3_generalized_planning/cross_view/multi_view/dag.json

[
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_ABCD_episode_2",
    "actions_list": [
      "left: move_to(none, 'a'_block),right:no_ops",
      "left:grasp('a'_block),right:no_ops",
      "left:pick_up('a'_block),right:no_ops",
      "left:place('a'_block, left_of_table),right:no_ops",
      "left:move_to(none,'b'_block),right:no_ops",
      "left:grasp('b'_block),right:no_ops",
      "left:pick_up('b'_block),right:no_ops",
      "left:place('b'_block,right_of_'a'_block), right:no_ops",
      "left:no_ops,right:move_to(none, 'd'_block)",
      "left:no_ops,right:grasp('d'_block)",
      "left:no_ops, right:pick_up('d'_block)",
      "left:no_ops,right:place('d'_clock,right_of_'c'_clock)"
    ],
    "gt_dag": {
      "left: move_to(none, 'a'_block),right:no_ops": [
        "left:grasp('a'_block),right:no_ops"
      ],
      "left:grasp('a'_block),right:no_ops": [
        "left:pick_up('a'_block),right:no_ops"
      ],
      "left:pick_up('a'_block),right:no_ops": [
        "left:place('a'_block, left_of_table),right:no_ops"
      ],
      "left:place('a'_block, left_of_table),right:no_ops": [
        "left:move_to(none,'b'_block),right:no_ops"
      ],
      "left:move_to(none,'b'_block),right:no_ops": [
        "left:grasp('b'_block),right:no_ops"
      ],
      "left:grasp('b'_block),right:no_ops": [
        "left:pick_up('b'_block),right:no_ops"
      ],
      "left:pick_up('b'_block),right:no_ops": [
        "left:place('b'_block,right_of_'a'_block), right:no_ops"
      ],
      "left:place('b'_block,right_of_'a'_block), right:no_ops": [],
      "left:no_ops,right:move_to(none, 'd'_block)": [
        "left:no_ops,right:grasp('d'_block)"
      ],
      "left:no_ops,right:grasp('d'_block)": [
        "left:no_ops, right:pick_up('d'_block)"
      ],
      "left:no_ops, right:pick_up('d'_block)": [
        "left:no_ops,right:place('d'_clock,right_of_'c'_clock)"
      ],
      "left:no_ops,right:place('d'_clock,right_of_'c'_clock)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_arrange_word_ABCD_episode_2.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_2024_episode_0",
    "actions_list": [
      "left:move_to(none, '0'_block), right:no_ops",
      "left:grasp('0'_block), right:no_ops",
      "left:pick_up('0'_block), right:no_ops",
      "left:place('0'_block,left_of_table) right:no_ops",
      "left:move_to(none,'2'_block), right:no_ops",
      "left:grasp('2'_block), right:no_ops",
      "left:pick_up('2'_block),right:no_ops",
      "left:place('2'_block, left_of_'0'_block), right:no_ops",
      "left:no_ops,right:move_to(none,'2'_block)",
      "left:no_ops,right:grasp('2'_block)",
      "left:no_ops,right:pick_up('2'_block)",
      "left:no_ops right:place('2'_block,right_of_'0'_block)"
    ],
    "gt_dag": {
      "left:move_to(none, '0'_block), right:no_ops": [],
      "left:grasp('0'_block), right:no_ops": [],
      "left:pick_up('0'_block), right:no_ops": [],
      "left:place('0'_block,left_of_table) right:no_ops": [],
      "left:move_to(none,'2'_block), right:no_ops": [],
      "left:grasp('2'_block), right:no_ops": [],
      "left:pick_up('2'_block),right:no_ops": [],
      "left:place('2'_block, left_of_'0'_block), right:no_ops": [],
      "left:no_ops,right:move_to(none,'2'_block)": [],
      "left:no_ops,right:grasp('2'_block)": [],
      "left:no_ops,right:pick_up('2'_block)": [],
      "left:no_ops right:place('2'_block,right_of_'0'_block)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_arrange_word_2024_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_LEARNING_episode_0",
    "actions_list": [
      "left:move_to(none,'r'_block), right:no_ops",
      "left:grasp('r'_block), right:no_ops",
      "left:pick_up('r'_block), right:no_ops",
      "left:place('r'_block,left_of_'n'_block), right:no_ops",
      "left:move_to(none,'e'_block), right:no_ops",
      "left:grasp('e'_block), right:no_ops",
      "left:pick_up('e'_block), right:no_ops",
      "left:place('e'_block,right_of_'l'_block), right:no_ops",
      "left:move_to(none,'a'_block), right:no_ops",
      "left:grasp('a'_block), right:no_ops",
      "left: pick_up('a'_block), right:no_ops",
      "left:place('a'_block,right_of_'e'_block), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none,'r'_block), right:no_ops": [
        "left:grasp('r'_block), right:no_ops"
      ],
      "left:grasp('r'_block), right:no_ops": [
        "left:pick_up('r'_block), right:no_ops"
      ],
      "left:pick_up('r'_block), right:no_ops": [
        "left:place('r'_block,left_of_'n'_block), right:no_ops"
      ],
      "left:place('r'_block,left_of_'n'_block), right:no_ops": [],
      "left:move_to(none,'e'_block), right:no_ops": [
        "left:grasp('e'_block), right:no_ops"
      ],
      "left:grasp('e'_block), right:no_ops": [
        "left:pick_up('e'_block), right:no_ops"
      ],
      "left:pick_up('e'_block), right:no_ops": [
        "left:place('e'_block,right_of_'l'_block), right:no_ops"
      ],
      "left:place('e'_block,right_of_'l'_block), right:no_ops": [
        "left:move_to(none,'a'_block), right:no_ops"
      ],
      "left:move_to(none,'a'_block), right:no_ops": [
        "left:grasp('a'_block), right:no_ops"
      ],
      "left:grasp('a'_block), right:no_ops": [
        "left: pick_up('a'_block), right:no_ops"
      ],
      "left: pick_up('a'_block), right:no_ops": [
        "left:place('a'_block,right_of_'e'_block), right:no_ops"
      ],
      "left:place('a'_block,right_of_'e'_block), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_arrange_word_LEARNING_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_car_episode_2",
    "actions_list": [
      "left:move_to(none, letter_'c'), right:no_ops",
      "left:grasp(letter_'c'), right:no_ops",
      "left:pick_up(letter_'c'), right:no_ops",
      "left:place(letter_'c',left_of_table), right:no_ops",
      "left:no_ops, right:move_to(none,letter_'a')",
      "left:no_ops, right:grasp(letter_'a')",
      "left:no_ops, right:pick_up(letter_'a')",
      "left:no_ops, right:place(letter_'a',right_of_'c')",
      "left:no_ops, right:move_to(none, letter_'r')",
      "left:no_ops, right:grasp(letter_'r')",
      "left:no_ops, right:pick_up(letter_'r')",
      "left:no_ops, right:place(letter_'r',right_of_'a')"
    ],
    "gt_dag": {
      "left:move_to(none, letter_'c'), right:no_ops": [
        "left:grasp(letter_'c'), right:no_ops"
      ],
      "left:grasp(letter_'c'), right:no_ops": [
        "left:pick_up(letter_'c'), right:no_ops"
      ],
      "left:pick_up(letter_'c'), right:no_ops": [
        "left:place(letter_'c',left_of_table), right:no_ops"
      ],
      "left:place(letter_'c',left_of_table), right:no_ops": [
        "left:no_ops, right:move_to(none,letter_'a')"
      ],
      "left:no_ops, right:move_to(none,letter_'a')": [
        "left:no_ops, right:grasp(letter_'a')"
      ],
      "left:no_ops, right:grasp(letter_'a')": [
        "left:no_ops, right:pick_up(letter_'a')"
      ],
      "left:no_ops, right:pick_up(letter_'a')": [
        "left:no_ops, right:place(letter_'a',right_of_'c')"
      ],
      "left:no_ops, right:place(letter_'a',right_of_'c')": [
        "left:no_ops, right:move_to(none, letter_'r')"
      ],
      "left:no_ops, right:move_to(none, letter_'r')": [
        "left:no_ops, right:grasp(letter_'r')"
      ],
      "left:no_ops, right:grasp(letter_'r')": [
        "left:no_ops, right:pick_up(letter_'r')"
      ],
      "left:no_ops, right:pick_up(letter_'r')": [
        "left:no_ops, right:place(letter_'r',right_of_'a')"
      ],
      "left:no_ops, right:place(letter_'r',right_of_'a')": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_spell_car_episode_2.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_sky_episode_0",
    "actions_list": [
      "left:no_ops, right:move_to(none, letter_'s')",
      "left:no_ops, right:grasp(letter_'s')",
      "left:no_ops, right:pick_up(letter_'s')",
      "left:no_ops, right:place(letter_'s',left_of_table)",
      "left:no_ops, right:move_to(none, letter_'k')",
      "left:no_ops, right:grasp(letter_'k')",
      "left:no_ops, right:pick_up(letter_'k')",
      "left:no_ops, right:place(letter_'k',right_of_'s')",
      "left:no_ops, right: move_to(none, letter_'y')",
      "left:no_ops, right:grasp(letter_'y')",
      "left:no_ops, right:pick_up(letter_'y')",
      "left:no_ops, right:place(letter_'y',right_of_'k')"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, letter_'s')": [
        "left:no_ops, right:grasp(letter_'s')"
      ],
      "left:no_ops, right:grasp(letter_'s')": [
        "left:no_ops, right:pick_up(letter_'s')"
      ],
      "left:no_ops, right:pick_up(letter_'s')": [
        "left:no_ops, right:place(letter_'s',left_of_table)"
      ],
      "left:no_ops, right:place(letter_'s',left_of_table)": [
        "left:no_ops, right:move_to(none, letter_'k')"
      ],
      "left:no_ops, right:move_to(none, letter_'k')": [
        "left:no_ops, right:grasp(letter_'k')"
      ],
      "left:no_ops, right:grasp(letter_'k')": [
        "left:no_ops, right:pick_up(letter_'k')"
      ],
      "left:no_ops, right:pick_up(letter_'k')": [
        "left:no_ops, right:place(letter_'k',right_of_'s')"
      ],
      "left:no_ops, right:place(letter_'k',right_of_'s')": [
        "left:no_ops, right: move_to(none, letter_'y')"
      ],
      "left:no_ops, right: move_to(none, letter_'y')": [
        "left:no_ops, right:grasp(letter_'y')"
      ],
      "left:no_ops, right:grasp(letter_'y')": [
        "left:no_ops, right:pick_up(letter_'y')"
      ],
      "left:no_ops, right:pick_up(letter_'y')": [
        "left:no_ops, right:place(letter_'y',right_of_'k')"
      ],
      "left:no_ops, right:place(letter_'y',right_of_'k')": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_spell_sky_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_line_episode_1",
    "actions_list": [
      "left:no_ops, right:move_to(none, pen)",
      "left:no_ops, right:grasp(pen)",
      "left:no_ops, right:pick_up(pen)",
      "left:no_ops, right:draw(pen,a_straight_line,whiteboard)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, pen)": [
        "left:no_ops, right:grasp(pen)"
      ],
      "left:no_ops, right:grasp(pen)": [
        "left:no_ops, right:pick_up(pen)"
      ],
      "left:no_ops, right:pick_up(pen)": [
        "left:no_ops, right:draw(pen,a_straight_line,whiteboard)"
      ],
      "left:no_ops, right:draw(pen,a_straight_line,whiteboard)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_draw_line_episode_1.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_cool_episode_0",
    "actions_list": [
      "left:no_ops, right:move_to(none, letter_'c')",
      "left:no_ops, right:grasp(letter_'c')",
      "left:no_ops, right:pick_up(letter_'c')",
      "left:no_ops, right:place(letter_'c',left_of_table)",
      "left:no_ops, right:move_to(none, letter_'o')",
      "left:no_ops, right:grasp(letter_'o')",
      "left:no_ops, right:pick_up(letter_'o')",
      "left:no_ops, right:place(letter_'o',right_of_'c')",
      "left:no_ops, right:move_to(none, letter_'o')",
      "left:no_ops, right:grasp(letter_'o')",
      "left:no_ops, right:pick_up(letter_'o')",
      "left:no_ops, right:place(letter_'c',right_of_'c')",
      "left:no_ops, right:move_to(none, letter_'l')",
      "left:no_ops, right:grasp(letter_'l')",
      "left:no_ops, right:pick_up(letter_'l')",
      "left:no_ops, right:place(letter_'l',right_of_'c')"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, letter_'c')": [
        "left:no_ops, right:grasp(letter_'c')"
      ],
      "left:no_ops, right:grasp(letter_'c')": [
        "left:no_ops, right:pick_up(letter_'c')"
      ],
      "left:no_ops, right:pick_up(letter_'c')": [
        "left:no_ops, right:place(letter_'c',left_of_table)"
      ],
      "left:no_ops, right:place(letter_'c',left_of_table)": [
        "left:no_ops, right:move_to(none, letter_'o')",
        "left:no_ops, right:move_to(none, letter_'o')<1>"
      ],
      "left:no_ops, right:place(letter_'o',right_of_'c')": [
        "left:no_ops, right:move_to(none, letter_'l')"
      ],
      "left:no_ops, right:move_to(none, letter_'o')": [
        "left:no_ops, right:grasp(letter_'o')"
      ],
      "left:no_ops, right:grasp(letter_'o')": [
        "left:no_ops, right:pick_up(letter_'o')"
      ],
      "left:no_ops, right:pick_up(letter_'o')": [
        "left:no_ops, right:place(letter_'o',right_of_'c')"
      ],
      "left:no_ops, right:place(letter_'c',right_of_'c')": [
        "left:no_ops, right:move_to(none, letter_'l')"
      ],
      "left:no_ops, right:move_to(none, letter_'l')": [
        "left:no_ops, right:grasp(letter_'l')"
      ],
      "left:no_ops, right:grasp(letter_'l')": [
        "left:no_ops, right:pick_up(letter_'l')"
      ],
      "left:no_ops, right:pick_up(letter_'l')": [
        "left:no_ops, right:place(letter_'l',right_of_'c')"
      ],
      "left:no_ops, right:place(letter_'l',right_of_'c')": [],
      "left:no_ops, right:move_to(none, letter_'o')<1>": [
        "left:no_ops, right:grasp(letter_'o')<1>"
      ],
      "left:no_ops, right:grasp(letter_'o')<1>": [
        "left:no_ops, right:pick_up(letter_'o')<1>"
      ],
      "left:no_ops, right:pick_up(letter_'o')<1>": [
        "left:no_ops, right:place(letter_'c',right_of_'c')"
      ]
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_spell_cool_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_cross_episode_0",
    "actions_list": [
      "left:no_ops, right:move_to(none,pen)",
      "left:no_ops, right:grasp(pen)",
      "left:no_ops, right:pick_up(pen)",
      "left:no_ops, right:draw(pen,cross,whiteboard)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none,pen)": [
        "left:no_ops, right:grasp(pen)"
      ],
      "left:no_ops, right:grasp(pen)": [
        "left:no_ops, right:pick_up(pen)"
      ],
      "left:no_ops, right:pick_up(pen)": [
        "left:no_ops, right:draw(pen,cross,whiteboard)"
      ],
      "left:no_ops, right:draw(pen,cross,whiteboard)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_draw_cross_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_love_episode_0",
    "actions_list": [
      "left:move_to(none, letter_'l'), right:no_ops",
      "left:grasp(letter_'l'), right:no_ops",
      "left:pick_up(letter_'l'), right:no_ops",
      "left:place(letter_'l',left_of_table), right:no_ops",
      "left:no_ops, right:move_to(none, letter_'o')",
      "left:no_ops, right:grasp(letter_'o')",
      "left:no_ops, right:pick_up(letter_'o')",
      "left:no_ops, right:place(letter_'o', right_of_'l')",
      "left:no_ops, right:move_to(none, letter_'v')",
      "left:no_ops, right:grasp(letter_'v')",
      "left:no_ops, right:pick_up(letter_'v')",
      "left:no_ops, right:place(letter_'l', right_of_'v')",
      "left:no_ops, right:move_to(none, letter_'e')",
      "left:no_ops, right:grasp(letter_'e')",
      "left:no_ops, right:pick_up(letter_'e')",
      "left:no_ops, right:place(letter_'e', right_of_'v')"
    ],
    "gt_dag": {
      "left:move_to(none, letter_'l'), right:no_ops": [
        "left:grasp(letter_'l'), right:no_ops"
      ],
      "left:grasp(letter_'l'), right:no_ops": [
        "left:pick_up(letter_'l'), right:no_ops"
      ],
      "left:pick_up(letter_'l'), right:no_ops": [
        "left:place(letter_'l',left_of_table), right:no_ops"
      ],
      "left:place(letter_'l',left_of_table), right:no_ops": [
        "left:no_ops, right:move_to(none, letter_'o')"
      ],
      "left:no_ops, right:move_to(none, letter_'o')": [
        "left:no_ops, right:grasp(letter_'o')"
      ],
      "left:no_ops, right:grasp(letter_'o')": [
        "left:no_ops, right:pick_up(letter_'o')"
      ],
      "left:no_ops, right:pick_up(letter_'o')": [
        "left:no_ops, right:place(letter_'o', right_of_'l')"
      ],
      "left:no_ops, right:place(letter_'o', right_of_'l')": [
        "left:no_ops, right:move_to(none, letter_'v')"
      ],
      "left:no_ops, right:move_to(none, letter_'v')": [
        "left:no_ops, right:grasp(letter_'v')"
      ],
      "left:no_ops, right:grasp(letter_'v')": [
        "left:no_ops, right:pick_up(letter_'v')"
      ],
      "left:no_ops, right:pick_up(letter_'v')": [
        "left:no_ops, right:place(letter_'l', right_of_'v')"
      ],
      "left:no_ops, right:place(letter_'l', right_of_'v')": [
        "left:no_ops, right:move_to(none, letter_'e')"
      ],
      "left:no_ops, right:move_to(none, letter_'e')": [
        "left:no_ops, right:grasp(letter_'e')"
      ],
      "left:no_ops, right:grasp(letter_'e')": [
        "left:no_ops, right:pick_up(letter_'e')"
      ],
      "left:no_ops, right:pick_up(letter_'e')": [
        "left:no_ops, right:place(letter_'e', right_of_'v')"
      ],
      "left:no_ops, right:place(letter_'e', right_of_'v')": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_spell_love_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_char_A_episode_0",
    "actions_list": [
      "left:no_ops, right:move_to(pen, whiteboard)",
      "left:no_ops, right:grasp(pen)",
      "left:no_ops, right:pick_up(pen)",
      "left:no_ops, right:draw(pen,letter_'A',whiteboard)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(pen, whiteboard)": [
        "left:no_ops, right:grasp(pen)"
      ],
      "left:no_ops, right:grasp(pen)": [
        "left:no_ops, right:pick_up(pen)"
      ],
      "left:no_ops, right:pick_up(pen)": [
        "left:no_ops, right:draw(pen,letter_'A',whiteboard)"
      ],
      "left:no_ops, right:draw(pen,letter_'A',whiteboard)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_draw_char_A_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_1",
    "actions_list": [
      "left:no_ops, right:move_to(none, pink_cylinder_block)",
      "left:no_ops, right:grasp(pink_cylinder_block)",
      "left:no_ops, right:pick_up(pink_cylinder_block)",
      "left:no_ops, right:place(pink_cylinder_block,bracket)",
      "left:no_ops, right:grasp(pink_cylinder_block)",
      "left:no_ops, right:pick_up(pink_cylinder_block)",
      "left:no_ops, right:insert(pink_cylinder_block,slot)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, pink_cylinder_block)": [
        "left:no_ops, right:grasp(pink_cylinder_block)"
      ],
      "left:no_ops, right:place(pink_cylinder_block,bracket)": [
        "left:no_ops, right:grasp(pink_cylinder_block)<1>"
      ],
      "left:no_ops, right:grasp(pink_cylinder_block)": [
        "left:no_ops, right:pick_up(pink_cylinder_block)"
      ],
      "left:no_ops, right:pick_up(pink_cylinder_block)": [
        "left:no_ops, right:place(pink_cylinder_block,bracket)"
      ],
      "left:no_ops, right:insert(pink_cylinder_block,slot)": [],
      "left:no_ops, right:grasp(pink_cylinder_block)<1>": [
        "left:no_ops, right:pick_up(pink_cylinder_block)<1>"
      ],
      "left:no_ops, right:pick_up(pink_cylinder_block)<1>": [
        "left:no_ops, right:insert(pink_cylinder_block,slot)"
      ]
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_1.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_3",
    "actions_list": [
      "left:no_ops, right:move_to(none, purple_block)",
      "left:no_ops, right:grasp(purple_block)",
      "left:no_ops, right:pick_up(purple_block)",
      "left:no_ops, right:move_to(purple_object, blue_slotted_platform)",
      "left:no_ops, right:place(purple_block, bracket)",
      "left:no_ops, right:grasp(purple_block)",
      "left:no_ops, right:pick_up(purple_block)",
      "left:no_ops, right:insert(purple_block,slot)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, purple_block)": [
        "left:no_ops, right:grasp(purple_block)"
      ],
      "left:no_ops, right:move_to(purple_object, blue_slotted_platform)": [
        "left:no_ops, right:place(purple_block, bracket)"
      ],
      "left:no_ops, right:place(purple_block, bracket)": [
        "left:no_ops, right:grasp(purple_block)<1>"
      ],
      "left:no_ops, right:grasp(purple_block)": [
        "left:no_ops, right:pick_up(purple_block)"
      ],
      "left:no_ops, right:pick_up(purple_block)": [
        "left:no_ops, right:move_to(purple_object, blue_slotted_platform)"
      ],
      "left:no_ops, right:insert(purple_block,slot)": [],
      "left:no_ops, right:grasp(purple_block)<1>": [
        "left:no_ops, right:pick_up(purple_block)<1>"
      ],
      "left:no_ops, right:pick_up(purple_block)<1>": [
        "left:no_ops, right:insert(purple_block,slot)"
      ]
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_3.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_6",
    "actions_list": [
      "left:move_to(none,blue_cylinder_block), right:no_ops",
      "left:grasp(blue_cylinder_block), right:no_ops",
      "left:pick_up(blue_cylinder_block), right:no_ops",
      "left:place(blue_cylinder_block,bracket), right:no_ops",
      "left:grasp(blue_cylinder_block), right:no_ops",
      "left:pick_up(blue_cylinder_block), right:no_ops",
      "left:insert(blue_cylinder_block,slot), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none,blue_cylinder_block), right:no_ops": [
        "left:grasp(blue_cylinder_block), right:no_ops"
      ],
      "left:place(blue_cylinder_block,bracket), right:no_ops": [
        "left:grasp(blue_cylinder_block), right:no_ops left:pick_up(blue_cylinder_block), right:no_ops"
      ],
      "left:grasp(blue_cylinder_block), right:no_ops": [
        "left:pick_up(blue_cylinder_block), right:no_ops"
      ],
      "left:pick_up(blue_cylinder_block), right:no_ops": [
        "left:place(blue_cylinder_block,bracket), right:no_ops"
      ],
      "left:insert(blue_cylinder_block,slot), right:no_ops": [],
      "left:grasp(blue_cylinder_block), right:no_ops left:pick_up(blue_cylinder_block), right:no_ops": [
        "left:insert(blue_cylinder_block,slot), right:no_ops"
      ]
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_6.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_8",
    "actions_list": [
      "move_to(none, star_object)",
      "pick_up(star_object)",
      "move_to(star_object, designated_slot)",
      "insert(star, slot)"
    ],
    "gt_dag": {
      "move_to(none, star_object)": [
        "pick_up(star_object)"
      ],
      "pick_up(star_object)": [
        "move_to(star_object, designated_slot)"
      ],
      "move_to(star_object, designated_slot)": [
        "insert(star, slot)"
      ],
      "insert(star, slot)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_8.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_9",
    "actions_list": [
      "move_to(none, arch_shaped_object)",
      "grasp(arch_shaped_object)",
      "pick_up(arch_shaped_object)",
      "move_to(arch_shaped_object, matching_slot)",
      "insert(arch_shaped_object, slot)"
    ],
    "gt_dag": {
      "move_to(none, arch_shaped_object)": [
        "grasp(arch_shaped_object)"
      ],
      "grasp(arch_shaped_object)": [
        "pick_up(arch_shaped_object)"
      ],
      "pick_up(arch_shaped_object)": [
        "move_to(arch_shaped_object, matching_slot)"
      ],
      "move_to(arch_shaped_object, matching_slot)": [
        "insert(arch_shaped_object, slot)"
      ],
      "insert(arch_shaped_object, slot)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_9.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_10",
    "actions_list": [
      "left:move_to(none, blue_cylinder_block), right:no_ops",
      "left:grasp(blue_cylinder_block), right:no_ops",
      "left:pick_up(blue_cylinder_block), right:no_ops",
      "left:place(blue_cylinder_block,bracket), right:no_ops",
      "left:grasp(blue_cylinder_block), right:no_ops",
      "left:pick_up(blue_cylinder_block), right:no_ops",
      "left:insert(blue_cylinder_block,slot), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, blue_cylinder_block), right:no_ops": [
        "left:grasp(blue_cylinder_block), right:no_ops"
      ],
      "left:place(blue_cylinder_block,bracket), right:no_ops": [
        "left:grasp(blue_cylinder_block), right:no_ops<1>"
      ],
      "left:grasp(blue_cylinder_block), right:no_ops": [
        "left:pick_up(blue_cylinder_block), right:no_ops"
      ],
      "left:pick_up(blue_cylinder_block), right:no_ops": [
        "left:place(blue_cylinder_block,bracket), right:no_ops"
      ],
      "left:insert(blue_cylinder_block,slot), right:no_ops": [],
      "left:grasp(blue_cylinder_block), right:no_ops<1>": [
        "left:pick_up(blue_cylinder_block), right:no_ops<1>"
      ],
      "left:pick_up(blue_cylinder_block), right:no_ops<1>": [
        "left:insert(blue_cylinder_block,slot), right:no_ops"
      ]
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_10.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_DEEP_episode_2",
    "actions_list": [
      "left:move_to(none, 'e'_block), right:no_ops",
      "left:grasp('e'_block), right:no_ops",
      "left:pick_up:('e'_block),right:no_ops",
      "left:place('e'_block,table), right:no_ops",
      "left:move_to(none,'e'_block), right:no_ops",
      "left:grasp( 'e'_block), right:no_ops",
      "left:pick_up('e'_block), right:no_ops",
      "left:place('e'_block,right_of_'e'_block), right:no_ops",
      "left:move_to(none, 'd'_block), right:no_ops",
      "left:grasp('d'_block), right:no_ops",
      "left:pick_up('d'_block), right:no_ops",
      "left:place('d'_block,right_'e'_block), right:no_ops",
      "left:no_ops, right:move_to(none,'p'_block)",
      "left:no_ops, right:grasp('p'_block)",
      "left:no_ops, right:pick_up('p'_block)",
      "left:no_ops, right:place('p'_block,right_'e'_block)"
    ],
    "gt_dag": {
      "left:move_to(none, 'e'_block), right:no_ops": [
        "left:grasp('e'_block), right:no_ops"
      ],
      "left:grasp('e'_block), right:no_ops": [
        "left:pick_up:('e'_block),right:no_ops"
      ],
      "left:pick_up:('e'_block),right:no_ops": [
        "left:place('e'_block,table), right:no_ops"
      ],
      "left:place('e'_block,table), right:no_ops": [],
      "left:move_to(none,'e'_block), right:no_ops": [
        "left:grasp( 'e'_block), right:no_ops"
      ],
      "left:grasp( 'e'_block), right:no_ops": [
        "left:pick_up('e'_block), right:no_ops"
      ],
      "left:pick_up('e'_block), right:no_ops": [
        "left:place('e'_block,right_of_'e'_block), right:no_ops"
      ],
      "left:place('e'_block,right_of_'e'_block), right:no_ops": [],
      "left:move_to(none, 'd'_block), right:no_ops": [
        "left:grasp('d'_block), right:no_ops"
      ],
      "left:grasp('d'_block), right:no_ops": [
        "left:pick_up('d'_block), right:no_ops"
      ],
      "left:pick_up('d'_block), right:no_ops": [
        "left:place('d'_block,right_'e'_block), right:no_ops"
      ],
      "left:place('d'_block,right_'e'_block), right:no_ops": [],
      "left:no_ops, right:move_to(none,'p'_block)": [
        "left:no_ops, right:grasp('p'_block)"
      ],
      "left:no_ops, right:grasp('p'_block)": [
        "left:no_ops, right:pick_up('p'_block)"
      ],
      "left:no_ops, right:pick_up('p'_block)": [
        "left:no_ops, right:place('p'_block,right_'e'_block)"
      ],
      "left:no_ops, right:place('p'_block,right_'e'_block)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_arrange_word_DEEP_episode_2.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_flip_calendar_page_episode_0",
    "actions_list": [
      "left:no_ops, right:move_to(none, calendar)",
      "left:no_ops, right:grasp(top_of_the_current_calendar_page)",
      "left:no_ops, right:pick_up(top_of_the_current_calendar_page)",
      "left:no_ops, right:turn(page_of_the_calendar,up,backside )"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, calendar)": [
        "left:no_ops, right:grasp(top_of_the_current_calendar_page)"
      ],
      "left:no_ops, right:grasp(top_of_the_current_calendar_page)": [
        "left:no_ops, right:pick_up(top_of_the_current_calendar_page)"
      ],
      "left:no_ops, right:pick_up(top_of_the_current_calendar_page)": [
        "left:no_ops, right:turn(page_of_the_calendar,up,backside )"
      ],
      "left:no_ops, right:turn(page_of_the_calendar,up,backside )": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_flip_calendar_page_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_11",
    "actions_list": [
      "move_to(none, lid)",
      "grasp(lid)",
      "move_to(lid, right)"
    ],
    "gt_dag": {
      "move_to(none, lid)": [
        "grasp(lid)"
      ],
      "grasp(lid)": [
        "move_to(lid, right)"
      ],
      "move_to(lid, right)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_11.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_28",
    "actions_list": [
      "move_to(none,cloth_hanging_on_the_screen)",
      "grasp(cloth_hanging_on_the_screen)",
      "pick_up(cloth_hanging_on_the_screen)",
      "place(cloth_hanging_on_the_screen, table)"
    ],
    "gt_dag": {
      "move_to(none,cloth_hanging_on_the_screen)": [
        "grasp(cloth_hanging_on_the_screen)"
      ],
      "grasp(cloth_hanging_on_the_screen)": [
        "pick_up(cloth_hanging_on_the_screen)"
      ],
      "pick_up(cloth_hanging_on_the_screen)": [
        "place(cloth_hanging_on_the_screen, table)"
      ],
      "place(cloth_hanging_on_the_screen, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_28.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_29",
    "actions_list": [
      "move_to(none, orange_bowl)",
      "grasp(orane_bowl)",
      "pick_up(orange_bowl)",
      "pour(orange_bowl,rice ,green_bowl)"
    ],
    "gt_dag": {
      "move_to(none, orange_bowl)": [
        "grasp(orane_bowl)"
      ],
      "grasp(orane_bowl)": [
        "pick_up(orange_bowl)"
      ],
      "pick_up(orange_bowl)": [
        "pour(orange_bowl,rice ,green_bowl)"
      ],
      "pour(orange_bowl,rice ,green_bowl)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_29.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_30",
    "actions_list": [
      "move_to(none, pot)",
      "grasp(plush_toy)",
      "pick_up(plush_toy)",
      "place(plush_toy, sink)"
    ],
    "gt_dag": {
      "move_to(none, pot)": [
        "grasp(plush_toy)"
      ],
      "grasp(plush_toy)": [
        "pick_up(plush_toy)"
      ],
      "pick_up(plush_toy)": [
        "place(plush_toy, sink)"
      ],
      "place(plush_toy, sink)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_30.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_flowering_fake_episode_0",
    "actions_list": [
      "left:no_ops, right:move_to(none, kettle)",
      "left:no_ops, right:grasp(kettle)",
      "left:no_ops, right:pick_up(kettle)",
      "left:no_ops, right:pour(kettle,water,plant)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, kettle)": [
        "left:no_ops, right:grasp(kettle)"
      ],
      "left:no_ops, right:grasp(kettle)": [
        "left:no_ops, right:pick_up(kettle)"
      ],
      "left:no_ops, right:pick_up(kettle)": [
        "left:no_ops, right:pour(kettle,water,plant)"
      ],
      "left:no_ops, right:pour(kettle,water,plant)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_flowering_fake_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_plug_charger_episode_0",
    "actions_list": [
      "right:move_to(none, charger),left:no_ops",
      "right:grasp(charger),left:no_ops",
      "right:pick_up(charger),left:no_ops",
      "transfer(right, left, charger)",
      "left:insert(charger, socket), right:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, charger),left:no_ops": [
        "right:grasp(charger),left:no_ops"
      ],
      "right:grasp(charger),left:no_ops": [
        "right:pick_up(charger),left:no_ops"
      ],
      "right:pick_up(charger),left:no_ops": [
        "transfer(right, left, charger)"
      ],
      "transfer(right, left, charger)": [
        "left:insert(charger, socket), right:no_ops"
      ],
      "left:insert(charger, socket), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_plug_charger_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_pull_trash_can_episode_17",
    "actions_list": [
      "left:move_to(none, trash_can), right:no_ops",
      "left:grasp(trash_can_cover), right:move_to(none, trash_can)",
      "left:pick_up(trash_can_cover), right:grasp(garbage_bag)",
      "right:no_ops, left:pick_up(garbage_bag)",
      "left:no_ops, right:place(garbage_bag,table)"
    ],
    "gt_dag": {
      "left:move_to(none, trash_can), right:no_ops": [
        "left:grasp(trash_can_cover), right:move_to(none, trash_can)"
      ],
      "left:grasp(trash_can_cover), right:move_to(none, trash_can)": [
        "left:pick_up(trash_can_cover), right:grasp(garbage_bag)"
      ],
      "left:pick_up(trash_can_cover), right:grasp(garbage_bag)": [
        "right:no_ops, left:pick_up(garbage_bag)"
      ],
      "right:no_ops, left:pick_up(garbage_bag)": [
        "left:no_ops, right:place(garbage_bag,table)"
      ],
      "left:no_ops, right:place(garbage_bag,table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_pull_trash_can_episode_17.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/aloha_mobile_cabinet_episode_0",
    "actions_list": [
      "left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle)",
      "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)",
      "left:pull(cabinet,open),right:pull(cabinet,open)",
      "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)",
      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)",
      "left:pick_up(pot),right:pick_up(pot)",
      "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)",
      "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)",
      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)",
      "left:push(cabinet,close),right:push(cabinet,close)"
    ],
    "gt_dag": {
      "left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle)": [
        "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)"
      ],
      "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)": [
        "left:pull(cabinet,open),right:pull(cabinet,open)"
      ],
      "left:pull(cabinet,open),right:pull(cabinet,open)": [
        "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)"
      ],
      "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)": [
        "left:grasp(left_pot_handle),right:grasp(right_pot_handle)"
      ],
      "left:pick_up(pot),right:pick_up(pot)": [
        "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)"
      ],
      "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)": [
        "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)"
      ],
      "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)": [
        "left:grasp(left_pot_handle),right:grasp(right_pot_handle)<1>"
      ],
      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)": [
        "left:pick_up(pot),right:pick_up(pot)"
      ],
      "left:push(cabinet,close),right:push(cabinet,close)": [],
      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)<1>": [
        "left:push(cabinet,close),right:push(cabinet,close)"
      ]
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_aloha_mobile_cabinet_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_check_mark_episode_0",
    "actions_list": [
      "left:no_ops, right:move_to(none,pen)",
      "left:no_ops, right:grasp(pen)",
      "left:no_ops, right:pick_up(pen)",
      "left:no_ops, right:draw(pen,check_mark,whiteboard)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none,pen)": [
        "left:no_ops, right:grasp(pen)"
      ],
      "left:no_ops, right:grasp(pen)": [
        "left:no_ops, right:pick_up(pen)"
      ],
      "left:no_ops, right:pick_up(pen)": [
        "left:no_ops, right:draw(pen,check_mark,whiteboard)"
      ],
      "left:no_ops, right:draw(pen,check_mark,whiteboard)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_draw_check_mark_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_121",
    "actions_list": [
      "move_to(none, gray_doll)",
      "grasp(gray_doll)",
      "pick_up(gray_doll)",
      "place(gray_doll, middle_of_table)"
    ],
    "gt_dag": {
      "move_to(none, gray_doll)": [
        "grasp(gray_doll)"
      ],
      "grasp(gray_doll)": [
        "pick_up(gray_doll)"
      ],
      "pick_up(gray_doll)": [
        "place(gray_doll, middle_of_table)"
      ],
      "place(gray_doll, middle_of_table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_121.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_33111",
    "actions_list": [
      "move_to(none, letter_'a')",
      "grasp(letter_'a')",
      "pick_up(letter_'a')",
      "turn(letter_'a',clockwise,middle_of_table)"
    ],
    "gt_dag": {
      "move_to(none, letter_'a')": [
        "grasp(letter_'a')"
      ],
      "grasp(letter_'a')": [
        "pick_up(letter_'a')"
      ],
      "pick_up(letter_'a')": [
        "turn(letter_'a',clockwise,middle_of_table)"
      ],
      "turn(letter_'a',clockwise,middle_of_table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_33111.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_147",
    "actions_list": [
      "move_to(none, purple_toy)",
      "grasp(purple_toy)",
      "pick_up(purple_toy)",
      "place(purple_toy, table)"
    ],
    "gt_dag": {
      "move_to(none, purple_toy)": [
        "grasp(purple_toy)"
      ],
      "grasp(purple_toy)": [
        "pick_up(purple_toy)"
      ],
      "pick_up(purple_toy)": [
        "place(purple_toy, table)"
      ],
      "place(purple_toy, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_147.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_19660",
    "actions_list": [
      "move_to(none, bowl)",
      "grasp(bowl)",
      "pick_up(bowl)",
      "place(bowl, right_table)"
    ],
    "gt_dag": {
      "move_to(none, bowl)": [
        "grasp(bowl)"
      ],
      "grasp(bowl)": [
        "pick_up(bowl)"
      ],
      "pick_up(bowl)": [
        "place(bowl, right_table)"
      ],
      "place(bowl, right_table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_19660.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_195",
    "actions_list": [
      "move_to(none, marker)",
      "grasp(marker)",
      "pick_up(marker)",
      "place(marker, middle_of_bowl)"
    ],
    "gt_dag": {
      "move_to(none, marker)": [
        "grasp(marker)"
      ],
      "grasp(marker)": [
        "pick_up(marker)"
      ],
      "pick_up(marker)": [
        "place(marker, middle_of_bowl)"
      ],
      "place(marker, middle_of_bowl)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_195.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_310",
    "actions_list": [
      "move_to(none, pot_lid)",
      "grasp(pot_lid)",
      "pick_up(pot_lid)",
      "place(lid, table)"
    ],
    "gt_dag": {
      "move_to(none, pot_lid)": [
        "grasp(pot_lid)"
      ],
      "grasp(pot_lid)": [
        "pick_up(pot_lid)"
      ],
      "pick_up(pot_lid)": [
        "place(lid, table)"
      ],
      "place(lid, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_310.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_7",
    "actions_list": [
      "left:move_to(none, charging_cable), right:move_to(none, phone)",
      "left:grasp(charging_cable), right:grasp(phone)",
      "left:pick_up(charging_cable), right:pick_up(phone)",
      "left:insert(charging_cable,phone), right:hold(phone)"
    ],
    "gt_dag": {
      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
        "left:grasp(charging_cable), right:grasp(phone)"
      ],
      "left:grasp(charging_cable), right:grasp(phone)": [
        "left:pick_up(charging_cable), right:pick_up(phone)"
      ],
      "left:pick_up(charging_cable), right:pick_up(phone)": [
        "left:insert(charging_cable,phone), right:hold(phone)"
      ],
      "left:insert(charging_cable,phone), right:hold(phone)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_7.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_11",
    "actions_list": [
      "left:move_to(none, charging_cable), right:move_to(none, phone)",
      "left:grasp(charging_cable), right:grasp(phone)",
      "left:pcik_up(charging_cable), right:pick_up(phone)",
      "left:insert(charging_cable, phone), right:hold(phone)"
    ],
    "gt_dag": {
      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
        "left:grasp(charging_cable), right:grasp(phone)"
      ],
      "left:grasp(charging_cable), right:grasp(phone)": [
        "left:pcik_up(charging_cable), right:pick_up(phone)"
      ],
      "left:pcik_up(charging_cable), right:pick_up(phone)": [
        "left:insert(charging_cable, phone), right:hold(phone)"
      ],
      "left:insert(charging_cable, phone), right:hold(phone)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_11.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_13",
    "actions_list": [
      "left:move_to(none, charging_cable), right:move_to(none, phone)",
      "left:grasp(charging_cable), right:grasp(phone)",
      "left:pick_up(charging_cable), right:pick_up(phone)",
      "left:insert(charging_cable, phone), right:hold(phone)"
    ],
    "gt_dag": {
      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
        "left:grasp(charging_cable), right:grasp(phone)"
      ],
      "left:grasp(charging_cable), right:grasp(phone)": [
        "left:pick_up(charging_cable), right:pick_up(phone)"
      ],
      "left:pick_up(charging_cable), right:pick_up(phone)": [
        "left:insert(charging_cable, phone), right:hold(phone)"
      ],
      "left:insert(charging_cable, phone), right:hold(phone)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_13.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_22",
    "actions_list": [
      "left:move_to(none, charging_cable), right:move_to(none, phone)",
      "left:grasp(charging_cable), right:grasp(phone)",
      "left:pick_up(charging_cable), right:pick_up(phone)",
      "left:insert(charging_cable,phone), right:hold(phone)"
    ],
    "gt_dag": {
      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
        "left:grasp(charging_cable), right:grasp(phone)"
      ],
      "left:grasp(charging_cable), right:grasp(phone)": [
        "left:pick_up(charging_cable), right:pick_up(phone)"
      ],
      "left:pick_up(charging_cable), right:pick_up(phone)": [
        "left:insert(charging_cable,phone), right:hold(phone)"
      ],
      "left:insert(charging_cable,phone), right:hold(phone)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_22.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_28",
    "actions_list": [
      "left:move_to(none, charging_cable), right:move_to(none, phone)",
      "left:grasp(charging_cable), right:grasp(phone)",
      "left:pick_up(charging_cable), right:pick_up(phone)",
      "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
    ],
    "gt_dag": {
      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
        "left:grasp(charging_cable), right:grasp(phone)"
      ],
      "left:grasp(charging_cable), right:grasp(phone)": [
        "left:pick_up(charging_cable), right:pick_up(phone)"
      ],
      "left:pick_up(charging_cable), right:pick_up(phone)": [
        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
      ],
      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_28.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_30",
    "actions_list": [
      "left:move_to(none, charging_cable), right:move_to(none, phone)",
      "left:grasp(charging_cable), right:grasp(phone)",
      "left:pick_up(charging_cable), right:pick_up(phone)",
      "left:insert(charging_cable, phone), right:hold(phone)"
    ],
    "gt_dag": {
      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
        "left:grasp(charging_cable), right:grasp(phone)"
      ],
      "left:grasp(charging_cable), right:grasp(phone)": [
        "left:pick_up(charging_cable), right:pick_up(phone)"
      ],
      "left:pick_up(charging_cable), right:pick_up(phone)": [
        "left:insert(charging_cable, phone), right:hold(phone)"
      ],
      "left:insert(charging_cable, phone), right:hold(phone)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_30.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_flip_bottle_episode_6",
    "actions_list": [
      "right:move_to(none, bottle), left:no_ops",
      "right:grasp(bottle), left:no_ops",
      "right:pick_up(bottle), left:no_ops",
      "right:turn(bottle,anticlockwise,inverted),left:no_ops",
      "transfer(right,left,bottle)",
      "left:place(bottle,table),right:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, bottle), left:no_ops": [
        "right:grasp(bottle), left:no_ops"
      ],
      "right:grasp(bottle), left:no_ops": [
        "right:pick_up(bottle), left:no_ops"
      ],
      "right:pick_up(bottle), left:no_ops": [
        "right:turn(bottle,anticlockwise,inverted),left:no_ops"
      ],
      "right:turn(bottle,anticlockwise,inverted),left:no_ops": [
        "transfer(right,left,bottle)"
      ],
      "transfer(right,left,bottle)": [
        "left:place(bottle,table),right:no_ops"
      ],
      "left:place(bottle,table),right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_flip_bottle_episode_6.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_flip_bottle_episode_14",
    "actions_list": [
      "left: no_ops, right:move_to(none, bottle)",
      "left: no_ops, right:grasp(bottle)",
      "left: no_ops, right:pick_up(bottle)",
      "left: no_ops, right:turn(bottle, clockwise, inverted)",
      "left: no_ops, right:place(bottle, table)"
    ],
    "gt_dag": {
      "left: no_ops, right:move_to(none, bottle)": [
        "left: no_ops, right:grasp(bottle)"
      ],
      "left: no_ops, right:grasp(bottle)": [
        "left: no_ops, right:pick_up(bottle)"
      ],
      "left: no_ops, right:pick_up(bottle)": [
        "left: no_ops, right:turn(bottle, clockwise, inverted)"
      ],
      "left: no_ops, right:turn(bottle, clockwise, inverted)": [
        "left: no_ops, right:place(bottle, table)"
      ],
      "left: no_ops, right:place(bottle, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_flip_bottle_episode_14.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_0",
    "actions_list": [
      "left:move_to(none,brown_paper_ball), right:no_ops",
      "left:grasp(brown_paper_ball), right:no_ops",
      "left:pick_up(brown_paper_ball), right:no_ops",
      "left:place(brown_paper_ball, trash_can), right:no_ops",
      "left:move_to(none,white_paper_ball), right:no_ops",
      "left:grasp(white_paper_ball), right:no_ops",
      "left:pick_up(white_paper_ball), right:no_ops",
      "left:place(white_paper_ball, trash_can), right:no_ops",
      "left: no_ops, right:move_to(none,patterned_paper_ball)",
      "left: no_ops, right:grasp(patterned_paper_ball)",
      "left: no_ops, right:pick_up(patterned_paper_ball)",
      "left: no_ops, right:place(patterned_paper_ball, trash_can)",
      "left: no_ops, right:move_to(none,paper_ball)",
      "left: no_ops, right:grasp(paper_ball)",
      "left: no_ops, right:pick_up(paper_ball)",
      "left: no_ops, right:place(paper_ball, trash_can)"
    ],
    "gt_dag": {
      "left:move_to(none,brown_paper_ball), right:no_ops": [
        "left:grasp(brown_paper_ball), right:no_ops"
      ],
      "left:grasp(brown_paper_ball), right:no_ops": [
        "left:pick_up(brown_paper_ball), right:no_ops"
      ],
      "left:pick_up(brown_paper_ball), right:no_ops": [
        "left:place(brown_paper_ball, trash_can), right:no_ops"
      ],
      "left:place(brown_paper_ball, trash_can), right:no_ops": [],
      "left:move_to(none,white_paper_ball), right:no_ops": [
        "left:grasp(white_paper_ball), right:no_ops"
      ],
      "left:grasp(white_paper_ball), right:no_ops": [
        "left:pick_up(white_paper_ball), right:no_ops"
      ],
      "left:pick_up(white_paper_ball), right:no_ops": [
        "left:place(white_paper_ball, trash_can), right:no_ops"
      ],
      "left:place(white_paper_ball, trash_can), right:no_ops": [],
      "left: no_ops, right:move_to(none,patterned_paper_ball)": [
        "left: no_ops, right:grasp(patterned_paper_ball)"
      ],
      "left: no_ops, right:grasp(patterned_paper_ball)": [
        "left: no_ops, right:pick_up(patterned_paper_ball)"
      ],
      "left: no_ops, right:pick_up(patterned_paper_ball)": [
        "left: no_ops, right:place(patterned_paper_ball, trash_can)"
      ],
      "left: no_ops, right:place(patterned_paper_ball, trash_can)": [],
      "left: no_ops, right:move_to(none,paper_ball)": [
        "left: no_ops, right:grasp(paper_ball)"
      ],
      "left: no_ops, right:grasp(paper_ball)": [
        "left: no_ops, right:pick_up(paper_ball)"
      ],
      "left: no_ops, right:pick_up(paper_ball)": [
        "left: no_ops, right:place(paper_ball, trash_can)"
      ],
      "left: no_ops, right:place(paper_ball, trash_can)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_0.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_4",
    "actions_list": [
      "left:move_to(none, paper_ball), right:no_ops",
      "left:grasp(paper_ball), right:no_ops",
      "left:pick_up(paper_ball), right:no_ops",
      "left:place(paper_ball, trash_can), right:no_ops",
      "left:move_to(none, paper_ball), right:no_ops",
      "left:grasp(paper_ball), right:no_ops",
      "left:pick_up(paper_ball), right:no_ops",
      "left:place(paper_ball, trash_can), right:no_ops",
      "left:move_to(none, paper_ball), right:no_ops",
      "left:grasp(paper_ball), right:no_ops",
      "left:pick_up(paper_ball), right:no_ops",
      "left:place(paper_ball, trash_can), right:no_ops",
      "left:no_ops, right:move_to(none, paper_ball)",
      "left:no_ops, right:grasp(paper_ball)",
      "left:no_ops, right:pick_up(paper_ball)",
      "left:no_ops, right:place(paper_ball, trash_can)"
    ],
    "gt_dag": {
      "left:move_to(none, paper_ball), right:no_ops": [
        "left:grasp(paper_ball), right:no_ops"
      ],
      "left:grasp(paper_ball), right:no_ops": [
        "left:pick_up(paper_ball), right:no_ops"
      ],
      "left:pick_up(paper_ball), right:no_ops": [
        "left:place(paper_ball, trash_can), right:no_ops"
      ],
      "left:place(paper_ball, trash_can), right:no_ops": [],
      "left:no_ops, right:move_to(none, paper_ball)": [
        "left:no_ops, right:grasp(paper_ball)"
      ],
      "left:no_ops, right:grasp(paper_ball)": [
        "left:no_ops, right:pick_up(paper_ball)"
      ],
      "left:no_ops, right:pick_up(paper_ball)": [
        "left:no_ops, right:place(paper_ball, trash_can)"
      ],
      "left:no_ops, right:place(paper_ball, trash_can)": [],
      "left:move_to(none, paper_ball), right:no_ops<1>": [
        "left:grasp(paper_ball), right:no_ops<2>"
      ],
      "left:pick_up(paper_ball), right:no_ops<1>": [
        "left:place(paper_ball, trash_can), right:no_ops<1>"
      ],
      "left:place(paper_ball, trash_can), right:no_ops<1>": [],
      "left:move_to(none, paper_ball), right:no_ops<2>": [
        "left:grasp(paper_ball), right:no_ops<1>"
      ],
      "left:grasp(paper_ball), right:no_ops<1>": [
        "left:pick_up(paper_ball), right:no_ops<2>"
      ],
      "left:pick_up(paper_ball), right:no_ops<2>": [
        "left:place(paper_ball, trash_can), right:no_ops<2>"
      ],
      "left:place(paper_ball, trash_can), right:no_ops<2>": [],
      "left:grasp(paper_ball), right:no_ops<2>": [
        "left:pick_up(paper_ball), right:no_ops<1>"
      ]
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_4.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_13",
    "actions_list": [
      "right:move_to(none, paper_ball), left:no_ops",
      "right:grasp(paper_ball), left:no_ops",
      "right:pick_up(paper_ball), left:no_ops",
      "right:place(paper_ball, inside_trash_can), left:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, paper_ball), left:no_ops": [
        "right:grasp(paper_ball), left:no_ops"
      ],
      "right:grasp(paper_ball), left:no_ops": [
        "right:pick_up(paper_ball), left:no_ops"
      ],
      "right:pick_up(paper_ball), left:no_ops": [
        "right:place(paper_ball, inside_trash_can), left:no_ops"
      ],
      "right:place(paper_ball, inside_trash_can), left:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_13.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_14",
    "actions_list": [
      "right:move_to(none, paper_ball), left:no_ops",
      "right:grasp(paper_ball), left:no_ops",
      "right:pick_up(paper_ball), left:no_ops",
      "right:place(paper_ball, inside_trash_can), left:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, paper_ball), left:no_ops": [
        "right:grasp(paper_ball), left:no_ops"
      ],
      "right:grasp(paper_ball), left:no_ops": [
        "right:pick_up(paper_ball), left:no_ops"
      ],
      "right:pick_up(paper_ball), left:no_ops": [
        "right:place(paper_ball, inside_trash_can), left:no_ops"
      ],
      "right:place(paper_ball, inside_trash_can), left:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_14.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_4",
    "actions_list": [
      "left:move_to(none, charger), right:move_to(none,data_cable)",
      "left:grasp(charger), right:grasp(data_cable)",
      "left:pick_up(charger), right:pick_up(data_cable)",
      "left:hold(charger), right:insert(data_cable,charger)",
      "left:place(charger,table), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, charger), right:move_to(none,data_cable)": [
        "left:grasp(charger), right:grasp(data_cable)"
      ],
      "left:grasp(charger), right:grasp(data_cable)": [
        "left:pick_up(charger), right:pick_up(data_cable)"
      ],
      "left:pick_up(charger), right:pick_up(data_cable)": [
        "left:hold(charger), right:insert(data_cable,charger)"
      ],
      "left:hold(charger), right:insert(data_cable,charger)": [
        "left:place(charger,table), right:no_ops"
      ],
      "left:place(charger,table), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_4.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_5",
    "actions_list": [
      "left:move_to(none, charger), right:move_to(none,data_cable)",
      "left:grasp(charger), right:grasp(data_cable)",
      "left:pick_up(charger), right:pick_up(data_cable)",
      "left:hold(charger), right:insert(data_cable,charger)",
      "left:place(charger,table), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, charger), right:move_to(none,data_cable)": [
        "left:grasp(charger), right:grasp(data_cable)"
      ],
      "left:grasp(charger), right:grasp(data_cable)": [
        "left:pick_up(charger), right:pick_up(data_cable)"
      ],
      "left:pick_up(charger), right:pick_up(data_cable)": [
        "left:hold(charger), right:insert(data_cable,charger)"
      ],
      "left:hold(charger), right:insert(data_cable,charger)": [
        "left:place(charger,table), right:no_ops"
      ],
      "left:place(charger,table), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_5.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_11",
    "actions_list": [
      "left:move_to(none, charger), right:move_to(none,data_cable)",
      "left:grasp(charger), right:grasp(data_cable)",
      "left:pick_up(charger), right:pick_up(data_cable)",
      "left:hold(charger), right:insert(data_cable,charger)",
      "left:place(charger,table), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, charger), right:move_to(none,data_cable)": [
        "left:grasp(charger), right:grasp(data_cable)"
      ],
      "left:grasp(charger), right:grasp(data_cable)": [
        "left:pick_up(charger), right:pick_up(data_cable)"
      ],
      "left:pick_up(charger), right:pick_up(data_cable)": [
        "left:hold(charger), right:insert(data_cable,charger)"
      ],
      "left:hold(charger), right:insert(data_cable,charger)": [
        "left:place(charger,table), right:no_ops"
      ],
      "left:place(charger,table), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_11.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_14",
    "actions_list": [
      "left:move_to(none, charger), right:move_to(none,data_cable)",
      "left:grasp(charger), right:grasp(data_cable)",
      "left:pick_up(charger), right:pick_up(data_cable)",
      "left:hold(charger), right:insert(data_cable,charger)",
      "left:place(charger,table), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, charger), right:move_to(none,data_cable)": [
        "left:grasp(charger), right:grasp(data_cable)"
      ],
      "left:grasp(charger), right:grasp(data_cable)": [
        "left:pick_up(charger), right:pick_up(data_cable)"
      ],
      "left:pick_up(charger), right:pick_up(data_cable)": [
        "left:hold(charger), right:insert(data_cable,charger)"
      ],
      "left:hold(charger), right:insert(data_cable,charger)": [
        "left:place(charger,table), right:no_ops"
      ],
      "left:place(charger,table), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_14.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_15",
    "actions_list": [
      "left:move_to(none, charger), right:move_to(none,data_cable)",
      "left:grasp(charger), right:grasp(data_cable)",
      "left:pick_up(charger), right:pick_up(data_cable)",
      "left:hold(charger), right:insert(data_cable,charger)",
      "left:place(charger,table), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, charger), right:move_to(none,data_cable)": [
        "left:grasp(charger), right:grasp(data_cable)"
      ],
      "left:grasp(charger), right:grasp(data_cable)": [
        "left:pick_up(charger), right:pick_up(data_cable)"
      ],
      "left:pick_up(charger), right:pick_up(data_cable)": [
        "left:hold(charger), right:insert(data_cable,charger)"
      ],
      "left:hold(charger), right:insert(data_cable,charger)": [
        "left:place(charger,table), right:no_ops"
      ],
      "left:place(charger,table), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_15.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1",
    "actions_list": [
      "left:move_to(none, backpack), right:no_ops",
      "left:grasp(backpack), right:no_ops",
      "left:pick_up(backpack), right:no_ops",
      "left:place(backpack, desk), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, backpack), right:no_ops": [
        "left:grasp(backpack), right:no_ops"
      ],
      "left:grasp(backpack), right:no_ops": [
        "left:pick_up(backpack), right:no_ops"
      ],
      "left:pick_up(backpack), right:no_ops": [
        "left:place(backpack, desk), right:no_ops"
      ],
      "left:place(backpack, desk), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_18",
    "actions_list": [
      "left:move_to(none, backpack), right:no_ops",
      "left:grasp(backpack), right:no_ops",
      "left:pick_up(backpack), right:no_ops",
      "left:place(backpack, desk), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, backpack), right:no_ops": [
        "left:grasp(backpack), right:no_ops"
      ],
      "left:grasp(backpack), right:no_ops": [
        "left:pick_up(backpack), right:no_ops"
      ],
      "left:pick_up(backpack), right:no_ops": [
        "left:place(backpack, desk), right:no_ops"
      ],
      "left:place(backpack, desk), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_18.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_11",
    "actions_list": [
      "left:move_to(none, orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange,inside_bag), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, orange), right:no_ops": [
        "left:grasp(orange), right:no_ops"
      ],
      "left:grasp(orange), right:no_ops": [
        "left:pick_up(orange), right:no_ops"
      ],
      "left:pick_up(orange), right:no_ops": [
        "left:place(orange,inside_bag), right:no_ops"
      ],
      "left:place(orange,inside_bag), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_orange_into_bag_episode_11.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_tape_into_bag_episode_18",
    "actions_list": [
      "right:move_to(none, tape), left:no_ops",
      "right:grasp(tape), left:no_ops",
      "right:pick_up(tape), left:no_ops",
      "right:place(tape, inside_bag), left:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, tape), left:no_ops": [
        "right:grasp(tape), left:no_ops"
      ],
      "right:grasp(tape), left:no_ops": [
        "right:pick_up(tape), left:no_ops"
      ],
      "right:pick_up(tape), left:no_ops": [
        "right:place(tape, inside_bag), left:no_ops"
      ],
      "right:place(tape, inside_bag), left:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_tape_into_bag_episode_18.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_tomato_to_desk_episode_16",
    "actions_list": [
      "left:no_ops, right:move_to(none, can)",
      "left:no_ops, right:grasp(can)",
      "left:no_ops, right:pick_up(can)",
      "left:no_ops, right:place(can, right_side_of_the_table)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, can)": [
        "left:no_ops, right:grasp(can)"
      ],
      "left:no_ops, right:grasp(can)": [
        "left:no_ops, right:pick_up(can)"
      ],
      "left:no_ops, right:pick_up(can)": [
        "left:no_ops, right:place(can, right_side_of_the_table)"
      ],
      "left:no_ops, right:place(can, right_side_of_the_table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_tomato_to_desk_episode_16.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_place_octopus_upright_episode_12",
    "actions_list": [
      "left:no_ops, right:move_to(none, octopus_plushie)",
      "left:no_ops, right:grasp(octopus_plushie)",
      "left:no_ops, right:pick_up(octopus_plushie)",
      "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)",
      "transfer(left, right, octopus_plushie)",
      "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)",
      "right:no_ops, left:place(octopus_plushie,table)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, octopus_plushie)": [
        "left:no_ops, right:grasp(octopus_plushie)"
      ],
      "left:no_ops, right:grasp(octopus_plushie)": [
        "left:no_ops, right:pick_up(octopus_plushie)"
      ],
      "left:no_ops, right:pick_up(octopus_plushie)": [
        "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)"
      ],
      "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)": [
        "transfer(left, right, octopus_plushie)"
      ],
      "transfer(left, right, octopus_plushie)": [
        "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)"
      ],
      "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)": [
        "right:no_ops, left:place(octopus_plushie,table)"
      ],
      "right:no_ops, left:place(octopus_plushie,table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_place_octopus_upright_episode_12.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pull_chair_episode_8",
    "actions_list": [
      "left:no_ops, right:move_to(none, chair)",
      "left:no_ops, right:grasp(right_side_of_the_chair)",
      "left:no_ops, right:pull(chair, behind)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, chair)": [
        "left:no_ops, right:grasp(right_side_of_the_chair)"
      ],
      "left:no_ops, right:grasp(right_side_of_the_chair)": [
        "left:no_ops, right:pull(chair, behind)"
      ],
      "left:no_ops, right:pull(chair, behind)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pull_chair_episode_8.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_9",
    "actions_list": [
      "left:move_to(none, gray_clothes), right:no_ops",
      "left:grasp(gray_clothes), right:no_ops",
      "left:pick_up(gray_clothes), right:no_ops",
      "left:place(gray_clothes, backpack), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, gray_clothes), right:no_ops": [
        "left:grasp(gray_clothes), right:no_ops"
      ],
      "left:grasp(gray_clothes), right:no_ops": [
        "left:pick_up(gray_clothes), right:no_ops"
      ],
      "left:pick_up(gray_clothes), right:no_ops": [
        "left:place(gray_clothes, backpack), right:no_ops"
      ],
      "left:place(gray_clothes, backpack), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_9.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_2",
    "actions_list": [
      "left:move_to(none,orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange, bag), right:no_ops",
      "left:move_to(none,orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange, bag), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none,orange), right:no_ops": [
        "left:grasp(orange), right:no_ops"
      ],
      "left:grasp(orange), right:no_ops": [
        "left:pick_up(orange), right:no_ops"
      ],
      "left:pick_up(orange), right:no_ops": [
        "left:place(orange, bag), right:no_ops"
      ],
      "left:place(orange, bag), right:no_ops": [
        "left:move_to(none,orange), right:no_ops<1>"
      ],
      "left:move_to(none,orange), right:no_ops<1>": [
        "left:grasp(orange), right:no_ops<1>"
      ],
      "left:grasp(orange), right:no_ops<1>": [
        "left:pick_up(orange), right:no_ops<1>"
      ],
      "left:pick_up(orange), right:no_ops<1>": [
        "left:place(orange, bag), right:no_ops<1>"
      ],
      "left:place(orange, bag), right:no_ops<1>": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_2.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_6",
    "actions_list": [
      "left:move_to(none,orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange, bag), right:no_ops",
      "left:move_to(none,orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange, bag), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none,orange), right:no_ops": [
        "left:grasp(orange), right:no_ops"
      ],
      "left:grasp(orange), right:no_ops": [
        "left:pick_up(orange), right:no_ops"
      ],
      "left:pick_up(orange), right:no_ops": [
        "left:place(orange, bag), right:no_ops"
      ],
      "left:place(orange, bag), right:no_ops": [
        "left:move_to(none,orange), right:no_ops<1>"
      ],
      "left:move_to(none,orange), right:no_ops<1>": [
        "left:grasp(orange), right:no_ops<1>"
      ],
      "left:grasp(orange), right:no_ops<1>": [
        "left:pick_up(orange), right:no_ops<1>"
      ],
      "left:pick_up(orange), right:no_ops<1>": [
        "left:place(orange, bag), right:no_ops<1>"
      ],
      "left:place(orange, bag), right:no_ops<1>": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_6.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_7",
    "actions_list": [
      "left:move_to(none, orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange, bag), right:no_ops",
      "left:move_to(none, orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange, bag), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, orange), right:no_ops": [
        "left:grasp(orange), right:no_ops"
      ],
      "left:grasp(orange), right:no_ops": [
        "left:pick_up(orange), right:no_ops"
      ],
      "left:pick_up(orange), right:no_ops": [
        "left:place(orange, bag), right:no_ops"
      ],
      "left:place(orange, bag), right:no_ops": [
        "left:move_to(none, orange), right:no_ops<1>"
      ],
      "left:move_to(none, orange), right:no_ops<1>": [
        "left:grasp(orange), right:no_ops<1>"
      ],
      "left:grasp(orange), right:no_ops<1>": [
        "left:pick_up(orange), right:no_ops<1>"
      ],
      "left:pick_up(orange), right:no_ops<1>": [
        "left:place(orange, bag), right:no_ops<1>"
      ],
      "left:place(orange, bag), right:no_ops<1>": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_7.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_8",
    "actions_list": [
      "right:move_to(none, first_orange), left:no_ops",
      "right:grasp(first_orange), left:no_ops",
      "right:pick_up(first_orange), left:no_ops",
      "right:place(first_orange, bag), left:no_ops",
      "right:move_to(none, second_orange), left:no_ops",
      "right:grasp(second_orange), left:no_ops",
      "right:pick_up(second_orange), left:no_ops",
      "right:place(second_orange, bag), left:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, first_orange), left:no_ops": [
        "right:grasp(first_orange), left:no_ops"
      ],
      "right:grasp(first_orange), left:no_ops": [
        "right:pick_up(first_orange), left:no_ops"
      ],
      "right:pick_up(first_orange), left:no_ops": [
        "right:place(first_orange, bag), left:no_ops"
      ],
      "right:place(first_orange, bag), left:no_ops": [
        "right:move_to(none, second_orange), left:no_ops"
      ],
      "right:move_to(none, second_orange), left:no_ops": [
        "right:grasp(second_orange), left:no_ops"
      ],
      "right:grasp(second_orange), left:no_ops": [
        "right:pick_up(second_orange), left:no_ops"
      ],
      "right:pick_up(second_orange), left:no_ops": [
        "right:place(second_orange, bag), left:no_ops"
      ],
      "right:place(second_orange, bag), left:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_8.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_10",
    "actions_list": [
      "left:move_to(none,orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange, bag), right:no_ops",
      "left:move_to(none,orange), right:no_ops",
      "left:grasp(orange), right:no_ops",
      "left:pick_up(orange), right:no_ops",
      "left:place(orange, bag), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none,orange), right:no_ops": [
        "left:grasp(orange), right:no_ops"
      ],
      "left:grasp(orange), right:no_ops": [
        "left:pick_up(orange), right:no_ops"
      ],
      "left:pick_up(orange), right:no_ops": [
        "left:place(orange, bag), right:no_ops"
      ],
      "left:place(orange, bag), right:no_ops": [
        "left:move_to(none,orange), right:no_ops<1>"
      ],
      "left:move_to(none,orange), right:no_ops<1>": [
        "left:grasp(orange), right:no_ops<1>"
      ],
      "left:grasp(orange), right:no_ops<1>": [
        "left:pick_up(orange), right:no_ops<1>"
      ],
      "left:pick_up(orange), right:no_ops<1>": [
        "left:place(orange, bag), right:no_ops<1>"
      ],
      "left:place(orange, bag), right:no_ops<1>": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_10.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_2",
    "actions_list": [
      "left:move_to(none, sponge), right:no_ops",
      "left:grasp(sponge), right:no_ops",
      "left:pick_up(sponge), right:no_ops",
      "left:wipe(sponge, left_surface,table), right:no_ops",
      "left:place(sponge,middle_table), right:no_ops",
      "rgiht:move_to(none, sponge), right:no_ops",
      "right:grasp(sponge), left:no_ops",
      "right:pick_up(sponge), left:no_ops",
      "right:wipe(sponge,right_surface,table), left:no_ops",
      "right:place(sponge,middle_table), left:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, sponge), right:no_ops": [
        "left:grasp(sponge), right:no_ops"
      ],
      "left:grasp(sponge), right:no_ops": [
        "left:pick_up(sponge), right:no_ops"
      ],
      "left:pick_up(sponge), right:no_ops": [
        "left:wipe(sponge, left_surface,table), right:no_ops"
      ],
      "left:wipe(sponge, left_surface,table), right:no_ops": [
        "left:place(sponge,middle_table), right:no_ops"
      ],
      "left:place(sponge,middle_table), right:no_ops": [
        "rgiht:move_to(none, sponge), right:no_ops"
      ],
      "rgiht:move_to(none, sponge), right:no_ops": [
        "right:grasp(sponge), left:no_ops"
      ],
      "right:grasp(sponge), left:no_ops": [
        "right:pick_up(sponge), left:no_ops"
      ],
      "right:pick_up(sponge), left:no_ops": [
        "right:wipe(sponge,right_surface,table), left:no_ops"
      ],
      "right:wipe(sponge,right_surface,table), left:no_ops": [
        "right:place(sponge,middle_table), left:no_ops"
      ],
      "right:place(sponge,middle_table), left:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_2.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_5",
    "actions_list": [
      "right:move_to(none, sponge), left:no_ops",
      "right:grasp(sponge), left:no_ops",
      "right:pick_up(sponge), left:no_ops",
      "right:wipe(sponge,right_surface,table), left:no_ops",
      "right:place(sponge,middle_of_table),left:no_ops",
      "left:move_to(none, sponge), right:no_ops",
      "left:grasp(sponge), right:no_ops",
      "left:pick_up(sponge), right:no_ops",
      "left:wipe(sponge,left_surface,table), right:no_ops",
      "left:place(sponge,middle_of_table),right:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, sponge), left:no_ops": [
        "right:grasp(sponge), left:no_ops"
      ],
      "right:grasp(sponge), left:no_ops": [
        "right:pick_up(sponge), left:no_ops"
      ],
      "right:pick_up(sponge), left:no_ops": [
        "right:wipe(sponge,right_surface,table), left:no_ops"
      ],
      "right:wipe(sponge,right_surface,table), left:no_ops": [
        "right:place(sponge,middle_of_table),left:no_ops"
      ],
      "right:place(sponge,middle_of_table),left:no_ops": [
        "left:move_to(none, sponge), right:no_ops"
      ],
      "left:move_to(none, sponge), right:no_ops": [
        "left:grasp(sponge), right:no_ops"
      ],
      "left:grasp(sponge), right:no_ops": [
        "left:pick_up(sponge), right:no_ops"
      ],
      "left:pick_up(sponge), right:no_ops": [
        "left:wipe(sponge,left_surface,table), right:no_ops"
      ],
      "left:wipe(sponge,left_surface,table), right:no_ops": [
        "left:place(sponge,middle_of_table),right:no_ops"
      ],
      "left:place(sponge,middle_of_table),right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_5.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_9",
    "actions_list": [
      "right:move_to(none, sponge), left:no_ops",
      "right:grasp(sponge), left:no_ops",
      "right:pick_up(sponge), left:no_ops",
      "right:wipe(sponge, right_surface,table), left:no_ops",
      "right:place(sponge,middle_of_table),left:no_ops",
      "left:move_to(none, sponge), right:no_ops",
      "left:grasp(sponge), right:no_ops",
      "left:pick_up(sponge), right:no_ops",
      "left:wipe(sponge,left_surface,table), right:no_ops",
      "left:place(sponge,middle_of_table),right:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, sponge), left:no_ops": [
        "right:grasp(sponge), left:no_ops"
      ],
      "right:grasp(sponge), left:no_ops": [
        "right:pick_up(sponge), left:no_ops"
      ],
      "right:pick_up(sponge), left:no_ops": [
        "right:wipe(sponge, right_surface,table), left:no_ops"
      ],
      "right:wipe(sponge, right_surface,table), left:no_ops": [
        "right:place(sponge,middle_of_table),left:no_ops"
      ],
      "right:place(sponge,middle_of_table),left:no_ops": [
        "left:move_to(none, sponge), right:no_ops"
      ],
      "left:move_to(none, sponge), right:no_ops": [
        "left:grasp(sponge), right:no_ops"
      ],
      "left:grasp(sponge), right:no_ops": [
        "left:pick_up(sponge), right:no_ops"
      ],
      "left:pick_up(sponge), right:no_ops": [
        "left:wipe(sponge,left_surface,table), right:no_ops"
      ],
      "left:wipe(sponge,left_surface,table), right:no_ops": [
        "left:place(sponge,middle_of_table),right:no_ops"
      ],
      "left:place(sponge,middle_of_table),right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_9.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_11",
    "actions_list": [
      "left:move_to(none, sponge), right:no_ops",
      "left:grasp(sponge), right:no_ops",
      "left:pick_up(sponge), right:no_ops",
      "left:wipe(sponge,left_surface,table), right:no_ops",
      "left:place(sponge,middle_of_table),right:no_ops",
      "right:move_to(none, sponge), left:no_ops",
      "right:grasp(sponge), left:no_ops",
      "right:pick_up(sponge), left:no_ops",
      "right:wipe(sponge,right_surface,table), left:no_ops",
      "right:place(sponge,middle_of_table),left:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, sponge), right:no_ops": [
        "left:grasp(sponge), right:no_ops"
      ],
      "left:grasp(sponge), right:no_ops": [
        "left:pick_up(sponge), right:no_ops"
      ],
      "left:pick_up(sponge), right:no_ops": [
        "left:wipe(sponge,left_surface,table), right:no_ops"
      ],
      "left:wipe(sponge,left_surface,table), right:no_ops": [
        "left:place(sponge,middle_of_table),right:no_ops"
      ],
      "left:place(sponge,middle_of_table),right:no_ops": [
        "right:move_to(none, sponge), left:no_ops"
      ],
      "right:move_to(none, sponge), left:no_ops": [
        "right:grasp(sponge), left:no_ops"
      ],
      "right:grasp(sponge), left:no_ops": [
        "right:pick_up(sponge), left:no_ops"
      ],
      "right:pick_up(sponge), left:no_ops": [
        "right:wipe(sponge,right_surface,table), left:no_ops"
      ],
      "right:wipe(sponge,right_surface,table), left:no_ops": [
        "right:place(sponge,middle_of_table),left:no_ops"
      ],
      "right:place(sponge,middle_of_table),left:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_11.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3",
    "actions_list": [
      "left:move_to(none, bag), right:move_to(none,glass_case)",
      "left:grasp(bag_handle), right:grasp(glass_case)",
      "left:pick_up(bag), right:pick_up(glass_case)",
      "left:no_ops, right:move_to(glasses_case,table)",
      "left:place(bag,table), right:place(glasses_case, table)"
    ],
    "gt_dag": {
      "left:move_to(none, bag), right:move_to(none,glass_case)": [
        "left:grasp(bag_handle), right:grasp(glass_case)"
      ],
      "left:grasp(bag_handle), right:grasp(glass_case)": [
        "left:pick_up(bag), right:pick_up(glass_case)"
      ],
      "left:pick_up(bag), right:pick_up(glass_case)": [
        "left:no_ops, right:move_to(glasses_case,table)"
      ],
      "left:no_ops, right:move_to(glasses_case,table)": [
        "left:place(bag,table), right:place(glasses_case, table)"
      ],
      "left:place(bag,table), right:place(glasses_case, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6",
    "actions_list": [
      "left:move_to(none, bag), right:move_to(none,glass_case)",
      "left:grasp(bag_handle), right:grasp(glass_case)",
      "left:pick_up(bag), right:pick_up(glass_case)",
      "left:no_ops, right:move_to(glasses_case,table)",
      "left:place(bag,table), right:place(glasses_case, table)"
    ],
    "gt_dag": {
      "left:move_to(none, bag), right:move_to(none,glass_case)": [
        "left:grasp(bag_handle), right:grasp(glass_case)"
      ],
      "left:grasp(bag_handle), right:grasp(glass_case)": [
        "left:pick_up(bag), right:pick_up(glass_case)"
      ],
      "left:pick_up(bag), right:pick_up(glass_case)": [
        "left:no_ops, right:move_to(glasses_case,table)"
      ],
      "left:no_ops, right:move_to(glasses_case,table)": [
        "left:place(bag,table), right:place(glasses_case, table)"
      ],
      "left:place(bag,table), right:place(glasses_case, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_4",
    "actions_list": [
      "left:no_ops, right:move_to(none, pen_body)",
      "left:move_to(none, pen_cap), right:grasp(pen_body)",
      "left:grasp(pen_cap), right:pick_up(pen_body)",
      "left:pullout(pen_cap,pen) right:hold(pen_body)",
      "left:place(pen_cap,table), right:place(pen_body, table)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, pen_body)": [
        "left:move_to(none, pen_cap), right:grasp(pen_body)"
      ],
      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
        "left:grasp(pen_cap), right:pick_up(pen_body)"
      ],
      "left:grasp(pen_cap), right:pick_up(pen_body)": [
        "left:pullout(pen_cap,pen) right:hold(pen_body)"
      ],
      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
        "left:place(pen_cap,table), right:place(pen_body, table)"
      ],
      "left:place(pen_cap,table), right:place(pen_body, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_4.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_10",
    "actions_list": [
      "left:no_ops, right:move_to(none, pen_body)",
      "left:move_to(none, pen_cap), right:grasp(pen_body)",
      "left:grasp(pen_cap), right:pick_up(pen_body)",
      "left:pullout(pen_cap,pen) right:hold(pen_body)",
      "left:place(pen_cap,table), right:place(pen_body, table)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, pen_body)": [
        "left:move_to(none, pen_cap), right:grasp(pen_body)"
      ],
      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
        "left:grasp(pen_cap), right:pick_up(pen_body)"
      ],
      "left:grasp(pen_cap), right:pick_up(pen_body)": [
        "left:pullout(pen_cap,pen) right:hold(pen_body)"
      ],
      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
        "left:place(pen_cap,table), right:place(pen_body, table)"
      ],
      "left:place(pen_cap,table), right:place(pen_body, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_10.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_13",
    "actions_list": [
      "left:no_ops, right:move_to(none, pen_body)",
      "left:move_to(none, pen_cap), right:grasp(pen_body)",
      "left:grasp(pen_cap), right:pick_up(pen_body)",
      "left:pullout(pen_cap,pen) right:hold(pen_body)",
      "left:place(pen_cap,table), right:place(pen_body, table)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none, pen_body)": [
        "left:move_to(none, pen_cap), right:grasp(pen_body)"
      ],
      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
        "left:grasp(pen_cap), right:pick_up(pen_body)"
      ],
      "left:grasp(pen_cap), right:pick_up(pen_body)": [
        "left:pullout(pen_cap,pen) right:hold(pen_body)"
      ],
      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
        "left:place(pen_cap,table), right:place(pen_body, table)"
      ],
      "left:place(pen_cap,table), right:place(pen_body, table)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_13.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_5",
    "actions_list": [
      "left:move_to(none, light_switch), right:no_ops",
      "left:grasp(switch), right:no_ops",
      "left:press(switch), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, light_switch), right:no_ops": [
        "left:grasp(switch), right:no_ops"
      ],
      "left:grasp(switch), right:no_ops": [
        "left:press(switch), right:no_ops"
      ],
      "left:press(switch), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_turn_off_light_episode_5.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_7",
    "actions_list": [
      "left:move_to(none, switch), right:no_ops",
      "left:grasp(switch), right:no_ops",
      "left:press(switch), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, switch), right:no_ops": [
        "left:grasp(switch), right:no_ops"
      ],
      "left:grasp(switch), right:no_ops": [
        "left:press(switch), right:no_ops"
      ],
      "left:press(switch), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_turn_off_light_episode_7.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_8",
    "actions_list": [
      "left:move_to(none, switch), right:no_ops",
      "left:grasp(switch), right:no_ops",
      "left:press(switch), right:no_ops"
    ],
    "gt_dag": {
      "left:move_to(none, switch), right:no_ops": [
        "left:grasp(switch), right:no_ops"
      ],
      "left:grasp(switch), right:no_ops": [
        "left:press(switch), right:no_ops"
      ],
      "left:press(switch), right:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_turn_off_light_episode_8.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_unwind_charging_cable_episode_10",
    "actions_list": [
      "left:move_to(none, charging_cable), right:no_ops",
      "left:grasp(charging_cable), right:no_ops",
      "left:pick_up(charging_cable), right:no_ops",
      "left:no_ops, right:grasp(other_ end_charging)",
      "left:pull(charging,straight), right:pull(charging,straight)"
    ],
    "gt_dag": {
      "left:move_to(none, charging_cable), right:no_ops": [
        "left:grasp(charging_cable), right:no_ops"
      ],
      "left:grasp(charging_cable), right:no_ops": [
        "left:pick_up(charging_cable), right:no_ops"
      ],
      "left:pick_up(charging_cable), right:no_ops": [
        "left:no_ops, right:grasp(other_ end_charging)"
      ],
      "left:no_ops, right:grasp(other_ end_charging)": [
        "left:pull(charging,straight), right:pull(charging,straight)"
      ],
      "left:pull(charging,straight), right:pull(charging,straight)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_unwind_charging_cable_episode_10.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_unzip_the_bag_episode_7",
    "actions_list": [
      "left:no_ops,right:move_to(none, bag)",
      "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)",
      "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)",
      "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)"
    ],
    "gt_dag": {
      "left:no_ops,right:move_to(none, bag)": [
        "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)"
      ],
      "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)": [
        "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)"
      ],
      "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)": [
        "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)"
      ],
      "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_unzip_the_bag_episode_7.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_cup_1_episode_5",
    "actions_list": [
      "left:move_to(none, faucet), right:move_to(none, mug)",
      "left:grasp(faucet), right:grasp(mug)",
      "left:no_ops, right:pick_up(mug)",
      "left:turn_on(faucet), right:place(mug,faucet)"
    ],
    "gt_dag": {
      "left:move_to(none, faucet), right:move_to(none, mug)": [
        "left:grasp(faucet), right:grasp(mug)"
      ],
      "left:grasp(faucet), right:grasp(mug)": [
        "left:no_ops, right:pick_up(mug)"
      ],
      "left:no_ops, right:pick_up(mug)": [
        "left:turn_on(faucet), right:place(mug,faucet)"
      ],
      "left:turn_on(faucet), right:place(mug,faucet)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_wash_cup_1_episode_5.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_cup_3_episode_4",
    "actions_list": [
      "left:move_to(none,faucet), right:move_to(none, mug)",
      "left:no_ops, right:grasp(mug)",
      "left:no_ops right:pick_up(mug)",
      "left:turn_on(faucet),right:place(mug,faucet)"
    ],
    "gt_dag": {
      "left:move_to(none,faucet), right:move_to(none, mug)": [
        "left:no_ops, right:grasp(mug)"
      ],
      "left:no_ops, right:grasp(mug)": [
        "left:no_ops right:pick_up(mug)"
      ],
      "left:no_ops right:pick_up(mug)": [
        "left:turn_on(faucet),right:place(mug,faucet)"
      ],
      "left:turn_on(faucet),right:place(mug,faucet)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_wash_cup_3_episode_4.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_water_episode_12",
    "actions_list": [
      "left:move_to(none, faucet), right:move_to(none, mug)",
      "left:grasp(faucet), right:grasp(mug)",
      "left:no_ops, right:pick_up(mug)",
      "left:turn_on(faucet), right:place(mug,faucet)"
    ],
    "gt_dag": {
      "left:move_to(none, faucet), right:move_to(none, mug)": [
        "left:grasp(faucet), right:grasp(mug)"
      ],
      "left:grasp(faucet), right:grasp(mug)": [
        "left:no_ops, right:pick_up(mug)"
      ],
      "left:no_ops, right:pick_up(mug)": [
        "left:turn_on(faucet), right:place(mug,faucet)"
      ],
      "left:turn_on(faucet), right:place(mug,faucet)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_wash_water_episode_12.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_water_plant_1_episode_13",
    "actions_list": [
      "right:move_to(none, watering_can), left:no_ops",
      "right:grasp(watering_can), left:no_ops",
      "right:pick_up(watering_can), left:no_ops",
      "right:pour(watering_can,water,plant), left:no_ops"
    ],
    "gt_dag": {
      "right:move_to(none, watering_can), left:no_ops": [
        "right:grasp(watering_can), left:no_ops"
      ],
      "right:grasp(watering_can), left:no_ops": [
        "right:pick_up(watering_can), left:no_ops"
      ],
      "right:pick_up(watering_can), left:no_ops": [
        "right:pour(watering_can,water,plant), left:no_ops"
      ],
      "right:pour(watering_can,water,plant), left:no_ops": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_water_plant_1_episode_13.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_3",
    "actions_list": [
      "left:no_ops, right:move_to(none,marker)",
      "left:no_ops, right:grasp(marker)",
      "left:no_ops, right:pick_up(marker)",
      "right:draw(marker,'H', whiteboard)",
      "right:draw(marker,'i', whiteboard)",
      "right:draw(marker,'!', whiteboard)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none,marker)": [
        "left:no_ops, right:grasp(marker)"
      ],
      "left:no_ops, right:grasp(marker)": [
        "left:no_ops, right:pick_up(marker)"
      ],
      "left:no_ops, right:pick_up(marker)": [
        "right:draw(marker,'H', whiteboard)"
      ],
      "right:draw(marker,'H', whiteboard)": [
        "right:draw(marker,'i', whiteboard)"
      ],
      "right:draw(marker,'i', whiteboard)": [
        "right:draw(marker,'!', whiteboard)"
      ],
      "right:draw(marker,'!', whiteboard)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_write_hi_whiteboard_episode_3.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_14",
    "actions_list": [
      "left:no_ops, right:move_to(none,marker)",
      "left:no_ops, right:grasp(marker)",
      "left:no_ops, right:pick_up(marker)",
      "left:no_ops, right:draw(marker'H', whiteboard)",
      "left:no_ops:, right:draw(marker,'i', whiteboard)",
      "left:no_ops:, right:draw(marker,'!', whiteboard)"
    ],
    "gt_dag": {
      "left:no_ops, right:move_to(none,marker)": [
        "left:no_ops, right:grasp(marker)"
      ],
      "left:no_ops, right:grasp(marker)": [
        "left:no_ops, right:pick_up(marker)"
      ],
      "left:no_ops, right:pick_up(marker)": [
        "left:no_ops, right:draw(marker'H', whiteboard)"
      ],
      "left:no_ops, right:draw(marker'H', whiteboard)": [
        "left:no_ops:, right:draw(marker,'i', whiteboard)"
      ],
      "left:no_ops:, right:draw(marker,'i', whiteboard)": [
        "left:no_ops:, right:draw(marker,'!', whiteboard)"
      ],
      "left:no_ops:, right:draw(marker,'!', whiteboard)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_write_hi_whiteboard_episode_14.png"
  },
  {
    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_zip_the_bag_episode_7",
    "actions_list": [
      "left:move_to(none, plastic_file_bag), right:no_ops",
      "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)",
      "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)",
      "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)"
    ],
    "gt_dag": {
      "left:move_to(none, plastic_file_bag), right:no_ops": [
        "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)"
      ],
      "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)": [
        "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)"
      ],
      "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)": [
        "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)"
      ],
      "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)": []
    },
    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_zip_the_bag_episode_7.png"
  }
]