_machine)"
      ],
      "grasp(green_cloth_in_the_washing_machine)": [
        "pick_up(green_cloth)"
      ],
      "pick_up(green_cloth)": [
        "move_to(green_cloth)"
      ],
      "move_to(green_cloth)": [
        "place(green_cloth)"
      ],
      "place(green_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_2185.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_25059",
    "actions_list": [
      "move_to(none, cabinet_door_handle)",
      "grasp(cabinet_door_handle)",
      "pull(cabinet_door)"
    ],
    "gt_dag": {
      "move_to(none, cabinet_door_handle)": [
        "grasp(cabinet_door_handle)"
      ],
      "grasp(cabinet_door_handle)": [
        "pull(cabinet_door)"
      ],
      "pull(cabinet_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_25059.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_27672",
    "actions_list": [
      "move_to(none, sushi)",
      "grasp(sushi)",
      "pick_up(sushi)",
      "move_to(sushi,  top_right_corner_of_the_table)",
      "place(sushi,  top_right_corner_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, sushi)": [
        "grasp(sushi)"
      ],
      "grasp(sushi)": [
        "pick_up(sushi)"
      ],
      "pick_up(sushi)": [
        "move_to(sushi,  top_right_corner_of_the_table)"
      ],
      "move_to(sushi,  top_right_corner_of_the_table)": [
        "place(sushi,  top_right_corner_of_the_table)"
      ],
      "place(sushi,  top_right_corner_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_27672.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_28515",
    "actions_list": [
      "move_to(none, broom)",
      "grasp(broom)",
      "wipe(broom, garbage, table)"
    ],
    "gt_dag": {
      "move_to(none, broom)": [
        "grasp(broom)"
      ],
      "grasp(broom)": [
        "wipe(broom, garbage, table)"
      ],
      "wipe(broom, garbage, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_28515.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29516",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, between_the_two_stoves)",
      "place(spoon, between_the_two_stoves)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, between_the_two_stoves)"
      ],
      "move_to(spoon, between_the_two_stoves)": [
        "place(spoon, between_the_two_stoves)"
      ],
      "place(spoon, between_the_two_stoves)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29516.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34446",
    "actions_list": [
      "move_to(none, broom)",
      "grasp(broom)",
      "wipe(broom, garbage, table)"
    ],
    "gt_dag": {
      "move_to(none, broom)": [
        "grasp(broom)"
      ],
      "grasp(broom)": [
        "wipe(broom, garbage, table)"
      ],
      "wipe(broom, garbage, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34446.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_389",
    "actions_list": [
      "move_to(none, top_left_corner_of_the_towel)",
      "grasp(top_left_corner_of_the_towel)",
      "fold(top_left_corner_of_the_cloth, bottom_left_corner_of_the_cloth)"
    ],
    "gt_dag": {
      "move_to(none, top_left_corner_of_the_towel)": [
        "grasp(top_left_corner_of_the_towel)"
      ],
      "grasp(top_left_corner_of_the_towel)": [
        "fold(top_left_corner_of_the_cloth, bottom_left_corner_of_the_cloth)"
      ],
      "fold(top_left_corner_of_the_cloth, bottom_left_corner_of_the_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_389.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3934",
    "actions_list": [
      "move_to(none, bottle)",
      "grasp(bottle)",
      "pick_up(bottle)",
      "move_to(bottle, left_side_of_the_cloth)",
      "place(bottle, left_side_of_the_cloth)"
    ],
    "gt_dag": {
      "move_to(none, bottle)": [
        "grasp(bottle)"
      ],
      "grasp(bottle)": [
        "pick_up(bottle)"
      ],
      "pick_up(bottle)": [
        "move_to(bottle, left_side_of_the_cloth)"
      ],
      "move_to(bottle, left_side_of_the_cloth)": [
        "place(bottle, left_side_of_the_cloth)"
      ],
      "place(bottle, left_side_of_the_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3934.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36527",
    "actions_list": [
      "move_to(none, microwave_door_handle)",
      "grasp(microwave_door_handle)",
      "pull(microwave_door, open)"
    ],
    "gt_dag": {
      "move_to(none, microwave_door_handle)": [
        "grasp(microwave_door_handle)"
      ],
      "grasp(microwave_door_handle)": [
        "pull(microwave_door, open)"
      ],
      "pull(microwave_door, open)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36527.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37899",
    "actions_list": [
      "move_to(none, left_cabinet_door)",
      "grasp(left_cabinet_door)",
      "push(left_cabinet_door, close)"
    ],
    "gt_dag": {
      "move_to(none, left_cabinet_door)": [
        "grasp(left_cabinet_door)"
      ],
      "grasp(left_cabinet_door)": [
        "push(left_cabinet_door, close)"
      ],
      "push(left_cabinet_door, close)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37899.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38528",
    "actions_list": [
      "move_to(none, drawer_handle)",
      "grasp(drawer_handle)",
      "push(drawer, close)"
    ],
    "gt_dag": {
      "move_to(none, drawer_handle)": [
        "grasp(drawer_handle)"
      ],
      "grasp(drawer_handle)": [
        "push(drawer, close)"
      ],
      "push(drawer, close)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38528.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38827",
    "actions_list": [
      "move_to(none, cabinet_door_handle)",
      "grasp(cabinet_door_handle)",
      "push(cabinet_door_handle, close)"
    ],
    "gt_dag": {
      "move_to(none, cabinet_door_handle)": [
        "grasp(cabinet_door_handle)"
      ],
      "grasp(cabinet_door_handle)": [
        "push(cabinet_door_handle, close)"
      ],
      "push(cabinet_door_handle, close)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38827.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_40347",
    "actions_list": [
      "move_to(none, lower_fridge_door_handle)",
      "grasp(lower_fridge_door_handle)",
      "pull(fridge_door, open)"
    ],
    "gt_dag": {
      "move_to(none, lower_fridge_door_handle)": [
        "grasp(lower_fridge_door_handle)"
      ],
      "grasp(lower_fridge_door_handle)": [
        "pull(fridge_door, open)"
      ],
      "pull(fridge_door, open)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_40347.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_41726",
    "actions_list": [
      "move_to(none, plastic_ice_cream)",
      "grasp(plastic_ice_cream)",
      "pick_up(plastic_ice_cream)",
      "move_to(plastic_ice_cream, bottom_edge_of_the_cloth)",
      "place(plastic_ice_cream, bottom_edge_of_the_cloth)"
    ],
    "gt_dag": {
      "move_to(none, plastic_ice_cream)": [
        "grasp(plastic_ice_cream)"
      ],
      "grasp(plastic_ice_cream)": [
        "pick_up(plastic_ice_cream)"
      ],
      "pick_up(plastic_ice_cream)": [
        "move_to(plastic_ice_cream, bottom_edge_of_the_cloth)"
      ],
      "move_to(plastic_ice_cream, bottom_edge_of_the_cloth)": [
        "place(plastic_ice_cream, bottom_edge_of_the_cloth)"
      ],
      "place(plastic_ice_cream, bottom_edge_of_the_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_41726.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43406",
    "actions_list": [
      "move_to(none, bottom_right_corner_of_the_cloth)",
      "grasp(bottom_right_corner)",
      "fold(bottom_right_corner, top_left_of_the_cloth)"
    ],
    "gt_dag": {
      "move_to(none, bottom_right_corner_of_the_cloth)": [
        "grasp(bottom_right_corner)"
      ],
      "grasp(bottom_right_corner)": [
        "fold(bottom_right_corner, top_left_of_the_cloth)"
      ],
      "fold(bottom_right_corner, top_left_of_the_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43406.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43696",
    "actions_list": [
      "move_to(none, cauliflower)",
      "grasp(cauliflower)",
      "pick_up(cauliflower)",
      "move_to(cauliflower, plate)",
      "place(cauliflower, plate)",
      "move_to(none, pickle)",
      "grasp(pickle)",
      "pick_up(pickle)",
      "move_to(pickle, pot)",
      "place(pickle, pot)"
    ],
    "gt_dag": {
      "move_to(none, cauliflower)": [
        "grasp(cauliflower)"
      ],
      "grasp(cauliflower)": [
        "pick_up(cauliflower)"
      ],
      "pick_up(cauliflower)": [
        "move_to(cauliflower, plate)"
      ],
      "move_to(cauliflower, plate)": [
        "place(cauliflower, plate)"
      ],
      "place(cauliflower, plate)": [],
      "move_to(none, pickle)": [
        "grasp(pickle)"
      ],
      "grasp(pickle)": [
        "pick_up(pickle)"
      ],
      "pick_up(pickle)": [
        "move_to(pickle, pot)"
      ],
      "move_to(pickle, pot)": [
        "place(pickle, pot)"
      ],
      "place(pickle, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43696.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_4921",
    "actions_list": [
      "move_to(none, carrot)",
      "grasp(carrot)",
      "pick_up(carrot)",
      "move_to(carrot, top_left_corner_of_the_table)",
      "place(carrot, top_left_corner_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, carrot)": [
        "grasp(carrot)"
      ],
      "grasp(carrot)": [
        "pick_up(carrot)"
      ],
      "pick_up(carrot)": [
        "move_to(carrot, top_left_corner_of_the_table)"
      ],
      "move_to(carrot, top_left_corner_of_the_table)": [
        "place(carrot, top_left_corner_of_the_table)"
      ],
      "place(carrot, top_left_corner_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_4921.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45771",
    "actions_list": [
      "move_to(none, broom)",
      "grasp(broom)",
      "wipe(broom, garbage, table)"
    ],
    "gt_dag": {
      "move_to(none, broom)": [
        "grasp(broom)"
      ],
      "grasp(broom)": [
        "wipe(broom, garbage, table)"
      ],
      "wipe(broom, garbage, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45771.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45805",
    "actions_list": [
      "move_to(none, metal_pot)",
      "grasp(metal_pot)",
      "pick_up(metal_pot)",
      "turn(metal_pot, clockwise, parallel_to_the_desktop)",
      "place(metal_pot, table)"
    ],
    "gt_dag": {
      "move_to(none, metal_pot)": [
        "grasp(metal_pot)"
      ],
      "grasp(metal_pot)": [
        "pick_up(metal_pot)"
      ],
      "pick_up(metal_pot)": [
        "turn(metal_pot, clockwise, parallel_to_the_desktop)"
      ],
      "turn(metal_pot, clockwise, parallel_to_the_desktop)": [
        "place(metal_pot, table)"
      ],
      "place(metal_pot, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45805.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_46984",
    "actions_list": [
      "move_to(none, microwave_door)",
      "grasp(microwave_door)",
      "push(microwave_door)"
    ],
    "gt_dag": {
      "move_to(none, microwave_door)": [
        "grasp(microwave_door)"
      ],
      "grasp(microwave_door)": [
        "push(microwave_door)"
      ],
      "push(microwave_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_46984.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47728",
    "actions_list": [
      "move_to(none, microwave_door)",
      "grasp(microwave_door_handle)",
      "push(microwave_door)"
    ],
    "gt_dag": {
      "move_to(none, microwave_door)": [
        "grasp(microwave_door_handle)"
      ],
      "grasp(microwave_door_handle)": [
        "push(microwave_door)"
      ],
      "push(microwave_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47728.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48213",
    "actions_list": [
      "move_to(none, onion)",
      "grasp(onion)",
      "pick_up(onion)",
      "move_to(onion, pot)",
      "place(onion, pot)"
    ],
    "gt_dag": {
      "move_to(none, onion)": [
        "grasp(onion)"
      ],
      "grasp(onion)": [
        "pick_up(onion)"
      ],
      "pick_up(onion)": [
        "move_to(onion, pot)"
      ],
      "move_to(onion, pot)": [
        "place(onion, pot)"
      ],
      "place(onion, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48213.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_5702",
    "actions_list": [
      "move_to(none, knife)",
      "grasp(knife)",
      "pick_up(knife)",
      "move_to(knife, pot)",
      "place(knife, pot)"
    ],
    "gt_dag": {
      "move_to(none, knife)": [
        "grasp(knife)"
      ],
      "grasp(knife)": [
        "pick_up(knife)"
      ],
      "pick_up(knife)": [
        "move_to(knife, pot)"
      ],
      "move_to(knife, pot)": [
        "place(knife, pot)"
      ],
      "place(knife, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_5702.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52666",
    "actions_list": [
      "move_to(none, sushi)",
      "grasp(sushi)",
      "pick_up(sushi)",
      "move_to(sushi, left_side_of_the_cloth)",
      "place(sushi, left_side_of_the_cloth)"
    ],
    "gt_dag": {
      "move_to(none, sushi)": [
        "grasp(sushi)"
      ],
      "grasp(sushi)": [
        "pick_up(sushi)"
      ],
      "pick_up(sushi)": [
        "move_to(sushi, left_side_of_the_cloth)"
      ],
      "move_to(sushi, left_side_of_the_cloth)": [
        "place(sushi, left_side_of_the_cloth)"
      ],
      "place(sushi, left_side_of_the_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52666.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52851",
    "actions_list": [
      "move_to(none, pan)",
      "grasp(pan)",
      "pick_up(pan)",
      "move_to(pan, between_spoon_and_the_knife)",
      "place(pan, between_spoon_and_the_knife)"
    ],
    "gt_dag": {
      "move_to(none, pan)": [
        "grasp(pan)"
      ],
      "grasp(pan)": [
        "pick_up(pan)"
      ],
      "pick_up(pan)": [
        "move_to(pan, between_spoon_and_the_knife)"
      ],
      "move_to(pan, between_spoon_and_the_knife)": [
        "place(pan, between_spoon_and_the_knife)"
      ],
      "place(pan, between_spoon_and_the_knife)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52851.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8239",
    "actions_list": [
      "move_to(none, panda_toy)",
      "grasp(panda_toy)",
      "pick_up(panda_toy)",
      "move_to(panda_toy, bottom_left_corner_of_the_table)",
      "place(panda_toy, bottom_left_corner_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, panda_toy)": [
        "grasp(panda_toy)"
      ],
      "grasp(panda_toy)": [
        "pick_up(panda_toy)"
      ],
      "pick_up(panda_toy)": [
        "move_to(panda_toy, bottom_left_corner_of_the_table)"
      ],
      "move_to(panda_toy, bottom_left_corner_of_the_table)": [
        "place(panda_toy, bottom_left_corner_of_the_table)"
      ],
      "place(panda_toy, bottom_left_corner_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8239.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8631",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(top_left_corner_of_the_cloth)",
      "fold(top_left_corner_of_the_cloth, bottom_right_corner_of_the_cloth)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(top_left_corner_of_the_cloth)"
      ],
      "grasp(top_left_corner_of_the_cloth)": [
        "fold(top_left_corner_of_the_cloth, bottom_right_corner_of_the_cloth)"
      ],
      "fold(top_left_corner_of_the_cloth, bottom_right_corner_of_the_cloth)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8631.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_119",
    "actions_list": [
      "move_to(vegetable)",
      "grasp(vegetable)",
      "pick_up(vegetable)",
      "move_to(vegetable, top_plate)",
      "place(vegetable, top_plate)",
      "move_to(white_bag)",
      "grasp(white_bag)",
      "pick_up(white_bag)",
      "move_to(white_bag, bottom_plate)",
      "place(white_bag, bottom_plate)"
    ],
    "gt_dag": {
      "move_to(vegetable)": [
        "grasp(vegetable)"
      ],
      "grasp(vegetable)": [
        "pick_up(vegetable)"
      ],
      "pick_up(vegetable)": [
        "move_to(vegetable, top_plate)"
      ],
      "move_to(vegetable, top_plate)": [
        "place(vegetable, top_plate)"
      ],
      "place(vegetable, top_plate)": [],
      "move_to(white_bag)": [
        "grasp(white_bag)"
      ],
      "grasp(white_bag)": [
        "pick_up(white_bag)"
      ],
      "pick_up(white_bag)": [
        "move_to(white_bag, bottom_plate)"
      ],
      "move_to(white_bag, bottom_plate)": [
        "place(white_bag, bottom_plate)"
      ],
      "place(white_bag, bottom_plate)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_119.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_135",
    "actions_list": [
      "move_to(none, watering_can)",
      "grasp(watering_can)",
      "pick_up(watering_can)",
      "move_to(watering_can, plant)",
      "pour(watering_can, water , plant)",
      "move_to(watering_can, plate)",
      "place(watering_can, plate)"
    ],
    "gt_dag": {
      "move_to(none, watering_can)": [
        "grasp(watering_can)"
      ],
      "grasp(watering_can)": [
        "pick_up(watering_can)"
      ],
      "pick_up(watering_can)": [
        "move_to(watering_can, plant)"
      ],
      "move_to(watering_can, plant)": [
        "pour(watering_can, water , plant)"
      ],
      "pour(watering_can, water , plant)": [
        "move_to(watering_can, plate)"
      ],
      "move_to(watering_can, plate)": [
        "place(watering_can, plate)"
      ],
      "place(watering_can, plate)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_135.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_712",
    "actions_list": [
      "move_to(none, cup)",
      "grasp(cup)",
      "pick_up(cup)",
      "turn(cup , clockwise, perpendicular_to_the_table)",
      "place(cup, table)"
    ],
    "gt_dag": {
      "move_to(none, cup)": [
        "grasp(cup)"
      ],
      "grasp(cup)": [
        "pick_up(cup)"
      ],
      "pick_up(cup)": [
        "turn(cup , clockwise, perpendicular_to_the_table)"
      ],
      "turn(cup , clockwise, perpendicular_to_the_table)": [
        "place(cup, table)"
      ],
      "place(cup, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_712.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_951",
    "actions_list": [
      "move_to(none, drawer)",
      "grasp(drawer)",
      "pull(drawer)",
      "move_to(none,pineapple)",
      "grasp(pineapple)",
      "pick_up(pineapple)",
      "move_to(pineapple, drawer)",
      "place(pineapple, drawer)",
      "move_to(none,banana)",
      "grasp(banana)",
      "pick_up(banana)",
      "move_to(banana, drawer)",
      "place(banana, drawer)",
      "grasp(drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none, drawer)": [
        "grasp(drawer)"
      ],
      "pull(drawer)": [
        "move_to(none,pineapple)"
      ],
      "move_to(none,pineapple)": [
        "grasp(pineapple)"
      ],
      "grasp(pineapple)": [
        "pick_up(pineapple)"
      ],
      "pick_up(pineapple)": [
        "move_to(pineapple, drawer)"
      ],
      "move_to(pineapple, drawer)": [
        "place(pineapple, drawer)"
      ],
      "place(pineapple, drawer)": [
        "move_to(none,banana)"
      ],
      "move_to(none,banana)": [
        "grasp(banana)"
      ],
      "grasp(banana)": [
        "pick_up(banana)"
      ],
      "pick_up(banana)": [
        "move_to(banana, drawer)"
      ],
      "move_to(banana, drawer)": [
        "place(banana, drawer)"
      ],
      "place(banana, drawer)": [
        "grasp(drawer)<1>"
      ],
      "grasp(drawer)": [
        "pull(drawer)"
      ],
      "push(drawer)": [],
      "grasp(drawer)<1>": [
        "push(drawer)"
      ]
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_951.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_1935",
    "actions_list": [
      "move_to(none, bucket)",
      "grasp(bucket)",
      "push(bucket, right_side_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, bucket)": [
        "grasp(bucket)"
      ],
      "grasp(bucket)": [
        "push(bucket, right_side_of_the_table)"
      ],
      "push(bucket, right_side_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_1935.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_2491",
    "actions_list": [
      "move_to(none, forks)",
      "grasp(forks)",
      "pick_up(forks)",
      "move_to(forks, counter)",
      "place(forks, counter)",
      "move_to(none, bowl_on_the_upper_level)",
      "grasp(bowl_on_the_upper_level)",
      "pick_up(bowl_on_the_upper_level)",
      "move_to(bowl_on_the_upper_level , table)",
      "place(bowl_on_the_upper_level , table)"
    ],
    "gt_dag": {
      "move_to(none, forks)": [
        "grasp(forks)"
      ],
      "grasp(forks)": [
        "pick_up(forks)"
      ],
      "pick_up(forks)": [
        "move_to(forks, counter)"
      ],
      "move_to(forks, counter)": [
        "place(forks, counter)"
      ],
      "place(forks, counter)": [
        "move_to(none, bowl_on_the_upper_level)"
      ],
      "move_to(none, bowl_on_the_upper_level)": [
        "grasp(bowl_on_the_upper_level)"
      ],
      "grasp(bowl_on_the_upper_level)": [
        "pick_up(bowl_on_the_upper_level)"
      ],
      "pick_up(bowl_on_the_upper_level)": [
        "move_to(bowl_on_the_upper_level , table)"
      ],
      "move_to(bowl_on_the_upper_level , table)": [
        "place(bowl_on_the_upper_level , table)"
      ],
      "place(bowl_on_the_upper_level , table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_2491.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3972",
    "actions_list": [
      "move_to(none, wooden_spoon)",
      "grasp(wooden_spoon)",
      "pick_up(wooden_spoon)",
      "move_to(spoon, bowl)",
      "stir(spoon, unknown , bowl)",
      "move_to(spoon, table)",
      "place(spoon, table)"
    ],
    "gt_dag": {
      "move_to(none, wooden_spoon)": [
        "grasp(wooden_spoon)"
      ],
      "grasp(wooden_spoon)": [
        "pick_up(wooden_spoon)"
      ],
      "pick_up(wooden_spoon)": [
        "move_to(spoon, bowl)"
      ],
      "move_to(spoon, bowl)": [
        "stir(spoon, unknown , bowl)"
      ],
      "stir(spoon, unknown , bowl)": [
        "move_to(spoon, table)"
      ],
      "move_to(spoon, table)": [
        "place(spoon, table)"
      ],
      "place(spoon, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_3972.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3981",
    "actions_list": [
      "move_to(none,marker)",
      "grasp(marker)",
      "pick_up(marker)",
      "move_to(marker, towel)",
      "place(marker, towel)",
      "move_to(none , towel)",
      "grasp(right_side_of_towel)",
      "fold(right_side_of_towel, left_side_of_towel)",
      "grasp(towel)",
      "pick_up(towel)",
      "move_to(towel, box)",
      "place(towel, box)"
    ],
    "gt_dag": {
      "move_to(none,marker)": [
        "grasp(marker)"
      ],
      "grasp(marker)": [
        "pick_up(marker)"
      ],
      "pick_up(marker)": [
        "move_to(marker, towel)"
      ],
      "move_to(marker, towel)": [
        "place(marker, towel)"
      ],
      "place(marker, towel)": [
        "move_to(none , towel)"
      ],
      "move_to(none , towel)": [
        "grasp(right_side_of_towel)"
      ],
      "grasp(right_side_of_towel)": [
        "fold(right_side_of_towel, left_side_of_towel)"
      ],
      "fold(right_side_of_towel, left_side_of_towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "pick_up(towel)"
      ],
      "pick_up(towel)": [
        "move_to(towel, box)"
      ],
      "move_to(towel, box)": [
        "place(towel, box)"
      ],
      "place(towel, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_3981.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4422",
    "actions_list": [
      "move_to(none, pink_clothes)",
      "grasp(pink_clothes)",
      "pick_up(pink_clothes)",
      "move_to(pink_clothes, right_side_of_the_table)",
      "place(pink_clothes, right_side_of_the_table)",
      "grasp(white_rope)",
      "pick_up(white_rope)",
      "move_to(white_rope, left_side_of_the_table)",
      "place(white_rope, left_side_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, pink_clothes)": [
        "grasp(pink_clothes)"
      ],
      "grasp(pink_clothes)": [
        "pick_up(pink_clothes)"
      ],
      "pick_up(pink_clothes)": [
        "move_to(pink_clothes, right_side_of_the_table)"
      ],
      "move_to(pink_clothes, right_side_of_the_table)": [
        "place(pink_clothes, right_side_of_the_table)"
      ],
      "place(pink_clothes, right_side_of_the_table)": [
        "grasp(white_rope)"
      ],
      "grasp(white_rope)": [
        "pick_up(white_rope)"
      ],
      "pick_up(white_rope)": [
        "move_to(white_rope, left_side_of_the_table)"
      ],
      "move_to(white_rope, left_side_of_the_table)": [
        "place(white_rope, left_side_of_the_table)"
      ],
      "place(white_rope, left_side_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_4422.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4480",
    "actions_list": [
      "move_to(none, faucet)",
      "grasp(faucet)",
      "push(faucet, center_of_the_sink)"
    ],
    "gt_dag": {
      "move_to(none, faucet)": [
        "grasp(faucet)"
      ],
      "grasp(faucet)": [
        "push(faucet, center_of_the_sink)"
      ],
      "push(faucet, center_of_the_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_4480.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4696",
    "actions_list": [
      "move_to(none, sponge)",
      "grasp(sponge)",
      "pick_up(sponge)",
      "move_to(sponge, bowl)",
      "wipe(sponge, unknown , bowl)"
    ],
    "gt_dag": {
      "move_to(none, sponge)": [
        "grasp(sponge)"
      ],
      "grasp(sponge)": [
        "pick_up(sponge)"
      ],
      "pick_up(sponge)": [
        "move_to(sponge, bowl)"
      ],
      "move_to(sponge, bowl)": [
        "wipe(sponge, unknown , bowl)"
      ],
      "wipe(sponge, unknown , bowl)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_4696.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_5208",
    "actions_list": [
      "move_to(none, measuring_tape)",
      "grasp(measuring_tape)",
      "pick_up(measuring_tape)",
      "move_to(measuring_tape, left_side_of_the_table)",
      "place(measuring_tape, left_side_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, measuring_tape)": [
        "grasp(measuring_tape)"
      ],
      "grasp(measuring_tape)": [
        "pick_up(measuring_tape)"
      ],
      "pick_up(measuring_tape)": [
        "move_to(measuring_tape, left_side_of_the_table)"
      ],
      "move_to(measuring_tape, left_side_of_the_table)": [
        "place(measuring_tape, left_side_of_the_table)"
      ],
      "place(measuring_tape, left_side_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_5208.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6034",
    "actions_list": [
      "move_to(none, rightest_cabinet_door)",
      "grasp(rightest_cabinet_door_handle)",
      "push(rightest_cabinet_door)"
    ],
    "gt_dag": {
      "move_to(none, rightest_cabinet_door)": [
        "grasp(rightest_cabinet_door_handle)"
      ],
      "grasp(rightest_cabinet_door_handle)": [
        "push(rightest_cabinet_door)"
      ],
      "push(rightest_cabinet_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_6034.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6458",
    "actions_list": [
      "move_to(none, cup)",
      "grasp(cup)",
      "pick_up(cup)",
      "pour(cup, unknown , bowl)",
      "move_to(cup, table)",
      "place(cup, table)",
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "stir(spoon, unknown , bowl)",
      "move_to(spoon , table)"
    ],
    "gt_dag": {
      "move_to(none, cup)": [
        "grasp(cup)"
      ],
      "grasp(cup)": [
        "pick_up(cup)"
      ],
      "pick_up(cup)": [
        "pour(cup, unknown , bowl)"
      ],
      "pour(cup, unknown , bowl)": [
        "move_to(cup, table)"
      ],
      "move_to(cup, table)": [
        "place(cup, table)"
      ],
      "place(cup, table)": [
        "move_to(none, spoon)"
      ],
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "stir(spoon, unknown , bowl)"
      ],
      "stir(spoon, unknown , bowl)": [
        "move_to(spoon , table)"
      ],
      "move_to(spoon , table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_6458.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6886",
    "actions_list": [
      "move_to(none, bottle)",
      "grasp(bottle)",
      "pick_up(bottle)",
      "move_to(bottle, right_side_of_the_table)",
      "place(bottle, right_side_of_the_table)"
    ],
    "gt_dag": {
      "move_to(none, bottle)": [
        "grasp(bottle)"
      ],
      "grasp(bottle)": [
        "pick_up(bottle)"
      ],
      "pick_up(bottle)": [
        "move_to(bottle, right_side_of_the_table)"
      ],
      "move_to(bottle, right_side_of_the_table)": [
        "place(bottle, right_side_of_the_table)"
      ],
      "place(bottle, right_side_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_6886.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_7807",
    "actions_list": [
      "move_to(none, bread_in_the_dish)",
      "grasp(bread_in_the_dish)",
      "pick_up(bread_in_the_dish)",
      "move_to(bread_in_the_dish, table)",
      "place(bread_in_the_dish, table)",
      "move_to(none, dish)",
      "grasp(dish)",
      "pick_up(dish)",
      "move_to(dish, cloth)",
      "place(dish, cloth)",
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, top_of_table)",
      "place(spoon, top_of_table)"
    ],
    "gt_dag": {
      "move_to(none, bread_in_the_dish)": [
        "grasp(bread_in_the_dish)"
      ],
      "grasp(bread_in_the_dish)": [
        "pick_up(bread_in_the_dish)"
      ],
      "pick_up(bread_in_the_dish)": [
        "move_to(bread_in_the_dish, table)"
      ],
      "move_to(bread_in_the_dish, table)": [
        "place(bread_in_the_dish, table)"
      ],
      "place(bread_in_the_dish, table)": [
        "move_to(none, dish)"
      ],
      "move_to(none, dish)": [
        "grasp(dish)"
      ],
      "grasp(dish)": [
        "pick_up(dish)"
      ],
      "pick_up(dish)": [
        "move_to(dish, cloth)"
      ],
      "move_to(dish, cloth)": [
        "place(dish, cloth)"
      ],
      "place(dish, cloth)": [
        "move_to(none, spoon)"
      ],
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, top_of_table)"
      ],
      "move_to(spoon, top_of_table)": [
        "place(spoon, top_of_table)"
      ],
      "place(spoon, top_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_7807.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8752",
    "actions_list": [
      "move_to(none, cucumber)",
      "grasp(cucumber)",
      "pick_up(cucumber)",
      "move_to(cucumber, bowl)",
      "place(cucumber, bowl)"
    ],
    "gt_dag": {
      "move_to(none, cucumber)": [
        "grasp(cucumber)"
      ],
      "grasp(cucumber)": [
        "pick_up(cucumber)"
      ],
      "pick_up(cucumber)": [
        "move_to(cucumber, bowl)"
      ],
      "move_to(cucumber, bowl)": [
        "place(cucumber, bowl)"
      ],
      "place(cucumber, bowl)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_8752.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8939",
    "actions_list": [
      "move_to(none, paper)",
      "grasp(paper)",
      "pick_up(paper)",
      "move_to(paper, box)",
      "place(paper, box)",
      "move_to(none, bag)",
      "grasp(bag)",
      "pick_up(bag)",
      "move_to(bag, box)",
      "place(bag, box)"
    ],
    "gt_dag": {
      "move_to(none, paper)": [
        "grasp(paper)"
      ],
      "grasp(paper)": [
        "pick_up(paper)"
      ],
      "pick_up(paper)": [
        "move_to(paper, box)"
      ],
      "move_to(paper, box)": [
        "place(paper, box)"
      ],
      "place(paper, box)": [
        "move_to(none, bag)"
      ],
      "move_to(none, bag)": [
        "grasp(bag)"
      ],
      "grasp(bag)": [
        "pick_up(bag)"
      ],
      "pick_up(bag)": [
        "move_to(bag, box)"
      ],
      "move_to(bag, box)": [
        "place(bag, box)"
      ],
      "place(bag, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_8939.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9148",
    "actions_list": [
      "move_to(none, zip_ties_in_the_box)",
      "pick_up(zip_ties)",
      "move_to(zip_ties, counter)",
      "place(zip_ties, counter)"
    ],
    "gt_dag": {
      "move_to(none, zip_ties_in_the_box)": [
        "pick_up(zip_ties)"
      ],
      "pick_up(zip_ties)": [
        "move_to(zip_ties, counter)"
      ],
      "move_to(zip_ties, counter)": [
        "place(zip_ties, counter)"
      ],
      "place(zip_ties, counter)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_9148.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9361",
    "actions_list": [
      "move_to(none, bottle)",
      "grasp(bottle)",
      "pick_up(bottle)",
      "move_to(bottle, drawer)",
      "place(bottle, drawer)"
    ],
    "gt_dag": {
      "move_to(none, bottle)": [
        "grasp(bottle)"
      ],
      "grasp(bottle)": [
        "pick_up(bottle)"
      ],
      "pick_up(bottle)": [
        "move_to(bottle, drawer)"
      ],
      "move_to(bottle, drawer)": [
        "place(bottle, drawer)"
      ],
      "place(bottle, drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_9361.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10496",
    "actions_list": [
      "move_to(none, orange_cup)",
      "grasp(orange_cup)",
      "pick_up(orange_cup)",
      "pour(orange_cup, unknown , black_cup)",
      "move_to(orange_cup, black_cup)",
      "place(orange_cup, black_cup)"
    ],
    "gt_dag": {
      "move_to(none, orange_cup)": [
        "grasp(orange_cup)"
      ],
      "grasp(orange_cup)": [
        "pick_up(orange_cup)"
      ],
      "pick_up(orange_cup)": [
        "pour(orange_cup, unknown , black_cup)"
      ],
      "pour(orange_cup, unknown , black_cup)": [
        "move_to(orange_cup, black_cup)"
      ],
      "move_to(orange_cup, black_cup)": [
        "place(orange_cup, black_cup)"
      ],
      "place(orange_cup, black_cup)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_10496.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10503",
    "actions_list": [
      "move_to(none, towel)",
      "grasp(towel)",
      "pick_up(towel)",
      "move_to(towel, table)",
      "place(towel, table)"
    ],
    "gt_dag": {
      "move_to(none, towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "pick_up(towel)"
      ],
      "pick_up(towel)": [
        "move_to(towel, table)"
      ],
      "move_to(towel, table)": [
        "place(towel, table)"
      ],
      "place(towel, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_10503.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_11553",
    "actions_list": [
      "move_to(none, cup)",
      "grasp(cup)",
      "pick_up(cup)",
      "place(cup, none)"
    ],
    "gt_dag": {
      "move_to(none, cup)": [
        "grasp(cup)"
      ],
      "grasp(cup)": [
        "pick_up(cup)"
      ],
      "pick_up(cup)": [
        "place(cup, none)"
      ],
      "place(cup, none)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_11553.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12373",
    "actions_list": [
      "move_to(none, bowl)",
      "grasp(bowl)",
      "pick_up(bowl)",
      "move_to(bowl, paper)",
      "place(bowl, paper)",
      "move_to(none, laptop)",
      "grasp(laptop_upper)",
      "turn(laptop, clockwise, perpendicular_to_the_lower_layer_of_the_notebook)"
    ],
    "gt_dag": {
      "move_to(none, bowl)": [
        "grasp(bowl)"
      ],
      "grasp(bowl)": [
        "pick_up(bowl)"
      ],
      "pick_up(bowl)": [
        "move_to(bowl, paper)"
      ],
      "move_to(bowl, paper)": [
        "place(bowl, paper)"
      ],
      "place(bowl, paper)": [],
      "move_to(none, laptop)": [
        "grasp(laptop_upper)"
      ],
      "grasp(laptop_upper)": [
        "turn(laptop, clockwise, perpendicular_to_the_lower_layer_of_the_notebook)"
      ],
      "turn(laptop, clockwise, perpendicular_to_the_lower_layer_of_the_notebook)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_12373.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12639",
    "actions_list": [
      "move_to(none, white_cloth)",
      "grasp(white_cloth)",
      "wipe(white_cloth, unknown , table)",
      "move_to(none, gray_cloth)",
      "grasp(gray_cloth)",
      "unfold(right_side_of_towel, left_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, white_cloth)": [
        "grasp(white_cloth)"
      ],
      "grasp(white_cloth)": [
        "wipe(white_cloth, unknown , table)"
      ],
      "wipe(white_cloth, unknown , table)": [
        "move_to(none, gray_cloth)"
      ],
      "move_to(none, gray_cloth)": [
        "grasp(gray_cloth)"
      ],
      "grasp(gray_cloth)": [
        "unfold(right_side_of_towel, left_side_of_towel)"
      ],
      "unfold(right_side_of_towel, left_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_12639.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13391",
    "actions_list": [
      "move_to(none, shoe_rack)",
      "grasp(shoe_rack)",
      "pick_up(shoe_rack)",
      "move_to(shoe_rack, left_side_of_table)",
      "place(shoe_rack , left_side_of_table )"
    ],
    "gt_dag": {
      "move_to(none, shoe_rack)": [
        "grasp(shoe_rack)"
      ],
      "grasp(shoe_rack)": [
        "pick_up(shoe_rack)"
      ],
      "pick_up(shoe_rack)": [
        "move_to(shoe_rack, left_side_of_table)"
      ],
      "move_to(shoe_rack, left_side_of_table)": [
        "place(shoe_rack , left_side_of_table )"
      ],
      "place(shoe_rack , left_side_of_table )": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_13391.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13675",
    "actions_list": [
      "move_to(none, napkin)",
      "grasp(napkin)",
      "fold(right_side_of_napkin, left_side_of_napkin)",
      "grasp(folded_napkin)",
      "pick_up(folded_napkin)",
      "move_to(folded_napkin,  trash_can)",
      "place(folded_napkin,  trash_can)"
    ],
    "gt_dag": {
      "move_to(none, napkin)": [
        "grasp(napkin)"
      ],
      "grasp(napkin)": [
        "fold(right_side_of_napkin, left_side_of_napkin)"
      ],
      "fold(right_side_of_napkin, left_side_of_napkin)": [
        "grasp(folded_napkin)"
      ],
      "grasp(folded_napkin)": [
        "pick_up(folded_napkin)"
      ],
      "pick_up(folded_napkin)": [
        "move_to(folded_napkin,  trash_can)"
      ],
      "move_to(folded_napkin,  trash_can)": [
        "place(folded_napkin,  trash_can)"
      ],
      "place(folded_napkin,  trash_can)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_13675.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14730",
    "actions_list": [
      "move_to(none,towel)",
      "grasp(towel)",
      "fold(bottom_side_of_towel, top_side_of_towel)",
      "fold(left_side_of_towel, right_side_of_towel)",
      "grasp(folded_towel)",
      "pick_up(folded_towel)",
      "place(folded_towel, box)"
    ],
    "gt_dag": {
      "move_to(none,towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "fold(bottom_side_of_towel, top_side_of_towel)"
      ],
      "fold(bottom_side_of_towel, top_side_of_towel)": [
        "fold(left_side_of_towel, right_side_of_towel)"
      ],
      "fold(left_side_of_towel, right_side_of_towel)": [
        "grasp(folded_towel)"
      ],
      "grasp(folded_towel)": [
        "pick_up(folded_towel)"
      ],
      "pick_up(folded_towel)": [
        "place(folded_towel, box)"
      ],
      "place(folded_towel, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_14730.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14894",
    "actions_list": [
      "move_to(none, brush)",
      "grasp(brush)",
      "pick_up(brush)",
      "move_to(brush, countertop)",
      "place(brush, countertop)"
    ],
    "gt_dag": {
      "move_to(none, brush)": [
        "grasp(brush)"
      ],
      "grasp(brush)": [
        "pick_up(brush)"
      ],
      "pick_up(brush)": [
        "move_to(brush, countertop)"
      ],
      "move_to(brush, countertop)": [
        "place(brush, countertop)"
      ],
      "place(brush, countertop)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_14894.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_15150",
    "actions_list": [
      "move_to(none, faucet)",
      "grasp(faucet_handle)",
      "turn(faucet, anticlockwise, right_of_sink)"
    ],
    "gt_dag": {
      "move_to(none, faucet)": [
        "grasp(faucet_handle)"
      ],
      "grasp(faucet_handle)": [
        "turn(faucet, anticlockwise, right_of_sink)"
      ],
      "turn(faucet, anticlockwise, right_of_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_15150.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16514",
    "actions_list": [
      "move_to(none, sponge)",
      "grasp(sponge)",
      "pick_up(sponge)",
      "move_to(sponge, drawer)",
      "place(sponge, drawer)",
      "grasp(drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none, sponge)": [
        "grasp(sponge)"
      ],
      "grasp(sponge)": [
        "pick_up(sponge)"
      ],
      "pick_up(sponge)": [
        "move_to(sponge, drawer)"
      ],
      "move_to(sponge, drawer)": [
        "place(sponge, drawer)"
      ],
      "place(sponge, drawer)": [
        "grasp(drawer)"
      ],
      "grasp(drawer)": [
        "push(drawer)"
      ],
      "push(drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_16514.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16648",
    "actions_list": [
      "move_to(none, cup)",
      "grasp(cup)",
      "pick_up(cup)",
      "move_to(cup, front_of_the_sink)",
      "place(cup, front_of_the_sink)"
    ],
    "gt_dag": {
      "move_to(none, cup)": [
        "grasp(cup)"
      ],
      "grasp(cup)": [
        "pick_up(cup)"
      ],
      "pick_up(cup)": [
        "move_to(cup, front_of_the_sink)"
      ],
      "move_to(cup, front_of_the_sink)": [
        "place(cup, front_of_the_sink)"
      ],
      "place(cup, front_of_the_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_16648.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17549",
    "actions_list": [
      "move_to(none, marker)",
      "grasp(marker)",
      "pick_up(marker)",
      "move_to(marker, cup)",
      "place(marker, cup)"
    ],
    "gt_dag": {
      "move_to(none, marker)": [
        "grasp(marker)"
      ],
      "grasp(marker)": [
        "pick_up(marker)"
      ],
      "pick_up(marker)": [
        "move_to(marker, cup)"
      ],
      "move_to(marker, cup)": [
        "place(marker, cup)"
      ],
      "place(marker, cup)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_17549.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17964",
    "actions_list": [
      "move_to(none, clothing)",
      "grasp(clothing)",
      "pick_up(clothing)",
      "move_to(clothing, chair_backrest)",
      "place(clothing, chair_backrest)"
    ],
    "gt_dag": {
      "move_to(none, clothing)": [
        "grasp(clothing)"
      ],
      "grasp(clothing)": [
        "pick_up(clothing)"
      ],
      "pick_up(clothing)": [
        "move_to(clothing, chair_backrest)"
      ],
      "move_to(clothing, chair_backrest)": [
        "place(clothing, chair_backrest)"
      ],
      "place(clothing, chair_backrest)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_17964.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_18085",
    "actions_list": [
      "pick_up(one_side_of_the_shirt)",
      "move_to(none, grasped_side_of_the_shirt)",
      "fold(grasped_side_of_the_shirt, other_side)",
      "pick_up(another_side_of_the_shirt)",
      "fold(grasped_side_of_the_shirt, none)"
    ],
    "gt_dag": {
      "pick_up(one_side_of_the_shirt)": [
        "move_to(none, grasped_side_of_the_shirt)"
      ],
      "move_to(none, grasped_side_of_the_shirt)": [
        "fold(grasped_side_of_the_shirt, other_side)"
      ],
      "fold(grasped_side_of_the_shirt, other_side)": [
        "pick_up(another_side_of_the_shirt)"
      ],
      "pick_up(another_side_of_the_shirt)": [
        "fold(grasped_side_of_the_shirt, none)"
      ],
      "fold(grasped_side_of_the_shirt, none)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_18085.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19119",
    "actions_list": [
      "move_to(none, lid)",
      "grasp(lid)",
      "pick_up(lid)",
      "move_to(lid, countertop)",
      "place(lid, countertop)"
    ],
    "gt_dag": {
      "move_to(none, lid)": [
        "grasp(lid)"
      ],
      "grasp(lid)": [
        "pick_up(lid)"
      ],
      "pick_up(lid)": [
        "move_to(lid, countertop)"
      ],
      "move_to(lid, countertop)": [
        "place(lid, countertop)"
      ],
      "place(lid, countertop)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_19119.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19253",
    "actions_list": [
      "move_to(none, left_cabinet_door_handle)",
      "grasp(left_cabinet_door_handle)",
      "pull(left_cabinet_door)",
      "push(left_cabinet_door)"
    ],
    "gt_dag": {
      "move_to(none, left_cabinet_door_handle)": [
        "grasp(left_cabinet_door_handle)"
      ],
      "grasp(left_cabinet_door_handle)": [
        "pull(left_cabinet_door)"
      ],
      "pull(left_cabinet_door)": [
        "push(left_cabinet_door)"
      ],
      "push(left_cabinet_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_19253.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19277",
    "actions_list": [
      "move_to(none, pen)",
      "grasp(pen)",
      "pick_up(pen)",
      "move_to(pen, bowl)",
      "place(pen, bowl)",
      "grasp(pen)",
      "pick_up(pen)",
      "move_to(pen, table)",
      "place(pen, table)"
    ],
    "gt_dag": {
      "move_to(none, pen)": [
        "grasp(pen)"
      ],
      "move_to(pen, bowl)": [
        "place(pen, bowl)"
      ],
      "place(pen, bowl)": [
        "grasp(pen)<1>"
      ],
      "grasp(pen)": [
        "pick_up(pen)"
      ],
      "pick_up(pen)": [
        "move_to(pen, bowl)"
      ],
      "move_to(pen, table)": [
        "place(pen, table)"
      ],
      "place(pen, table)": [],
      "grasp(pen)<1>": [
        "pick_up(pen)<1>"
      ],
      "pick_up(pen)<1>": [
        "move_to(pen, table)"
      ]
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_19277.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19466",
    "actions_list": [
      "move_to(none, faucet_head)",
      "grasp(faucet_head)",
      "turn(faucet_head, anticlockwise , right_of_sink)"
    ],
    "gt_dag": {
      "move_to(none, faucet_head)": [
        "grasp(faucet_head)"
      ],
      "grasp(faucet_head)": [
        "turn(faucet_head, anticlockwise , right_of_sink)"
      ],
      "turn(faucet_head, anticlockwise , right_of_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_19466.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_21528",
    "actions_list": [
      "move_to(none, screwdriver)",
      "grasp(screwdriver)",
      "pick_up(screwdriver)",
      "move_to(screwdriver, drawer)",
      "place(screwdriver, drawer)",
      "grasp(drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none, screwdriver)": [
        "grasp(screwdriver)"
      ],
      "grasp(screwdriver)": [
        "pick_up(screwdriver)"
      ],
      "pick_up(screwdriver)": [
        "move_to(screwdriver, drawer)"
      ],
      "move_to(screwdriver, drawer)": [
        "place(screwdriver, drawer)"
      ],
      "place(screwdriver, drawer)": [
        "grasp(drawer)"
      ],
      "grasp(drawer)": [
        "push(drawer)"
      ],
      "push(drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_21528.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_22532",
    "actions_list": [
      "move_to(none, snack_pack)",
      "grasp(snack_pack)",
      "pick_up(snack_pack)",
      "move_to(snack_pack, shelf)",
      "place(snack_pack, shelf)"
    ],
    "gt_dag": {
      "move_to(none, snack_pack)": [
        "grasp(snack_pack)"
      ],
      "grasp(snack_pack)": [
        "pick_up(snack_pack)"
      ],
      "pick_up(snack_pack)": [
        "move_to(snack_pack, shelf)"
      ],
      "move_to(snack_pack, shelf)": [
        "place(snack_pack, shelf)"
      ],
      "place(snack_pack, shelf)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_22532.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_23834",
    "actions_list": [
      "move_to(none, bread)",
      "grasp(bread)",
      "pick_up(bread)",
      "move_to(bread, drawer)",
      "place(bread_plushie, drawer)"
    ],
    "gt_dag": {
      "move_to(none, bread)": [
        "grasp(bread)"
      ],
      "grasp(bread)": [
        "pick_up(bread)"
      ],
      "pick_up(bread)": [
        "move_to(bread, drawer)"
      ],
      "move_to(bread, drawer)": [
        "place(bread_plushie, drawer)"
      ],
      "place(bread_plushie, drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_23834.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24083",
    "actions_list": [
      "move_to(none, towel)",
      "grasp(towel)",
      "wipe(towel, unknown , cup)",
      "move_to( towel ,pot)",
      "place( towel ,pot)"
    ],
    "gt_dag": {
      "move_to(none, towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "wipe(towel, unknown , cup)"
      ],
      "wipe(towel, unknown , cup)": [
        "move_to( towel ,pot)"
      ],
      "move_to( towel ,pot)": [
        "place( towel ,pot)"
      ],
      "place( towel ,pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_24083.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24531",
    "actions_list": [
      "move_to(none, scissors)",
      "grasp(scissors)",
      "pick_up(scissors)",
      "move_to(scissors, bottom_of_cabinet)",
      "place(scissors, bottom_of_cabinet)"
    ],
    "gt_dag": {
      "move_to(none, scissors)": [
        "grasp(scissors)"
      ],
      "grasp(scissors)": [
        "pick_up(scissors)"
      ],
      "pick_up(scissors)": [
        "move_to(scissors, bottom_of_cabinet)"
      ],
      "move_to(scissors, bottom_of_cabinet)": [
        "place(scissors, bottom_of_cabinet)"
      ],
      "place(scissors, bottom_of_cabinet)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_24531.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24564",
    "actions_list": [
      "move_to(none, screwdriver)",
      "grasp(screwdriver)",
      "pick_up(screwdriver)",
      "move_to(screwdriver, drawer)",
      "place(screwdriver, drawer)",
      "grasp(drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none, screwdriver)": [
        "grasp(screwdriver)"
      ],
      "grasp(screwdriver)": [
        "pick_up(screwdriver)"
      ],
      "pick_up(screwdriver)": [
        "move_to(screwdriver, drawer)"
      ],
      "move_to(screwdriver, drawer)": [
        "place(screwdriver, drawer)"
      ],
      "place(screwdriver, drawer)": [
        "grasp(drawer)"
      ],
      "grasp(drawer)": [
        "push(drawer)"
      ],
      "push(drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_24564.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25029",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, cup)",
      "stir(spoon, unknown , cup)",
      "move_to(spoon, table)",
      "place(spoon, table)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, cup)"
      ],
      "move_to(spoon, cup)": [
        "stir(spoon, unknown , cup)"
      ],
      "stir(spoon, unknown , cup)": [
        "move_to(spoon, table)"
      ],
      "move_to(spoon, table)": [
        "place(spoon, table)"
      ],
      "place(spoon, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_25029.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25200",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, bowl)",
      "stir(spoon, unknown , bowl)",
      "move_to(spoon, cup)",
      "place(spoon, cup)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, bowl)"
      ],
      "move_to(spoon, bowl)": [
        "stir(spoon, unknown , bowl)"
      ],
      "stir(spoon, unknown , bowl)": [
        "move_to(spoon, cup)"
      ],
      "move_to(spoon, cup)": [
        "place(spoon, cup)"
      ],
      "place(spoon, cup)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_25200.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_26264",
    "actions_list": [
      "move_to(none, granola_bar)",
      "grasp(granola_bar)",
      "pick_up(granola_bar)",
      "move_to(granola_bar, cabinet)",
      "place(granola_bar, cabinet)"
    ],
    "gt_dag": {
      "move_to(none, granola_bar)": [
        "grasp(granola_bar)"
      ],
      "grasp(granola_bar)": [
        "pick_up(granola_bar)"
      ],
      "pick_up(granola_bar)": [
        "move_to(granola_bar, cabinet)"
      ],
      "move_to(granola_bar, cabinet)": [
        "place(granola_bar, cabinet)"
      ],
      "place(granola_bar, cabinet)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_26264.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27363",
    "actions_list": [
      "move_to(none, book)",
      "grasp(book)",
      "pick_up(book)",
      "move_to(book , bag)",
      "place(book , bag)"
    ],
    "gt_dag": {
      "move_to(none, book)": [
        "grasp(book)"
      ],
      "grasp(book)": [
        "pick_up(book)"
      ],
      "pick_up(book)": [
        "move_to(book , bag)"
      ],
      "move_to(book , bag)": [
        "place(book , bag)"
      ],
      "place(book , bag)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_27363.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27418",
    "actions_list": [
      "move_to(none, pen)",
      "grasp(pen)",
      "pick_up(pen)",
      "move_to(pen, table)",
      "place(pen, table)"
    ],
    "gt_dag": {
      "move_to(none, pen)": [
        "grasp(pen)"
      ],
      "grasp(pen)": [
        "pick_up(pen)"
      ],
      "pick_up(pen)": [
        "move_to(pen, table)"
      ],
      "move_to(pen, table)": [
        "place(pen, table)"
      ],
      "place(pen, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_27418.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27567",
    "actions_list": [
      "move_to(none, sock)",
      "grasp(sock)",
      "pick_up(sock)",
      "move_to(sock, sill)",
      "place(sock, sill)"
    ],
    "gt_dag": {
      "move_to(none, sock)": [
        "grasp(sock)"
      ],
      "grasp(sock)": [
        "pick_up(sock)"
      ],
      "pick_up(sock)": [
        "move_to(sock, sill)"
      ],
      "move_to(sock, sill)": [
        "place(sock, sill)"
      ],
      "place(sock, sill)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_27567.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27801",
    "actions_list": [
      "move_to(none,yellow_towel)",
      "grasp(yellow_towel)",
      "pick_up(yellow_towel)",
      "move_to(yellow_towel, box)",
      "place(yellow_towel, box)",
      "grasp(white_towel)",
      "pick_up(white_towel)",
      "move_to(white_towel, box)",
      "place(white_towel, box)"
    ],
    "gt_dag": {
      "move_to(none,yellow_towel)": [
        "grasp(yellow_towel)"
      ],
      "grasp(yellow_towel)": [
        "pick_up(yellow_towel)"
      ],
      "pick_up(yellow_towel)": [
        "move_to(yellow_towel, box)"
      ],
      "move_to(yellow_towel, box)": [
        "place(yellow_towel, box)"
      ],
      "place(yellow_towel, box)": [],
      "grasp(white_towel)": [
        "pick_up(white_towel)"
      ],
      "pick_up(white_towel)": [
        "move_to(white_towel, box)"
      ],
      "move_to(white_towel, box)": [
        "place(white_towel, box)"
      ],
      "place(white_towel, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_27801.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28240",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "push(cloth, water,right_side_of_table)",
      "place(cloth, right_side_of_table)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "push(cloth, water,right_side_of_table)"
      ],
      "push(cloth, water,right_side_of_table)": [
        "place(cloth, right_side_of_table)"
      ],
      "place(cloth, right_side_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_28240.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28376",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, jar)",
      "place(spoon, jar)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, jar)"
      ],
      "move_to(spoon, jar)": [
        "place(spoon, jar)"
      ],
      "place(spoon, jar)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_28376.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28401",
    "actions_list": [
      "move_to(none,orange_sponge)",
      "grasp(orange_sponge)",
      "pick_up(orange_sponge)",
      "move_to(sponge, cabinet)",
      "place(sponge, cabinet)",
      "move_to(none,mango)",
      "grasp(mango)",
      "pick_up(mango)",
      "move_to(mango, cabinet)",
      "place(mango, cabinet)",
      "move_to (none, cabinet_door_handle)",
      "grasp (cabinet_door_handle)",
      "push(cabinet_door)"
    ],
    "gt_dag": {
      "move_to(none,orange_sponge)": [
        "grasp(orange_sponge)"
      ],
      "grasp(orange_sponge)": [
        "pick_up(orange_sponge)"
      ],
      "pick_up(orange_sponge)": [
        "move_to(sponge, cabinet)"
      ],
      "move_to(sponge, cabinet)": [
        "place(sponge, cabinet)"
      ],
      "place(sponge, cabinet)": [
        "move_to (none, cabinet_door_handle)"
      ],
      "move_to(none,mango)": [
        "grasp(mango)"
      ],
      "grasp(mango)": [
        "pick_up(mango)"
      ],
      "pick_up(mango)": [
        "move_to(mango, cabinet)"
      ],
      "move_to(mango, cabinet)": [
        "place(mango, cabinet)"
      ],
      "place(mango, cabinet)": [
        "move_to (none, cabinet_door_handle)"
      ],
      "move_to (none, cabinet_door_handle)": [
        "grasp (cabinet_door_handle)"
      ],
      "grasp (cabinet_door_handle)": [
        "push(cabinet_door)"
      ],
      "push(cabinet_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_28401.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_31800",
    "actions_list": [
      "move_to(none, door)",
      "grasp(door)",
      "push(door)"
    ],
    "gt_dag": {
      "move_to(none, door)": [
        "grasp(door)"
      ],
      "grasp(door)": [
        "push(door)"
      ],
      "push(door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_31800.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_32435",
    "actions_list": [
      "move_to(none,yellow_block)",
      "grasp(yellow_block)",
      "pick_up(yellow_block)",
      "move_to(yellow_block_table)",
      "place(yellow_block, table)",
      "move_to(none,red_block)",
      "grasp(red_block)",
      "pick_up(red_block)",
      "move_to(red_block,table)",
      "place(red_block, table)",
      "move_to(none,second_red_block)",
      "grasp(second_red_block)",
      "pick_up(second_red_block)",
      "move_to(second_red_block,table)",
      "place(second_red_block, table)",
      "move_to(none,orange_block)",
      "grasp(orange_block)",
      "pick_up(orange_block)",
      "move_to(orange_block,table)",
      "place(orange_block, table)",
      "move_to(none,green_block)",
      "grasp(green_block)",
      "pick_up(green_block)",
      "move_to(green_block,table)",
      "place(green_block, table)",
      "move_to(none,second_green_block)",
      "grasp(second_green_block)",
      "pick_up(second_green_block)",
      "move_to(second_green_block,table)",
      "place(second_green_block, table)",
      "move_to(none,yellow_block_and_orange_block)",
      "grasp(yellow_block_and_orange_block)",
      "pick_up(yellow_block_and_orange_block)",
      "move_to(yellow_block_and_orange_block,table)",
      "place(yellow_block_and_orange_block, table)"
    ],
    "gt_dag": {
      "move_to(none,yellow_block)": [
        "grasp(yellow_block)"
      ],
      "grasp(yellow_block)": [
        "pick_up(yellow_block)"
      ],
      "pick_up(yellow_block)": [
        "move_to(yellow_block_table)"
      ],
      "move_to(yellow_block_table)": [
        "place(yellow_block, table)"
      ],
      "place(yellow_block, table)": [],
      "move_to(none,red_block)": [
        "grasp(red_block)"
      ],
      "grasp(red_block)": [
        "pick_up(red_block)"
      ],
      "pick_up(red_block)": [
        "move_to(red_block,table)"
      ],
      "move_to(red_block,table)": [
        "place(red_block, table)"
      ],
      "place(red_block, table)": [],
      "move_to(none,second_red_block)": [
        "grasp(second_red_block)"
      ],
      "grasp(second_red_block)": [
        "pick_up(second_red_block)"
      ],
      "pick_up(second_red_block)": [
        "move_to(second_red_block,table)"
      ],
      "move_to(second_red_block,table)": [
        "place(second_red_block, table)"
      ],
      "place(second_red_block, table)": [],
      "move_to(none,orange_block)": [
        "grasp(orange_block)"
      ],
      "grasp(orange_block)": [
        "pick_up(orange_block)"
      ],
      "pick_up(orange_block)": [
        "move_to(orange_block,table)"
      ],
      "move_to(orange_block,table)": [
        "place(orange_block, table)"
      ],
      "place(orange_block, table)": [],
      "move_to(none,green_block)": [
        "grasp(green_block)"
      ],
      "grasp(green_block)": [
        "pick_up(green_block)"
      ],
      "pick_up(green_block)": [
        "move_to(green_block,table)"
      ],
      "move_to(green_block,table)": [
        "place(green_block, table)"
      ],
      "place(green_block, table)": [],
      "move_to(none,second_green_block)": [
        "grasp(second_green_block)"
      ],
      "grasp(second_green_block)": [
        "pick_up(second_green_block)"
      ],
      "pick_up(second_green_block)": [
        "move_to(second_green_block,table)"
      ],
      "move_to(second_green_block,table)": [
        "place(second_green_block, table)"
      ],
      "place(second_green_block, table)": [],
      "move_to(none,yellow_block_and_orange_block)": [
        "grasp(yellow_block_and_orange_block)"
      ],
      "grasp(yellow_block_and_orange_block)": [
        "pick_up(yellow_block_and_orange_block)"
      ],
      "pick_up(yellow_block_and_orange_block)": [
        "move_to(yellow_block_and_orange_block,table)"
      ],
      "move_to(yellow_block_and_orange_block,table)": [
        "place(yellow_block_and_orange_block, table)"
      ],
      "place(yellow_block_and_orange_block, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_32435.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35378",
    "actions_list": [
      "move_to(none, orange_and_light_yellow_clothes)",
      "grasp(orange_and_light_yellow_clothes)",
      "pick_up(orange_and_light_yellow_clothes)",
      "move_to(orange_and_light_yellow_clothes, box)",
      "place(orange_and_light_yellow_clothes, box)",
      "move_to(none, pink_clothes)",
      "grasp(pink_clothes)",
      "pick_up(pink_clothes)",
      "move_to(pink_clothes, box)",
      "place(pink_clothes, box)",
      "move_to(none, yellow_and_white_clothes)",
      "grasp(yellow_and_white_clothes)",
      "pick_up(yellow_and_white_clothes)",
      "move_to(yellow_and_white_clothes, box)",
      "place(yellow_and_white_clothes, box)"
    ],
    "gt_dag": {
      "move_to(none, orange_and_light_yellow_clothes)": [
        "grasp(orange_and_light_yellow_clothes)"
      ],
      "grasp(orange_and_light_yellow_clothes)": [
        "pick_up(orange_and_light_yellow_clothes)"
      ],
      "pick_up(orange_and_light_yellow_clothes)": [
        "move_to(orange_and_light_yellow_clothes, box)"
      ],
      "move_to(orange_and_light_yellow_clothes, box)": [
        "place(orange_and_light_yellow_clothes, box)"
      ],
      "place(orange_and_light_yellow_clothes, box)": [],
      "move_to(none, pink_clothes)": [
        "grasp(pink_clothes)"
      ],
      "grasp(pink_clothes)": [
        "pick_up(pink_clothes)"
      ],
      "pick_up(pink_clothes)": [
        "move_to(pink_clothes, box)"
      ],
      "move_to(pink_clothes, box)": [
        "place(pink_clothes, box)"
      ],
      "place(pink_clothes, box)": [],
      "move_to(none, yellow_and_white_clothes)": [
        "grasp(yellow_and_white_clothes)"
      ],
      "grasp(yellow_and_white_clothes)": [
        "pick_up(yellow_and_white_clothes)"
      ],
      "pick_up(yellow_and_white_clothes)": [
        "move_to(yellow_and_white_clothes, box)"
      ],
      "move_to(yellow_and_white_clothes, box)": [
        "place(yellow_and_white_clothes, box)"
      ],
      "place(yellow_and_white_clothes, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_35378.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35693",
    "actions_list": [
      "move_to(none, mug)",
      "grasp(mug)",
      "pick_up(mug)"
    ],
    "gt_dag": {
      "move_to(none, mug)": [
        "grasp(mug)"
      ],
      "grasp(mug)": [
        "pick_up(mug)"
      ],
      "pick_up(mug)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_35693.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_36120",
    "actions_list": [
      "move_to(none, oven_mitt)",
      "grasp(oven_mitt)",
      "pick_up(oven_mitt)",
      "move_to(oven_mitt,  far_right_hook)",
      "place(oven_mitt, far_right_hook)"
    ],
    "gt_dag": {
      "move_to(none, oven_mitt)": [
        "grasp(oven_mitt)"
      ],
      "grasp(oven_mitt)": [
        "pick_up(oven_mitt)"
      ],
      "pick_up(oven_mitt)": [
        "move_to(oven_mitt,  far_right_hook)"
      ],
      "move_to(oven_mitt,  far_right_hook)": [
        "place(oven_mitt, far_right_hook)"
      ],
      "place(oven_mitt, far_right_hook)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_36120.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_37640",
    "actions_list": [
      "move_to(none, napkin)",
      "grasp(napkin)",
      "pick_up(napkin)",
      "move_to(napkin, bin)",
      "place(napkin, bin)"
    ],
    "gt_dag": {
      "move_to(none, napkin)": [
        "grasp(napkin)"
      ],
      "grasp(napkin)": [
        "pick_up(napkin)"
      ],
      "pick_up(napkin)": [
        "move_to(napkin, bin)"
      ],
      "move_to(napkin, bin)": [
        "place(napkin, bin)"
      ],
      "place(napkin, bin)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_37640.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_38669",
    "actions_list": [
      "move_to(none, marker)",
      "grasp(marker)",
      "pick_up(marker)",
      "move_to(marker, board)",
      "place(marker, board)"
    ],
    "gt_dag": {
      "move_to(none, marker)": [
        "grasp(marker)"
      ],
      "grasp(marker)": [
        "pick_up(marker)"
      ],
      "pick_up(marker)": [
        "move_to(marker, board)"
      ],
      "move_to(marker, board)": [
        "place(marker, board)"
      ],
      "place(marker, board)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_38669.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39234",
    "actions_list": [
      "move_to(none, black_hat)",
      "grasp(black_hat)",
      "pick_up(black_hat)",
      "move_to(black_hat , red_hat)",
      "place(black_hat , red_hat)"
    ],
    "gt_dag": {
      "move_to(none, black_hat)": [
        "grasp(black_hat)"
      ],
      "grasp(black_hat)": [
        "pick_up(black_hat)"
      ],
      "pick_up(black_hat)": [
        "move_to(black_hat , red_hat)"
      ],
      "move_to(black_hat , red_hat)": [
        "place(black_hat , red_hat)"
      ],
      "place(black_hat , red_hat)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_39234.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39265",
    "actions_list": [
      "move_to(none,orange_clothes)",
      "grasp(orange_clothes)",
      "pick_up(orange_clothes)",
      "move_to(orange_clothes, box)",
      "place(orange_clothes, box)",
      "move_to(none,yellow_clothes)",
      "grasp(yellow_clothes)",
      "pick_up(yellow_clothes)",
      "move_to(yellow_clothes, box)",
      "place(yellow_clothes, box)",
      "move_to(none,pink_clothes)",
      "grasp(pink_clothes)",
      "pick_up(pink_clothes)",
      "move_to(pink_clothes, box)",
      "place(pink_clothes, box)"
    ],
    "gt_dag": {
      "move_to(none,orange_clothes)": [
        "grasp(orange_clothes)"
      ],
      "grasp(orange_clothes)": [
        "pick_up(orange_clothes)"
      ],
      "pick_up(orange_clothes)": [
        "move_to(orange_clothes, box)"
      ],
      "move_to(orange_clothes, box)": [
        "place(orange_clothes, box)"
      ],
      "place(orange_clothes, box)": [],
      "move_to(none,yellow_clothes)": [
        "grasp(yellow_clothes)"
      ],
      "grasp(yellow_clothes)": [
        "pick_up(yellow_clothes)"
      ],
      "pick_up(yellow_clothes)": [
        "move_to(yellow_clothes, box)"
      ],
      "move_to(yellow_clothes, box)": [
        "place(yellow_clothes, box)"
      ],
      "place(yellow_clothes, box)": [],
      "move_to(none,pink_clothes)": [
        "grasp(pink_clothes)"
      ],
      "grasp(pink_clothes)": [
        "pick_up(pink_clothes)"
      ],
      "pick_up(pink_clothes)": [
        "move_to(pink_clothes, box)"
      ],
      "move_to(pink_clothes, box)": [
        "place(pink_clothes, box)"
      ],
      "place(pink_clothes, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_39265.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39825",
    "actions_list": [
      "move_to(none, tap)",
      "grasp(tap)",
      "turn(tap , clockwise, middle_of_sink)",
      "move_to(none, drawer)",
      "grasp(drawer_handle)",
      "push(drawer,close)"
    ],
    "gt_dag": {
      "move_to(none, tap)": [
        "grasp(tap)"
      ],
      "grasp(tap)": [
        "turn(tap , clockwise, middle_of_sink)"
      ],
      "turn(tap , clockwise, middle_of_sink)": [],
      "move_to(none, drawer)": [
        "grasp(drawer_handle)"
      ],
      "grasp(drawer_handle)": [
        "push(drawer,close)"
      ],
      "push(drawer,close)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_39825.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_40530",
    "actions_list": [
      "move_to(none,sachet)",
      "grasp(sachet)",
      "pick_up(sachet)",
      "move_to(sachet, table)",
      "place(sachet, table)",
      "move_to(none,green_bottle)",
      "grasp(green_bottle)",
      "pick_up(green_bottle)",
      "move_to(green_bottle, plate)",
      "place(green_bottle, plate)",
      "move_to(none,brown_bottle)",
      "grasp(brown_bottle)",
      "pick_up(brown_bottle)",
      "move_to(brown_bottle, plate)",
      "place(brown_bottle, plate)",
      "move_to(mone,yellow_bottle)",
      "grasp(yellow_bottle)",
      "pick_up(yellow_bottle)",
      "move_to(yellow_bottle, plate)",
      "place(yellow_bottle, plate)",
      "move_to(none,blue_bottle)",
      "grasp(blue_bottle)",
      "pick_up(blue_bottle)",
      "move_to(blue_bottle, plate)",
      "place(blue_bottle, plate)",
      "move_to(none,big_white_bottle)",
      "grasp(big_white_bottle)",
      "pick_up(big_white_bottle)",
      "move_to(big_white_bottle, plate)",
      "place(big_white_bottle, plate)",
      "move_to(none,little_white_bottle)",
      "grasp(little_white_bottle)",
      "pick_up(little_white_bottle)",
      "move_to(little_white_bottle, plate)",
      "place(little_white_bottle, plate)",
      "move_to(none,strawberry)",
      "grasp(strawberry)",
      "pick_up(strawberry)",
      "move_to(strawberry, plate)",
      "place(strawberry, plate)"
    ],
    "gt_dag": {
      "move_to(none,sachet)": [
        "grasp(sachet)"
      ],
      "grasp(sachet)": [
        "pick_up(sachet)"
      ],
      "pick_up(sachet)": [
        "move_to(sachet, table)"
      ],
      "move_to(sachet, table)": [
        "place(sachet, table)"
      ],
      "place(sachet, table)": [
        "move_to(none,green_bottle)",
        "move_to(none,brown_bottle)",
        "move_to(mone,yellow_bottle)",
        "move_to(none,blue_bottle)",
        "move_to(none,big_white_bottle)",
        "move_to(none,little_white_bottle)",
        "move_to(none,strawberry)"
      ],
      "move_to(none,green_bottle)": [
        "grasp(green_bottle)"
      ],
      "grasp(green_bottle)": [
        "pick_up(green_bottle)"
      ],
      "pick_up(green_bottle)": [
        "move_to(green_bottle, plate)"
      ],
      "move_to(green_bottle, plate)": [
        "place(green_bottle, plate)"
      ],
      "place(green_bottle, plate)": [],
      "move_to(none,brown_bottle)": [
        "grasp(brown_bottle)"
      ],
      "grasp(brown_bottle)": [
        "pick_up(brown_bottle)"
      ],
      "pick_up(brown_bottle)": [
        "move_to(brown_bottle, plate)"
      ],
      "move_to(brown_bottle, plate)": [
        "place(brown_bottle, plate)"
      ],
      "place(brown_bottle, plate)": [],
      "move_to(mone,yellow_bottle)": [
        "grasp(yellow_bottle)"
      ],
      "grasp(yellow_bottle)": [
        "pick_up(yellow_bottle)"
      ],
      "pick_up(yellow_bottle)": [
        "move_to(yellow_bottle, plate)"
      ],
      "move_to(yellow_bottle, plate)": [
        "place(yellow_bottle, plate)"
      ],
      "place(yellow_bottle, plate)": [],
      "move_to(none,blue_bottle)": [
        "grasp(blue_bottle)"
      ],
      "grasp(blue_bottle)": [
        "pick_up(blue_bottle)"
      ],
      "pick_up(blue_bottle)": [
        "move_to(blue_bottle, plate)"
      ],
      "move_to(blue_bottle, plate)": [
        "place(blue_bottle, plate)"
      ],
      "place(blue_bottle, plate)": [],
      "move_to(none,big_white_bottle)": [
        "grasp(big_white_bottle)"
      ],
      "grasp(big_white_bottle)": [
        "pick_up(big_white_bottle)"
      ],
      "pick_up(big_white_bottle)": [
        "move_to(big_white_bottle, plate)"
      ],
      "move_to(big_white_bottle, plate)": [
        "place(big_white_bottle, plate)"
      ],
      "place(big_white_bottle, plate)": [],
      "move_to(none,little_white_bottle)": [
        "grasp(little_white_bottle)"
      ],
      "grasp(little_white_bottle)": [
        "pick_up(little_white_bottle)"
      ],
      "pick_up(little_white_bottle)": [
        "move_to(little_white_bottle, plate)"
      ],
      "move_to(little_white_bottle, plate)": [
        "place(little_white_bottle, plate)"
      ],
      "place(little_white_bottle, plate)": [],
      "move_to(none,strawberry)": [
        "grasp(strawberry)"
      ],
      "grasp(strawberry)": [
        "pick_up(strawberry)"
      ],
      "pick_up(strawberry)": [
        "move_to(strawberry, plate)"
      ],
      "move_to(strawberry, plate)": [
        "place(strawberry, plate)"
      ],
      "place(strawberry, plate)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_40530.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_41369",
    "actions_list": [
      "move_to(none, towel)",
      "grasp(towel)",
      "fold(right_side_of_towel, left_side_of_towel)",
      "fold(left_side_of_towel, right_side_of_towel)",
      "fold(bottom_side_of_towel, top_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "fold(right_side_of_towel, left_side_of_towel)"
      ],
      "fold(right_side_of_towel, left_side_of_towel)": [
        "fold(left_side_of_towel, right_side_of_towel)"
      ],
      "fold(left_side_of_towel, right_side_of_towel)": [
        "fold(bottom_side_of_towel, top_side_of_towel)"
      ],
      "fold(bottom_side_of_towel, top_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_41369.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_43232",
    "actions_list": [
      "move_to(none, marker)",
      "grasp(marker)",
      "pick_up(marker)",
      "move_to(marker, cloth)",
      "place(marker, cloth)",
      "move_to(none,cloth)",
      "grasp(cloth)",
      "pick_up(cloth)",
      "move_to(cloth, box)",
      "place(cloth, box)"
    ],
    "gt_dag": {
      "move_to(none, marker)": [
        "grasp(marker)"
      ],
      "grasp(marker)": [
        "pick_up(marker)"
      ],
      "pick_up(marker)": [
        "move_to(marker, cloth)"
      ],
      "move_to(marker, cloth)": [
        "place(marker, cloth)"
      ],
      "place(marker, cloth)": [
        "move_to(none,cloth)"
      ],
      "move_to(none,cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pick_up(cloth)"
      ],
      "pick_up(cloth)": [
        "move_to(cloth, box)"
      ],
      "move_to(cloth, box)": [
        "place(cloth, box)"
      ],
      "place(cloth, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_43232.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46008",
    "actions_list": [
      "move_to(none, rolling_pin)",
      "grasp(rolling_pin)",
      "pick_up(rolling_pin)",
      "move_to(rolling_pin, oven)",
      "place(rolling_pin, oven)",
      "move_to(none, oven_door)",
      "grasp(oven_door)",
      "turn(oven_door,down,open)"
    ],
    "gt_dag": {
      "move_to(none, rolling_pin)": [
        "grasp(rolling_pin)"
      ],
      "grasp(rolling_pin)": [
        "pick_up(rolling_pin)"
      ],
      "pick_up(rolling_pin)": [
        "move_to(rolling_pin, oven)"
      ],
      "move_to(rolling_pin, oven)": [
        "place(rolling_pin, oven)"
      ],
      "place(rolling_pin, oven)": [],
      "move_to(none, oven_door)": [
        "grasp(oven_door)"
      ],
      "grasp(oven_door)": [
        "turn(oven_door,down,open)"
      ],
      "turn(oven_door,down,open)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_46008.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46356",
    "actions_list": [
      "move_to(none, white_and_blue_shirts)",
      "grasp(white_and_blue_shirts)",
      "pick_up(white_and_blue_shirts)",
      "move_to(white_and_blue_shirts, basket)",
      "place(white_and_blue_shirts, basket)",
      "move_to(none, grey_shirts)",
      "grasp(grey_shirts)",
      "pick_up(grey_shirts)",
      "move_to(grey_shirts, basket)",
      "place(grey_shirts, basket)"
    ],
    "gt_dag": {
      "move_to(none, white_and_blue_shirts)": [
        "grasp(white_and_blue_shirts)"
      ],
      "grasp(white_and_blue_shirts)": [
        "pick_up(white_and_blue_shirts)"
      ],
      "pick_up(white_and_blue_shirts)": [
        "move_to(white_and_blue_shirts, basket)"
      ],
      "move_to(white_and_blue_shirts, basket)": [
        "place(white_and_blue_shirts, basket)"
      ],
      "place(white_and_blue_shirts, basket)": [
        "move_to(none, grey_shirts)"
      ],
      "move_to(none, grey_shirts)": [
        "grasp(grey_shirts)"
      ],
      "grasp(grey_shirts)": [
        "pick_up(grey_shirts)"
      ],
      "pick_up(grey_shirts)": [
        "move_to(grey_shirts, basket)"
      ],
      "move_to(grey_shirts, basket)": [
        "place(grey_shirts, basket)"
      ],
      "place(grey_shirts, basket)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_46356.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46501",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(cloth)",
      "push(cloth, right_side_of_table)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "push(cloth, right_side_of_table)"
      ],
      "push(cloth, right_side_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_46501.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46820",
    "actions_list": [
      "move_to(none, drawer)",
      "grasp(drawer_handle)",
      "pull(drawer,open)",
      "move_to(none,apple)",
      "grasp(apple)",
      "pick_up(apple)",
      "move_to(apple, basket)",
      "place(apple, basket)"
    ],
    "gt_dag": {
      "move_to(none, drawer)": [
        "grasp(drawer_handle)"
      ],
      "grasp(drawer_handle)": [
        "pull(drawer,open)"
      ],
      "pull(drawer,open)": [
        "move_to(none,apple)"
      ],
      "move_to(none,apple)": [
        "grasp(apple)"
      ],
      "grasp(apple)": [
        "pick_up(apple)"
      ],
      "pick_up(apple)": [
        "move_to(apple, basket)"
      ],
      "move_to(apple, basket)": [
        "place(apple, basket)"
      ],
      "place(apple, basket)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_46820.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47097",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon , bowl)",
      "scoop(spoon , water, bowl)",
      "move_to(scoop, cup)",
      "pour(scoop, water, cup)",
      "move_to(scoop, bowl)",
      "place(scoop, bowl)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon , bowl)"
      ],
      "move_to(spoon , bowl)": [
        "scoop(spoon , water, bowl)"
      ],
      "scoop(spoon , water, bowl)": [
        "move_to(scoop, cup)"
      ],
      "move_to(scoop, cup)": [
        "pour(scoop, water, cup)"
      ],
      "pour(scoop, water, cup)": [
        "move_to(scoop, bowl)"
      ],
      "move_to(scoop, bowl)": [
        "place(scoop, bowl)"
      ],
      "place(scoop, bowl)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_47097.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47344",
    "actions_list": [
      "move_to(none, towel)",
      "grasp(towel)",
      "wipe(towel, sundries, left_side_of_table)",
      "pick_up(towel)",
      "move_to(towel, box)",
      "place(towel, box)"
    ],
    "gt_dag": {
      "move_to(none, towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "wipe(towel, sundries, left_side_of_table)"
      ],
      "wipe(towel, sundries, left_side_of_table)": [
        "pick_up(towel)"
      ],
      "pick_up(towel)": [
        "move_to(towel, box)"
      ],
      "move_to(towel, box)": [
        "place(towel, box)"
      ],
      "place(towel, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_47344.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47631",
    "actions_list": [
      "move_to(none, box)",
      "grasp(box)",
      "pick_up(box)",
      "move_to(box, next_to_pencil)",
      "place(box, next_to_pencil)"
    ],
    "gt_dag": {
      "move_to(none, box)": [
        "grasp(box)"
      ],
      "grasp(box)": [
        "pick_up(box)"
      ],
      "pick_up(box)": [
        "move_to(box, next_to_pencil)"
      ],
      "move_to(box, next_to_pencil)": [
        "place(box, next_to_pencil)"
      ],
      "place(box, next_to_pencil)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_47631.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_48716",
    "actions_list": [
      "move_to(none, tap_nozzle)",
      "grasp(tap_nozzle)",
      "turn(tap_nozzle, clockwise, middle_of_sink)"
    ],
    "gt_dag": {
      "move_to(none, tap_nozzle)": [
        "grasp(tap_nozzle)"
      ],
      "grasp(tap_nozzle)": [
        "turn(tap_nozzle, clockwise, middle_of_sink)"
      ],
      "turn(tap_nozzle, clockwise, middle_of_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_48716.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_51234",
    "actions_list": [
      "move_to(none, bowl)",
      "grasp(bowl)",
      "pick_up(bowl)",
      "move_to(bowl, right_side_of_table)",
      "place(bowl, right_side_of_table)"
    ],
    "gt_dag": {
      "move_to(none, bowl)": [
        "grasp(bowl)"
      ],
      "grasp(bowl)": [
        "pick_up(bowl)"
      ],
      "pick_up(bowl)": [
        "move_to(bowl, right_side_of_table)"
      ],
      "move_to(bowl, right_side_of_table)": [
        "place(bowl, right_side_of_table)"
      ],
      "place(bowl, right_side_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_51234.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_52134",
    "actions_list": [
      "move_to(none, lid_of_the_food_processor)",
      "grasp(lid_of_the_food_processor)",
      "pick_up(lid_of_the_food_processor)",
      "move_to(lid_of_the_food_processor, table)",
      "place(lid_of_the_food_processor, table)",
      "move_to(none, blades_inside_the_chamber)",
      "grasp(blades_inside_the_chamber)",
      "pick_up(blades_inside_the_chamber)",
      "move_to(blades_inside_the_chamber, table)",
      "place(blades_inside_the_chamber, table)"
    ],
    "gt_dag": {
      "move_to(none, lid_of_the_food_processor)": [
        "grasp(lid_of_the_food_processor)"
      ],
      "grasp(lid_of_the_food_processor)": [
        "pick_up(lid_of_the_food_processor)"
      ],
      "pick_up(lid_of_the_food_processor)": [
        "move_to(lid_of_the_food_processor, table)"
      ],
      "move_to(lid_of_the_food_processor, table)": [
        "place(lid_of_the_food_processor, table)"
      ],
      "place(lid_of_the_food_processor, table)": [
        "move_to(none, blades_inside_the_chamber)"
      ],
      "move_to(none, blades_inside_the_chamber)": [
        "grasp(blades_inside_the_chamber)"
      ],
      "grasp(blades_inside_the_chamber)": [
        "pick_up(blades_inside_the_chamber)"
      ],
      "pick_up(blades_inside_the_chamber)": [
        "move_to(blades_inside_the_chamber, table)"
      ],
      "move_to(blades_inside_the_chamber, table)": [
        "place(blades_inside_the_chamber, table)"
      ],
      "place(blades_inside_the_chamber, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_52134.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53249",
    "actions_list": [
      "move_to(none, towel)",
      "grasp(towel)",
      "pick_up(towel)",
      "move_to(towel, cabinet)",
      "place(towel, cabinet)"
    ],
    "gt_dag": {
      "move_to(none, towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "pick_up(towel)"
      ],
      "pick_up(towel)": [
        "move_to(towel, cabinet)"
      ],
      "move_to(towel, cabinet)": [
        "place(towel, cabinet)"
      ],
      "place(towel, cabinet)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_53249.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53844",
    "actions_list": [
      "move_to(none,cloth)",
      "grasp(cloth)",
      "pull(cloth, above_table)",
      "move_to(none,lid)",
      "grasp(lid)",
      "pick_up(lid)",
      "move_to(lid, table)",
      "place(lid, table)"
    ],
    "gt_dag": {
      "move_to(none,cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pull(cloth, above_table)"
      ],
      "pull(cloth, above_table)": [
        "move_to(none,lid)"
      ],
      "move_to(none,lid)": [
        "grasp(lid)"
      ],
      "grasp(lid)": [
        "pick_up(lid)"
      ],
      "pick_up(lid)": [
        "move_to(lid, table)"
      ],
      "move_to(lid, table)": [
        "place(lid, table)"
      ],
      "place(lid, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_53844.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55014",
    "actions_list": [
      "move_to(none, glass_lid)",
      "grasp(lid)",
      "pick_up(lid)",
      "move_to(lid, pot)",
      "place(lid, pot)"
    ],
    "gt_dag": {
      "move_to(none, glass_lid)": [
        "grasp(lid)"
      ],
      "grasp(lid)": [
        "pick_up(lid)"
      ],
      "pick_up(lid)": [
        "move_to(lid, pot)"
      ],
      "move_to(lid, pot)": [
        "place(lid, pot)"
      ],
      "place(lid, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_55014.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55047",
    "actions_list": [
      "move_to(none, towel)",
      "grasp(towel)",
      "fold(bottom_right_corner_of_towel, top_right_corner_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "fold(bottom_right_corner_of_towel, top_right_corner_of_towel)"
      ],
      "fold(bottom_right_corner_of_towel, top_right_corner_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_55047.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55344",
    "actions_list": [
      "move_to(none, tap)",
      "grasp(tap)",
      "turn(tap, up, vertical_of_sink)"
    ],
    "gt_dag": {
      "move_to(none, tap)": [
        "grasp(tap)"
      ],
      "grasp(tap)": [
        "turn(tap, up, vertical_of_sink)"
      ],
      "turn(tap, up, vertical_of_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_55344.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56984",
    "actions_list": [
      "move_to(none, marker)",
      "grasp(marker)",
      "pick_up(marker)",
      "move_to(marker, table)",
      "place(marker, table)"
    ],
    "gt_dag": {
      "move_to(none, marker)": [
        "grasp(marker)"
      ],
      "grasp(marker)": [
        "pick_up(marker)"
      ],
      "pick_up(marker)": [
        "move_to(marker, table)"
      ],
      "move_to(marker, table)": [
        "place(marker, table)"
      ],
      "place(marker, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_56984.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56993",
    "actions_list": [
      "move_to(none, trash)",
      "grasp(trash)",
      "pick_up(trash)",
      "move_to(trash, sink)",
      "place(trash, sink)"
    ],
    "gt_dag": {
      "move_to(none, trash)": [
        "grasp(trash)"
      ],
      "grasp(trash)": [
        "pick_up(trash)"
      ],
      "pick_up(trash)": [
        "move_to(trash, sink)"
      ],
      "move_to(trash, sink)": [
        "place(trash, sink)"
      ],
      "place(trash, sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_56993.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_57979",
    "actions_list": [
      "move_to(none, left_cabinet_door)",
      "grasp(left_cabinet_door)",
      "push(left_cabinet_door)"
    ],
    "gt_dag": {
      "move_to(none, left_cabinet_door)": [
        "grasp(left_cabinet_door)"
      ],
      "grasp(left_cabinet_door)": [
        "push(left_cabinet_door)"
      ],
      "push(left_cabinet_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_57979.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59135",
    "actions_list": [
      "move_to(none, candy_bar)",
      "grasp(candy_bar)",
      "pick_up(candy_bar)",
      "move_to(candy_bar, cabinet)",
      "place(candy_bar, cabinet)"
    ],
    "gt_dag": {
      "move_to(none, candy_bar)": [
        "grasp(candy_bar)"
      ],
      "grasp(candy_bar)": [
        "pick_up(candy_bar)"
      ],
      "pick_up(candy_bar)": [
        "move_to(candy_bar, cabinet)"
      ],
      "move_to(candy_bar, cabinet)": [
        "place(candy_bar, cabinet)"
      ],
      "place(candy_bar, cabinet)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_59135.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59697",
    "actions_list": [
      "move_to(none, broccoli)",
      "grasp(broccoli)",
      "pick_up(broccoli)",
      "place(broccoli, pot)",
      "grasp(tomatoes)",
      "pick_up(tomatoes)",
      "place(tomatoes, pot)",
      "move_to(none, glass_lid)",
      "grasp(glass_lid)",
      "pick_up(glass_lid)",
      "place(glass_lid, pot)"
    ],
    "gt_dag": {
      "move_to(none, broccoli)": [
        "grasp(broccoli)"
      ],
      "grasp(broccoli)": [
        "pick_up(broccoli)"
      ],
      "pick_up(broccoli)": [
        "place(broccoli, pot)"
      ],
      "place(broccoli, pot)": [
        "move_to(none, glass_lid)"
      ],
      "grasp(tomatoes)": [
        "pick_up(tomatoes)"
      ],
      "pick_up(tomatoes)": [
        "place(tomatoes, pot)"
      ],
      "place(tomatoes, pot)": [
        "move_to(none, glass_lid)"
      ],
      "move_to(none, glass_lid)": [
        "grasp(glass_lid)"
      ],
      "grasp(glass_lid)": [
        "pick_up(glass_lid)"
      ],
      "pick_up(glass_lid)": [
        "place(glass_lid, pot)"
      ],
      "place(glass_lid, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_59697.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60500",
    "actions_list": [
      "move_to(none, colored_box)",
      "grasp(colored_box)",
      "pick_up(colored_box)",
      "move_to(colored_box, table)",
      "place(colored_box, table)",
      "grasp(white_box)",
      "pick_up(white_box)",
      "move_to(white_box, colored_box)",
      "place(white_box, colored_box)"
    ],
    "gt_dag": {
      "move_to(none, colored_box)": [
        "grasp(colored_box)"
      ],
      "grasp(colored_box)": [
        "pick_up(colored_box)"
      ],
      "pick_up(colored_box)": [
        "move_to(colored_box, table)"
      ],
      "move_to(colored_box, table)": [
        "place(colored_box, table)"
      ],
      "place(colored_box, table)": [
        "grasp(white_box)"
      ],
      "grasp(white_box)": [
        "pick_up(white_box)"
      ],
      "pick_up(white_box)": [
        "move_to(white_box, colored_box)"
      ],
      "move_to(white_box, colored_box)": [
        "place(white_box, colored_box)"
      ],
      "place(white_box, colored_box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_60500.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60579",
    "actions_list": [
      "move_to(none, marker)",
      "grasp(marker)",
      "pick_up(marker)",
      "move_to(marker, mug)",
      "place(marker, mug)"
    ],
    "gt_dag": {
      "move_to(none, marker)": [
        "grasp(marker)"
      ],
      "grasp(marker)": [
        "pick_up(marker)"
      ],
      "pick_up(marker)": [
        "move_to(marker, mug)"
      ],
      "move_to(marker, mug)": [
        "place(marker, mug)"
      ],
      "place(marker, mug)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_60579.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_61198",
    "actions_list": [
      "move_to(none, towel)",
      "grasp(towel)",
      "wipe(towel, unknown, table)",
      "grasp(towel)",
      "pick_up(towel)",
      "move_to(towel, box)",
      "place(towel, box)"
    ],
    "gt_dag": {
      "move_to(none, towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "wipe(towel, unknown, table)"
      ],
      "wipe(towel, unknown, table)": [
        "grasp(towel)<1>"
      ],
      "pick_up(towel)": [
        "move_to(towel, box)"
      ],
      "move_to(towel, box)": [
        "place(towel, box)"
      ],
      "place(towel, box)": [],
      "grasp(towel)<1>": [
        "pick_up(towel)"
      ]
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_61198.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62271",
    "actions_list": [
      "move_to(none, tray)",
      "grasp(tray)",
      "pick_up(tray)",
      "move_to(tray, window_sill)",
      "place(tray, window_sill)",
      "move_to(none, green_ball)",
      "grasp(green_ball)",
      "pick_up(green_ball)",
      "move_to(green_ball,tray)",
      "place(green_ball, tray)",
      "grasp(drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none, tray)": [
        "grasp(tray)"
      ],
      "grasp(tray)": [
        "pick_up(tray)"
      ],
      "pick_up(tray)": [
        "move_to(tray, window_sill)"
      ],
      "move_to(tray, window_sill)": [
        "place(tray, window_sill)"
      ],
      "place(tray, window_sill)": [
        "move_to(none, green_ball)"
      ],
      "move_to(none, green_ball)": [
        "grasp(green_ball)"
      ],
      "grasp(green_ball)": [
        "pick_up(green_ball)"
      ],
      "pick_up(green_ball)": [
        "move_to(green_ball,tray)"
      ],
      "move_to(green_ball,tray)": [
        "place(green_ball, tray)"
      ],
      "place(green_ball, tray)": [],
      "grasp(drawer)": [
        "push(drawer)"
      ],
      "push(drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_62271.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62835",
    "actions_list": [
      "move_to(none, yellow_towel)",
      "grasp(yellow_towel)",
      "pull(yellow_towel, right_side_of_table)"
    ],
    "gt_dag": {
      "move_to(none, yellow_towel)": [
        "grasp(yellow_towel)"
      ],
      "grasp(yellow_towel)": [
        "pull(yellow_towel, right_side_of_table)"
      ],
      "pull(yellow_towel, right_side_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_62835.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62963",
    "actions_list": [
      "move_to(none, tap)",
      "grasp(tap)",
      "turn(tap, clockwise, middle_of_sink)"
    ],
    "gt_dag": {
      "move_to(none, tap)": [
        "grasp(tap)"
      ],
      "grasp(tap)": [
        "turn(tap, clockwise, middle_of_sink)"
      ],
      "turn(tap, clockwise, middle_of_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_62963.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62985",
    "actions_list": [
      "move_to(none, leftmost_bowl)",
      "grasp(leftmost_bowl)",
      "pick_up(leftmost_bowl)",
      "move_to(leftmost_bowl, bowl_pile)",
      "place(leftmost_bowl, bowl_pile)"
    ],
    "gt_dag": {
      "move_to(none, leftmost_bowl)": [
        "grasp(leftmost_bowl)"
      ],
      "grasp(leftmost_bowl)": [
        "pick_up(leftmost_bowl)"
      ],
      "pick_up(leftmost_bowl)": [
        "move_to(leftmost_bowl, bowl_pile)"
      ],
      "move_to(leftmost_bowl, bowl_pile)": [
        "place(leftmost_bowl, bowl_pile)"
      ],
      "place(leftmost_bowl, bowl_pile)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_62985.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_63330",
    "actions_list": [
      "move_to(none, drawer)",
      "grasp(straw_pack)",
      "pick_up(straw_pack)",
      "move_to(none, tray)",
      "place(straw_pack, tray)"
    ],
    "gt_dag": {
      "move_to(none, drawer)": [
        "grasp(straw_pack)"
      ],
      "grasp(straw_pack)": [
        "pick_up(straw_pack)"
      ],
      "pick_up(straw_pack)": [
        "move_to(none, tray)"
      ],
      "move_to(none, tray)": [
        "place(straw_pack, tray)"
      ],
      "place(straw_pack, tray)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_63330.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64230",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, next_to_eggbeater)",
      "place(spoon, next_to_eggbeater)",
      "move_to(none, green_bowl)",
      "grasp(green_bowl)",
      "pick_up(green_bowl)",
      "move_to(green_bowl, next_to_spoon)",
      "place(green_bowl, next_to_spoon)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, next_to_eggbeater)"
      ],
      "move_to(spoon, next_to_eggbeater)": [
        "place(spoon, next_to_eggbeater)"
      ],
      "place(spoon, next_to_eggbeater)": [
        "move_to(none, green_bowl)"
      ],
      "move_to(none, green_bowl)": [
        "grasp(green_bowl)"
      ],
      "grasp(green_bowl)": [
        "pick_up(green_bowl)"
      ],
      "pick_up(green_bowl)": [
        "move_to(green_bowl, next_to_spoon)"
      ],
      "move_to(green_bowl, next_to_spoon)": [
        "place(green_bowl, next_to_spoon)"
      ],
      "place(green_bowl, next_to_spoon)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_64230.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64444",
    "actions_list": [
      "move_to(none,cup)",
      "grasp(cup)",
      "pick_up(cup)",
      "move_to(cup, left_of_table)",
      "place(cup, left_of_table)",
      "move_to(none,marker)",
      "grasp(marker)",
      "pick_up(marker)",
      "move_to(marker, cup)",
      "place(marker, cup)",
      "grasp(marker)",
      "pick_up(marker)",
      "place(marker, table)"
    ],
    "gt_dag": {
      "move_to(none,cup)": [
        "grasp(cup)"
      ],
      "grasp(cup)": [
        "pick_up(cup)"
      ],
      "pick_up(cup)": [
        "move_to(cup, left_of_table)"
      ],
      "move_to(cup, left_of_table)": [
        "place(cup, left_of_table)"
      ],
      "place(cup, left_of_table)": [
        "move_to(none,marker)"
      ],
      "move_to(none,marker)": [
        "grasp(marker)"
      ],
      "move_to(marker, cup)": [
        "place(marker, cup)"
      ],
      "place(marker, cup)": [
        " grasp(marker) pick_up(marker)"
      ],
      "grasp(marker)": [
        "pick_up(marker)"
      ],
      "pick_up(marker)": [
        "move_to(marker, cup)"
      ],
      "place(marker, table)": [],
      " grasp(marker) pick_up(marker)": [
        "place(marker, table)"
      ]
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_64444.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64756",
    "actions_list": [
      "move_to(none, bowl_on_the_top_level)",
      "grasp(bowl_on_the_top_level)",
      "pick_up(bowl_on_the_top_level)",
      "move_to(bowl_on_the_top_level, table)",
      "place(bowl_on_the_top_level, table)"
    ],
    "gt_dag": {
      "move_to(none, bowl_on_the_top_level)": [
        "grasp(bowl_on_the_top_level)"
      ],
      "grasp(bowl_on_the_top_level)": [
        "pick_up(bowl_on_the_top_level)"
      ],
      "pick_up(bowl_on_the_top_level)": [
        "move_to(bowl_on_the_top_level, table)"
      ],
      "move_to(bowl_on_the_top_level, table)": [
        "place(bowl_on_the_top_level, table)"
      ],
      "place(bowl_on_the_top_level, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_64756.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64843",
    "actions_list": [
      "move_to(none, black_t-shirt)",
      "grasp(black_t-shirt)",
      "pick_up(black_t-shirt)",
      "move_to(black_t-shirt, back_of_the_chair)",
      "place(black_t-shirt, back_of_the_chair)",
      "move_to(none, towel)",
      "grasp(towel)",
      "fold(left_side_of_towel, right_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, black_t-shirt)": [
        "grasp(black_t-shirt)"
      ],
      "grasp(black_t-shirt)": [
        "pick_up(black_t-shirt)"
      ],
      "pick_up(black_t-shirt)": [
        "move_to(black_t-shirt, back_of_the_chair)"
      ],
      "move_to(black_t-shirt, back_of_the_chair)": [
        "place(black_t-shirt, back_of_the_chair)"
      ],
      "place(black_t-shirt, back_of_the_chair)": [
        "move_to(none, towel)"
      ],
      "move_to(none, towel)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "fold(left_side_of_towel, right_side_of_towel)"
      ],
      "fold(left_side_of_towel, right_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_64843.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65532",
    "actions_list": [
      "move_to(none, fork)",
      "grasp(fork)",
      "pick_up(fork)",
      "move_to(fork, pot)",
      "place(fork, pot)",
      "move_to(none, lid)",
      "grasp(lid)",
      "pick_up(lid)",
      "move_to(lid, pot)",
      "place(lid, pot)"
    ],
    "gt_dag": {
      "move_to(none, fork)": [
        "grasp(fork)"
      ],
      "grasp(fork)": [
        "pick_up(fork)"
      ],
      "pick_up(fork)": [
        "move_to(fork, pot)"
      ],
      "move_to(fork, pot)": [
        "place(fork, pot)"
      ],
      "place(fork, pot)": [
        "move_to(none, lid)"
      ],
      "move_to(none, lid)": [
        "grasp(lid)"
      ],
      "grasp(lid)": [
        "pick_up(lid)"
      ],
      "pick_up(lid)": [
        "move_to(lid, pot)"
      ],
      "move_to(lid, pot)": [
        "place(lid, pot)"
      ],
      "place(lid, pot)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_65532.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65638",
    "actions_list": [
      "move_to(none, lid)",
      "grasp(lid)",
      "pick_up(lid)",
      "move_to(lid, table)",
      "place(lid, table)"
    ],
    "gt_dag": {
      "move_to(none, lid)": [
        "grasp(lid)"
      ],
      "grasp(lid)": [
        "pick_up(lid)"
      ],
      "pick_up(lid)": [
        "move_to(lid, table)"
      ],
      "move_to(lid, table)": [
        "place(lid, table)"
      ],
      "place(lid, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_65638.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65936",
    "actions_list": [
      "move_to(none, cupcake)",
      "grasp(cupcake)",
      "pick_up(cupcake)",
      "move_to(cupcake, front_of_table)",
      "place(cupcake, front_of_table)"
    ],
    "gt_dag": {
      "move_to(none, cupcake)": [
        "grasp(cupcake)"
      ],
      "grasp(cupcake)": [
        "pick_up(cupcake)"
      ],
      "pick_up(cupcake)": [
        "move_to(cupcake, front_of_table)"
      ],
      "move_to(cupcake, front_of_table)": [
        "place(cupcake, front_of_table)"
      ],
      "place(cupcake, front_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_65936.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_66238",
    "actions_list": [
      "move_to(none, towel_on_the_top_of_table)",
      "grasp(towel_on_the_top_of_table)",
      "pick_up(towel_on_the_top_of_table)",
      "move_to(towel_on_the_top_of_table, hook)",
      "place(towel_on_the_top_of_table, hook)",
      "grasp(towel_on_the_top_of_table)",
      "pick_up(towel_on_the_top_of_table)",
      "move_to(towel_on_the_top_of_table, table)",
      "place(towel_on_the_top_of_table, table)"
    ],
    "gt_dag": {
      "move_to(none, towel_on_the_top_of_table)": [
        "grasp(towel_on_the_top_of_table)"
      ],
      "move_to(towel_on_the_top_of_table, hook)": [
        "place(towel_on_the_top_of_table, hook)"
      ],
      "place(towel_on_the_top_of_table, hook)": [
        "grasp(towel_on_the_top_of_table)<1>"
      ],
      "grasp(towel_on_the_top_of_table)": [
        "pick_up(towel_on_the_top_of_table)"
      ],
      "pick_up(towel_on_the_top_of_table)": [
        "move_to(towel_on_the_top_of_table, hook)"
      ],
      "move_to(towel_on_the_top_of_table, table)": [
        "place(towel_on_the_top_of_table, table)"
      ],
      "place(towel_on_the_top_of_table, table)": [],
      "grasp(towel_on_the_top_of_table)<1>": [
        "pick_up(towel_on_the_top_of_table)<1>"
      ],
      "pick_up(towel_on_the_top_of_table)<1>": [
        "move_to(towel_on_the_top_of_table, table)"
      ]
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_66238.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68033",
    "actions_list": [
      "move_to(none, peach_shirt)",
      "grasp(peach_shirt)",
      "pick_up(peach_shirt)",
      "place(peach_shirt, box)",
      "move_to(none, pink_and_orange_shirts)",
      "grasp(pink_and_orange_shirts)",
      "pick_up(pink_and_orange_shirts)",
      "move_to(pink_and_orange_shirts, box)",
      "place(pink_and_orange_shirts, box)",
      "grasp(towel)",
      "pick_up(towel)",
      "move_to(towel, box)",
      "place(towel, box)"
    ],
    "gt_dag": {
      "move_to(none, peach_shirt)": [
        "grasp(peach_shirt)"
      ],
      "grasp(peach_shirt)": [
        "pick_up(peach_shirt)"
      ],
      "pick_up(peach_shirt)": [
        "place(peach_shirt, box)"
      ],
      "place(peach_shirt, box)": [],
      "move_to(none, pink_and_orange_shirts)": [
        "grasp(pink_and_orange_shirts)"
      ],
      "grasp(pink_and_orange_shirts)": [
        "pick_up(pink_and_orange_shirts)"
      ],
      "pick_up(pink_and_orange_shirts)": [
        "move_to(pink_and_orange_shirts, box)"
      ],
      "move_to(pink_and_orange_shirts, box)": [
        "place(pink_and_orange_shirts, box)"
      ],
      "place(pink_and_orange_shirts, box)": [
        "grasp(towel)"
      ],
      "grasp(towel)": [
        "pick_up(towel)"
      ],
      "pick_up(towel)": [
        "move_to(towel, box)"
      ],
      "move_to(towel, box)": [
        "place(towel, box)"
      ],
      "place(towel, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_68033.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68541",
    "actions_list": [
      "move_to(none, plate)",
      "grasp(plate)",
      "pick_up(plate)",
      "move_to(plate, bowl)",
      "place(plate, bowl)",
      "grasp(bowl)",
      "pick_up(bowl)",
      "move_to(bowl, top_of_the_air_fryer)",
      "place(bowl, top_of_the_air_fryer)"
    ],
    "gt_dag": {
      "move_to(none, plate)": [
        "grasp(plate)"
      ],
      "grasp(plate)": [
        "pick_up(plate)"
      ],
      "pick_up(plate)": [
        "move_to(plate, bowl)"
      ],
      "move_to(plate, bowl)": [
        "place(plate, bowl)"
      ],
      "place(plate, bowl)": [
        "grasp(bowl)"
      ],
      "grasp(bowl)": [
        "pick_up(bowl)"
      ],
      "pick_up(bowl)": [
        "move_to(bowl, top_of_the_air_fryer)"
      ],
      "move_to(bowl, top_of_the_air_fryer)": [
        "place(bowl, top_of_the_air_fryer)"
      ],
      "place(bowl, top_of_the_air_fryer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_68541.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68770",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "scoop(spoon, unknown, bowl)",
      "move_to(spoon, jug)",
      "pour(spoon, unknown, jug)",
      "move_to(spoon, table)",
      "place(spoon, table)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "scoop(spoon, unknown, bowl)"
      ],
      "scoop(spoon, unknown, bowl)": [
        "move_to(spoon, jug)"
      ],
      "move_to(spoon, jug)": [
        "pour(spoon, unknown, jug)"
      ],
      "pour(spoon, unknown, jug)": [
        "move_to(spoon, table)"
      ],
      "move_to(spoon, table)": [
        "place(spoon, table)"
      ],
      "place(spoon, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_68770.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69162",
    "actions_list": [
      "move_to(none, butter_knife)",
      "grasp(butter_knife)",
      "pick_up(butter_knife)",
      "move_to(butter_knife, drawer)",
      "place(butter_knife, drawer)"
    ],
    "gt_dag": {
      "move_to(none, butter_knife)": [
        "grasp(butter_knife)"
      ],
      "grasp(butter_knife)": [
        "pick_up(butter_knife)"
      ],
      "pick_up(butter_knife)": [
        "move_to(butter_knife, drawer)"
      ],
      "move_to(butter_knife, drawer)": [
        "place(butter_knife, drawer)"
      ],
      "place(butter_knife, drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_69162.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69442",
    "actions_list": [
      "move_to(none, slipper)",
      "grasp(slipper)",
      "pick_up(slipper)",
      "move_to(slipper, top_shelf)",
      "place(slipper, top_shelf)"
    ],
    "gt_dag": {
      "move_to(none, slipper)": [
        "grasp(slipper)"
      ],
      "grasp(slipper)": [
        "pick_up(slipper)"
      ],
      "pick_up(slipper)": [
        "move_to(slipper, top_shelf)"
      ],
      "move_to(slipper, top_shelf)": [
        "place(slipper, top_shelf)"
      ],
      "place(slipper, top_shelf)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_69442.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69495",
    "actions_list": [
      "move_to(none, jar)",
      "grasp(jar)",
      "pick_up(jar)",
      "move_to(jar, bowl)",
      "pour(jar, unknown, bowl)",
      "move_to(jar, table)",
      "place(jar, table)"
    ],
    "gt_dag": {
      "move_to(none, jar)": [
        "grasp(jar)"
      ],
      "grasp(jar)": [
        "pick_up(jar)"
      ],
      "pick_up(jar)": [
        "move_to(jar, bowl)"
      ],
      "move_to(jar, bowl)": [
        "pour(jar, unknown, bowl)"
      ],
      "pour(jar, unknown, bowl)": [
        "move_to(jar, table)"
      ],
      "move_to(jar, table)": [
        "place(jar, table)"
      ],
      "place(jar, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_69495.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_70722",
    "actions_list": [
      "move_to(none, cabinet_door)",
      "grasp(cabinet_door_handle)",
      "push(cabinet_door)"
    ],
    "gt_dag": {
      "move_to(none, cabinet_door)": [
        "grasp(cabinet_door_handle)"
      ],
      "grasp(cabinet_door_handle)": [
        "push(cabinet_door)"
      ],
      "push(cabinet_door)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_70722.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71001",
    "actions_list": [
      "move_to(none, a_shoe_on_lower_part_of_table)",
      "grasp(a_shoe_on_lower_part_of_table)",
      "pick_up(a_shoe_on_lower_part_of_table)",
      "move_to(a_shoe_on_lower_part_of_table, box)",
      "place(a_shoe_on_lower_part_of_table, box)"
    ],
    "gt_dag": {
      "move_to(none, a_shoe_on_lower_part_of_table)": [
        "grasp(a_shoe_on_lower_part_of_table)"
      ],
      "grasp(a_shoe_on_lower_part_of_table)": [
        "pick_up(a_shoe_on_lower_part_of_table)"
      ],
      "pick_up(a_shoe_on_lower_part_of_table)": [
        "move_to(a_shoe_on_lower_part_of_table, box)"
      ],
      "move_to(a_shoe_on_lower_part_of_table, box)": [
        "place(a_shoe_on_lower_part_of_table, box)"
      ],
      "place(a_shoe_on_lower_part_of_table, box)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_71001.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_72712",
    "actions_list": [
      "move_to(none, rope)",
      "grasp(rope)",
      "pick_up(rope)",
      "move_to(rope, board)",
      "place(rope, board)"
    ],
    "gt_dag": {
      "move_to(none, rope)": [
        "grasp(rope)"
      ],
      "grasp(rope)": [
        "pick_up(rope)"
      ],
      "pick_up(rope)": [
        "move_to(rope, board)"
      ],
      "move_to(rope, board)": [
        "place(rope, board)"
      ],
      "place(rope, board)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_72712.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_74014",
    "actions_list": [
      "move_to(none, screwdriver)",
      "grasp(screwdriver)",
      "pick_up(screwdriver)",
      "move_to(screwdriver, drawer)",
      "place(screwdriver, drawer)",
      "grasp(drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none, screwdriver)": [
        "grasp(screwdriver)"
      ],
      "grasp(screwdriver)": [
        "pick_up(screwdriver)"
      ],
      "pick_up(screwdriver)": [
        "move_to(screwdriver, drawer)"
      ],
      "move_to(screwdriver, drawer)": [
        "place(screwdriver, drawer)"
      ],
      "place(screwdriver, drawer)": [
        "grasp(drawer)"
      ],
      "grasp(drawer)": [
        "push(drawer)"
      ],
      "push(drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_74014.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_78108",
    "actions_list": [
      "move_to(none, screwdriver)",
      "grasp(screwdriver)",
      "pick_up(screwdriver)",
      "move_to(screwdriver, drawer)",
      "place(screwdriver, drawer)",
      "move_to(drawer)",
      "grasp(drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none, screwdriver)": [
        "grasp(screwdriver)"
      ],
      "grasp(screwdriver)": [
        "pick_up(screwdriver)"
      ],
      "pick_up(screwdriver)": [
        "move_to(screwdriver, drawer)"
      ],
      "move_to(screwdriver, drawer)": [
        "place(screwdriver, drawer)"
      ],
      "place(screwdriver, drawer)": [
        "move_to(drawer)"
      ],
      "move_to(drawer)": [
        "grasp(drawer)"
      ],
      "grasp(drawer)": [
        "push(drawer)"
      ],
      "push(drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_78108.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79145",
    "actions_list": [
      "move_to(none, can)",
      "grasp(can)",
      "pick_up(can)",
      "move_to(can, bowl)",
      "pour(can, unknown, bowl)",
      "move_to(can, table)",
      "place(can, table)"
    ],
    "gt_dag": {
      "move_to(none, can)": [
        "grasp(can)"
      ],
      "grasp(can)": [
        "pick_up(can)"
      ],
      "pick_up(can)": [
        "move_to(can, bowl)"
      ],
      "move_to(can, bowl)": [
        "pour(can, unknown, bowl)"
      ],
      "pour(can, unknown, bowl)": [
        "move_to(can, table)"
      ],
      "move_to(can, table)": [
        "place(can, table)"
      ],
      "place(can, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_79145.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79389",
    "actions_list": [
      "move_to(none, lid)",
      "grasp(lid)",
      "pick_up(lid)",
      "move_to(lid, pan)",
      "place(lid, pan)",
      "move_to(none, lid)",
      "grasp(lid)",
      "pick_up(lid)",
      "move_to(lid, table)",
      "place(lid, table)"
    ],
    "gt_dag": {
      "move_to(lid, pan)": [
        "place(lid, pan)"
      ],
      "place(lid, pan)": [
        "move_to(none, lid)<1>"
      ],
      "move_to(none, lid)": [
        "grasp(lid)"
      ],
      "grasp(lid)": [
        "pick_up(lid)"
      ],
      "pick_up(lid)": [
        "move_to(lid, pan)"
      ],
      "move_to(lid, table)": [],
      "place(lid, table)": [],
      "move_to(none, lid)<1>": [
        "grasp(lid) pick_up(lid) "
      ],
      "grasp(lid) pick_up(lid) ": [
        "move_to(lid, table)"
      ]
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_79389.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79399",
    "actions_list": [
      "move_to(none, pear)",
      "grasp(pear)",
      "pick_up(pear)",
      "move_to(pear, drawer)",
      "place(pear, drawer)",
      "move_to(watermelon)",
      "grasp(watermelon)",
      "pick_up(watermelon)",
      "move_to(watermelon, table)",
      "place(watermelon, table)"
    ],
    "gt_dag": {
      "move_to(none, pear)": [],
      "grasp(pear)": [],
      "pick_up(pear)": [],
      "move_to(pear, drawer)": [],
      "place(pear, drawer)": [],
      "move_to(watermelon)": [],
      "grasp(watermelon)": [],
      "pick_up(watermelon)": [],
      "move_to(watermelon, table)": [],
      "place(watermelon, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_79399.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79681",
    "actions_list": [
      "move_to(none, folded_towel)",
      "grasp(top_side_of_towel)",
      "unfold(right_side_of_towel, left_side_of_towel)"
    ],
    "gt_dag": {
      "move_to(none, folded_towel)": [
        "grasp(top_side_of_towel)"
      ],
      "grasp(top_side_of_towel)": [
        "unfold(right_side_of_towel, left_side_of_towel)"
      ],
      "unfold(right_side_of_towel, left_side_of_towel)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_79681.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_80962",
    "actions_list": [
      "move_to(none, cloth)",
      "grasp(green_towel)",
      "wipe(green_towel, unknown, counter)",
      "move_to(none, broom)",
      "grasp(broom)",
      "pick_up(broom)",
      "move_to(broom, right_of_table)",
      "place(broom, right_of_table)"
    ],
    "gt_dag": {
      "move_to(none, cloth)": [
        "grasp(green_towel)"
      ],
      "grasp(green_towel)": [
        "wipe(green_towel, unknown, counter)"
      ],
      "wipe(green_towel, unknown, counter)": [
        "move_to(none, broom)"
      ],
      "move_to(none, broom)": [
        "grasp(broom)"
      ],
      "grasp(broom)": [
        "pick_up(broom)"
      ],
      "pick_up(broom)": [
        "move_to(broom, right_of_table)"
      ],
      "move_to(broom, right_of_table)": [
        "place(broom, right_of_table)"
      ],
      "place(broom, right_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_80962.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81282",
    "actions_list": [
      "move_to(yellow_towel_and_nude_towel)",
      "grasp(yellow_towel_and_nude_towel)",
      "pick_up(yellow_towel_and_nude_towel)",
      "move_to(yellow_towel_and_nude_towel, left_side_of_table)",
      "place(yellow_towel_and_nude_towel, left_side_of_table)",
      "grasp(pink_towel_and_white_towel)",
      "pick_up(pink_towel_and_white_towel)",
      "move_to(pink_towel_and_white_towel, left_side_of_table)",
      "place(pink_towel_and_white_towel, left_side_of_table)",
      "grasp(box)",
      "pick_up(box)",
      "move_to(box, left_side_of_table)",
      "place(box, left_side_of_table)"
    ],
    "gt_dag": {
      "move_to(yellow_towel_and_nude_towel)": [
        "grasp(yellow_towel_and_nude_towel)"
      ],
      "grasp(yellow_towel_and_nude_towel)": [
        "pick_up(yellow_towel_and_nude_towel)"
      ],
      "pick_up(yellow_towel_and_nude_towel)": [
        "move_to(yellow_towel_and_nude_towel, left_side_of_table)"
      ],
      "move_to(yellow_towel_and_nude_towel, left_side_of_table)": [
        "place(yellow_towel_and_nude_towel, left_side_of_table)"
      ],
      "place(yellow_towel_and_nude_towel, left_side_of_table)": [
        "grasp(pink_towel_and_white_towel)"
      ],
      "grasp(pink_towel_and_white_towel)": [
        "pick_up(pink_towel_and_white_towel)"
      ],
      "pick_up(pink_towel_and_white_towel)": [
        "move_to(pink_towel_and_white_towel, left_side_of_table)"
      ],
      "move_to(pink_towel_and_white_towel, left_side_of_table)": [
        "place(pink_towel_and_white_towel, left_side_of_table)"
      ],
      "place(pink_towel_and_white_towel, left_side_of_table)": [
        "grasp(box)"
      ],
      "grasp(box)": [
        "pick_up(box)"
      ],
      "pick_up(box)": [
        "move_to(box, left_side_of_table)"
      ],
      "move_to(box, left_side_of_table)": [
        "place(box, left_side_of_table)"
      ],
      "place(box, left_side_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_81282.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81663",
    "actions_list": [
      "move_to(none,cup)",
      "grasp(cup)",
      "pick_up(cup)",
      "move_to(cup, table)",
      "place(cup, table)",
      "move_to(none,cloth)",
      "grasp(cloth)",
      "pick_up(cloth)",
      "move_to(cloth, bowl)",
      "place(cloth, bowl)",
      "grasp(drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none,cup)": [
        "grasp(cup)"
      ],
      "grasp(cup)": [
        "pick_up(cup)"
      ],
      "pick_up(cup)": [
        "move_to(cup, table)"
      ],
      "move_to(cup, table)": [
        "place(cup, table)"
      ],
      "place(cup, table)": [
        "grasp(drawer)"
      ],
      "move_to(none,cloth)": [
        "grasp(cloth)"
      ],
      "grasp(cloth)": [
        "pick_up(cloth)"
      ],
      "pick_up(cloth)": [
        "move_to(cloth, bowl)"
      ],
      "move_to(cloth, bowl)": [
        "place(cloth, bowl)"
      ],
      "place(cloth, bowl)": [
        "grasp(drawer)"
      ],
      "grasp(drawer)": [
        "push(drawer)"
      ],
      "push(drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_81663.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81830",
    "actions_list": [
      "move_to(none, white_card)",
      "grasp(white_card)",
      "pick_up(white_card)",
      "move_to(white_card, open_box_with_cords)",
      "place(white_card, open_box_with_cords)"
    ],
    "gt_dag": {
      "move_to(none, white_card)": [
        "grasp(white_card)"
      ],
      "grasp(white_card)": [
        "pick_up(white_card)"
      ],
      "pick_up(white_card)": [
        "move_to(white_card, open_box_with_cords)"
      ],
      "move_to(white_card, open_box_with_cords)": [
        "place(white_card, open_box_with_cords)"
      ],
      "place(white_card, open_box_with_cords)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_81830.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82054",
    "actions_list": [
      "move_to(none, box)",
      "grasp(box)",
      "pick_up(box)",
      "move_to(box, trash_can)",
      "pour(box, trash, trash_can)",
      "move_to(box, counter)",
      "place(box, counter)"
    ],
    "gt_dag": {
      "move_to(none, box)": [
        "grasp(box)"
      ],
      "grasp(box)": [
        "pick_up(box)"
      ],
      "pick_up(box)": [
        "move_to(box, trash_can)"
      ],
      "move_to(box, trash_can)": [
        "pour(box, trash, trash_can)"
      ],
      "pour(box, trash, trash_can)": [
        "move_to(box, counter)"
      ],
      "move_to(box, counter)": [
        "place(box, counter)"
      ],
      "place(box, counter)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_82054.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82433",
    "actions_list": [
      "move_to(none, tap)",
      "grasp(tap)",
      "turn(tap, clockwise, left_of_sink)"
    ],
    "gt_dag": {
      "move_to(none, tap)": [
        "grasp(tap)"
      ],
      "grasp(tap)": [
        "turn(tap, clockwise, left_of_sink)"
      ],
      "turn(tap, clockwise, left_of_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_82433.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82519",
    "actions_list": [
      "move_to(none, milk)",
      "grasp(milk)",
      "pick_up(milk)",
      "move_to(milk, table)",
      "place(milk, table)"
    ],
    "gt_dag": {
      "move_to(none, milk)": [
        "grasp(milk)"
      ],
      "grasp(milk)": [
        "pick_up(milk)"
      ],
      "pick_up(milk)": [
        "move_to(milk, table)"
      ],
      "move_to(milk, table)": [
        "place(milk, table)"
      ],
      "place(milk, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_82519.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82797",
    "actions_list": [
      "move_to(none, bowl)",
      "grasp(bowl)",
      "pick_up(bowl)",
      "move_to(bowl, windowsill)",
      "place(bowl, windowsill)",
      "move_to(none, drawer)",
      "push(drawer)"
    ],
    "gt_dag": {
      "move_to(none, bowl)": [
        "grasp(bowl)"
      ],
      "grasp(bowl)": [
        "pick_up(bowl)"
      ],
      "pick_up(bowl)": [
        "move_to(bowl, windowsill)"
      ],
      "move_to(bowl, windowsill)": [
        "place(bowl, windowsill)"
      ],
      "place(bowl, windowsill)": [
        "move_to(none, drawer)"
      ],
      "move_to(none, drawer)": [
        "push(drawer)"
      ],
      "push(drawer)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_82797.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84109",
    "actions_list": [
      "move_to(none, a_piece_of_paper)",
      "grasp(a_piece_of_paper)",
      "pick_up(a_piece_of_paper)",
      "move_to(a_piece_of_paper, table)",
      "place(a_piece_of_paper, table)"
    ],
    "gt_dag": {
      "move_to(none, a_piece_of_paper)": [
        "grasp(a_piece_of_paper)"
      ],
      "grasp(a_piece_of_paper)": [
        "pick_up(a_piece_of_paper)"
      ],
      "pick_up(a_piece_of_paper)": [
        "move_to(a_piece_of_paper, table)"
      ],
      "move_to(a_piece_of_paper, table)": [
        "place(a_piece_of_paper, table)"
      ],
      "place(a_piece_of_paper, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_84109.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84559",
    "actions_list": [
      "move_to(ball, racket)",
      "grasp(ball)",
      "pick_up(ball)",
      "move_to(none, racket)",
      "place(ball, none)"
    ],
    "gt_dag": {
      "move_to(ball, racket)": [],
      "grasp(ball)": [],
      "pick_up(ball)": [],
      "move_to(none, racket)": [],
      "place(ball, none)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_84559.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84807",
    "actions_list": [
      "move_to(none, pen)",
      "grasp(pen)",
      "pick_up(pen)",
      "move_to(pen, pen_holder)",
      "place(pen, pen_holder)",
      "grasp(pen_holder)",
      "pick_up(pen_holder)",
      "move_to(pen_holder, bag)",
      "place(pen_holder, bag)",
      "grasp(laptop)",
      "turn(laptop, down, screen_attach_keyboard)"
    ],
    "gt_dag": {
      "move_to(none, pen)": [
        "grasp(pen)"
      ],
      "grasp(pen)": [
        "pick_up(pen)"
      ],
      "pick_up(pen)": [
        "move_to(pen, pen_holder)"
      ],
      "move_to(pen, pen_holder)": [
        "place(pen, pen_holder)"
      ],
      "place(pen, pen_holder)": [
        "grasp(pen_holder)"
      ],
      "grasp(pen_holder)": [
        "pick_up(pen_holder)"
      ],
      "pick_up(pen_holder)": [
        "move_to(pen_holder, bag)"
      ],
      "move_to(pen_holder, bag)": [
        "place(pen_holder, bag)"
      ],
      "place(pen_holder, bag)": [
        "grasp(laptop)"
      ],
      "grasp(laptop)": [
        "turn(laptop, down, screen_attach_keyboard)"
      ],
      "turn(laptop, down, screen_attach_keyboard)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_84807.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85145",
    "actions_list": [
      "move_to(none, orange_cup)",
      "grasp(orange_cup)",
      "pick_up(orange_cup)",
      "move_to(orange_cup, tray)",
      "pour(orange_cup, unknown, tray)",
      "move_to(orange_cup, table)",
      "place(orange_cup, table)"
    ],
    "gt_dag": {
      "move_to(none, orange_cup)": [
        "grasp(orange_cup)"
      ],
      "grasp(orange_cup)": [
        "pick_up(orange_cup)"
      ],
      "pick_up(orange_cup)": [
        "move_to(orange_cup, tray)"
      ],
      "move_to(orange_cup, tray)": [
        "pour(orange_cup, unknown, tray)"
      ],
      "pour(orange_cup, unknown, tray)": [
        "move_to(orange_cup, table)"
      ],
      "move_to(orange_cup, table)": [
        "place(orange_cup, table)"
      ],
      "place(orange_cup, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_85145.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85303",
    "actions_list": [
      "move_to(none, spoon)",
      "grasp(spoon)",
      "pick_up(spoon)",
      "move_to(spoon, bowl)",
      "scoop(spoon, unknown , bowl)",
      "move_to(spoon, jug)",
      "pour(spoon, unknown , jug)",
      "move_to(spoon, table)",
      "place(spoon, table)"
    ],
    "gt_dag": {
      "move_to(none, spoon)": [
        "grasp(spoon)"
      ],
      "grasp(spoon)": [
        "pick_up(spoon)"
      ],
      "pick_up(spoon)": [
        "move_to(spoon, bowl)"
      ],
      "move_to(spoon, bowl)": [
        "scoop(spoon, unknown , bowl)"
      ],
      "scoop(spoon, unknown , bowl)": [
        "move_to(spoon, jug)"
      ],
      "move_to(spoon, jug)": [
        "pour(spoon, unknown , jug)"
      ],
      "pour(spoon, unknown , jug)": [
        "move_to(spoon, table)"
      ],
      "move_to(spoon, table)": [
        "place(spoon, table)"
      ],
      "place(spoon, table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_85303.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85961",
    "actions_list": [
      "move_to(none,button_on_the_appliance)",
      "grasp(button_on_the_appliance)",
      "press(button_on_the_appliance)",
      "grasp(bowl)",
      "pick_up(bowl)",
      "move_to(none, bowl)",
      "place(fry, bowl)"
    ],
    "gt_dag": {
      "move_to(none,button_on_the_appliance)": [],
      "grasp(button_on_the_appliance)": [],
      "press(button_on_the_appliance)": [],
      "grasp(bowl)": [],
      "pick_up(bowl)": [],
      "move_to(none, bowl)": [],
      "place(fry, bowl)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_85961.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86449",
    "actions_list": [
      "move_to(none, box)",
      "grasp(box)",
      "pick_up(box)",
      "move_to(box, books)",
      "place(box, books)"
    ],
    "gt_dag": {
      "move_to(none, box)": [
        "grasp(box)"
      ],
      "grasp(box)": [
        "pick_up(box)"
      ],
      "pick_up(box)": [
        "move_to(box, books)"
      ],
      "move_to(box, books)": [
        "place(box, books)"
      ],
      "place(box, books)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_86449.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86481",
    "actions_list": [
      "move_to(,nonestuffed_animal)",
      "grasp(stuffed_animal)",
      "pick_up(stuffed_animal)",
      "move_to(stuffed_animal, middle_of_table)",
      "place(stuffed_animal, middle_of_table)"
    ],
    "gt_dag": {
      "move_to(,nonestuffed_animal)": [
        "grasp(stuffed_animal)"
      ],
      "grasp(stuffed_animal)": [
        "pick_up(stuffed_animal)"
      ],
      "pick_up(stuffed_animal)": [
        "move_to(stuffed_animal, middle_of_table)"
      ],
      "move_to(stuffed_animal, middle_of_table)": [
        "place(stuffed_animal, middle_of_table)"
      ],
      "place(stuffed_animal, middle_of_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_86481.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_87874",
    "actions_list": [
      "move_to(none, tap)",
      "grasp(tap)",
      "turn(tap, anticlockwise, right_side_of_sink)"
    ],
    "gt_dag": {
      "move_to(none, tap)": [
        "grasp(tap)"
      ],
      "grasp(tap)": [
        "turn(tap, anticlockwise, right_side_of_sink)"
      ],
      "turn(tap, anticlockwise, right_side_of_sink)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_87874.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_89525",
    "actions_list": [
      "grasp(jeans)",
      "fold(left_side_of_jeans, right_side_of_jeans)",
      "unfold(right_side_of_jeans, left_side_of_jeans)"
    ],
    "gt_dag": {
      "grasp(jeans)": [
        "fold(left_side_of_jeans, right_side_of_jeans)"
      ],
      "fold(left_side_of_jeans, right_side_of_jeans)": [
        "unfold(right_side_of_jeans, left_side_of_jeans)"
      ],
      "unfold(right_side_of_jeans, left_side_of_jeans)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_89525.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_90987",
    "actions_list": [
      "grasp(pen)",
      "pick_up(pen)",
      "move_to(pen, cup)",
      "place(pen, cup)",
      "move_to(none, notebook)",
      "grasp(notebook)",
      "turn(notebook, anticlockwise, spread_flat_on_table)"
    ],
    "gt_dag": {
      "grasp(pen)": [
        "pick_up(pen)"
      ],
      "pick_up(pen)": [
        "move_to(pen, cup)"
      ],
      "move_to(pen, cup)": [
        "place(pen, cup)"
      ],
      "place(pen, cup)": [
        "move_to(none, notebook)"
      ],
      "move_to(none, notebook)": [
        "grasp(notebook)"
      ],
      "grasp(notebook)": [
        "turn(notebook, anticlockwise, spread_flat_on_table)"
      ],
      "turn(notebook, anticlockwise, spread_flat_on_table)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_90987.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91353",
    "actions_list": [
      "move_to(none, knife)",
      "grasp(knife)",
      "pick_up(knife)",
      "move_to(knife, green_plate)",
      "place(knife, green_plate)",
      "move_to(none, pink_plate)",
      "grasp(pink_plate)",
      "pick_up(pink_plate)",
      "move_to(pink_plate, dish _rack)",
      "place(pink_plate, dish _rack)"
    ],
    "gt_dag": {
      "move_to(none, knife)": [
        "grasp(knife)"
      ],
      "grasp(knife)": [
        "pick_up(knife)"
      ],
      "pick_up(knife)": [
        "move_to(knife, green_plate)"
      ],
      "move_to(knife, green_plate)": [
        "place(knife, green_plate)"
      ],
      "place(knife, green_plate)": [
        "move_to(none, pink_plate)"
      ],
      "move_to(none, pink_plate)": [
        "grasp(pink_plate)"
      ],
      "grasp(pink_plate)": [
        "pick_up(pink_plate)"
      ],
      "pick_up(pink_plate)": [
        "move_to(pink_plate, dish _rack)"
      ],
      "move_to(pink_plate, dish _rack)": [
        "place(pink_plate, dish _rack)"
      ],
      "place(pink_plate, dish _rack)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_91353.png"
  },
  {
    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91403",
    "actions_list": [
      "grasp(banana)",
      "pick_up(banana)",
      "move_to(banana, plate)",
      "place(banana, plate)",
      "grasp(pear)",
      "pick_up(pear)",
      "move_to(pear, plate)",
      "place(pear, plate)"
    ],
    "gt_dag": {
      "grasp(banana)": [
        "pick_up(banana)"
      ],
      "pick_up(banana)": [
        "move_to(banana, plate)"
      ],
      "move_to(banana, plate)": [
        "place(banana, plate)"
      ],
      "place(banana, plate)": [],
      "grasp(pear)": [
        "pick_up(pear)"
      ],
      "pick_up(pear)": [
        "move_to(pear, plate)"
      ],
      "move_to(pear, plate)": [
        "place(pear, plate)"
      ],
      "place(pear, plate)": []
    },
    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_91403.png"
  }
]