[
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-103_episode-2_rgbd-1_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Place an object in the shape of a figure 8 in a figure-eight hole> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 12),5-place(1, 12)",
    "image_urls": [
      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-4_task-103_episode-2_rgbd-1.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-34_episode-2_rgbd-1_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <pick up a cube block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
    "image_urls": [
      "ARIO_imgs_extract-frames_RH20T_rgbd-1_series-5_task-34_episode-2_rgbd-1.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20341_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the ring on the cylinder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4),4-move_to( 4, 5),5-place( 4, 5)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20341.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_22765_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <place a cylinder into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 4),5-place(1, 4)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_22765.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_23742_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <place a short cylinder onto an arch-shaped block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3,5),5-place(3, 5)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_23742.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32596_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a sphere and placing it into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5, 4),5-place(5, 4)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32596.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35360_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <stacking a ring onto a cylinder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 2),5-place(1, 2)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_35360.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36064_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Place the red ellipsoid  on the ring> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 3),5-place(1, 3)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36064.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37318_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a triangle on a right rectangular block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 7),5-place(3,7)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37318.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_39726_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <put a ring into a cylinder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, 2),5-place(1, 2)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_39726.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_6198_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <move a arched block from the table to the top left corner of a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, 4),5-place(3, 4)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_6198.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52703_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <move an L-shaped block to the center of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2),4-move_to(2, 6),5-place(2, 6)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52703.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8276_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <stacking a short cylinder on a right rectangular block> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5),4-move_to(5, 6),5-place(5, 6)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8276.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_54_18_dlr_edan_shared_control_converted_externally_to_rlds#episode_46_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up the spherical object from a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_54_18_dlr_edan_shared_control_converted_externally_to_rlds#episode_46.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rt_frames_success_rtx_frames_success_30_57_fmb#episode_469_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Insert the blue concave object into the corresponding card slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(6),3-pick_up(3),4-turn(3, 6,1),5-move_to(3, 2),6-place(3, 1)",
    "image_urls": [
      "rt_frames_success_rtx_frames_success_30_57_fmb#episode_469.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_10655_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <straighten a rope on a platform> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-pull(1, 2),5-place(1, 3)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_10655.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_19204_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <straighten a rope on a platform> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-pull(1, 8),5-place(1, 7)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_19204.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_20695_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <moving a hemispherical to the edge of a wall> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5),4-move_to(5, 8),5-place(5, 8)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_20695.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_27853_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <move a black cuboid from right to left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2),4-move_to(2, 5),5-place(2,4)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_27853.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_32297_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <moving a blue cylinder from right to left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6),4-move_to(6, 12),5-place(6, 12)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_32297.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_34009_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Move the yellow cylinder from right to left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,2),2-grasp(2),3-pick_up(2),4-move_to(2,9),5-place(2,5)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_34009.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_39281_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <push a cylinder to the right and make it lie down> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
    "gt_answer": "1-move_to(none, bottle),2-grasp( bottle),3-pick_up( bottle),4-turn(bottle,down,lie_down),5-move_to( bottle,right_table),6-place(bottle,right_table)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_39281.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_71927_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Place the blue arch on top of the green arch> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5),4-move_to(5, 6),5-place(5, 6)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_71927.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_83632_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a serving spoon on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5),4-move_to(5, table),5-place(5, 4)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_83632.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_84471_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <removing a black round and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(1, 2),2-grasp(1),3-pick_up(1),4-move_to(6, 5),5-place(6, 5)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_84471.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/rtx_frames__new_85_85_droid#episode_90636_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <straighten a rope on a platform> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-pull(1, 4),5-place(1, 3)",
    "image_urls": [
      "rtx_frames__new_85_85_droid#episode_90636.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_green_onion_train_1017_155134_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a slender object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_green_onion_train_1017_155134.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_green_onion_train_1017_161445_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a slender object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_green_onion_train_1017_161445.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_green_pepper_val_1018_141017_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up an elliptical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_green_pepper_val_1018_141017.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1018_140738_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up an elliptical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_green_pepper_train_1018_140738.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_142358_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a straight and long object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_142358.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_134514_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a straight and long object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_long_bread_train_1021_134514.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_egg_train_1022_105955_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a small oval object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_egg_train_1022_105955.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_can_val_1022_142109_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <throwing trash into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_can_val_1022_142109.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_104056_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a rectangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1017_104056.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_val_1021_145034_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a rectangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_bread_slice_val_1021_145034.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1021_143413_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a slice of cheese> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_bread_slice_train_1021_143413.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_bread_val_1016_141603_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a short stick shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 9),2-grasp(9),3-pick_up(9)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_bread_val_1016_141603.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1021_182906_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a the rotundity> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1021_182906.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_val_1022_101323_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a the rotundity object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_val_1022_101323.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1022_100630_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up the rotundity object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 2),2-grasp(2),3-pick_up(2)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_mangosteen_train_1022_100630.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_134404_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <pick up the sphere object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_134404.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_133953_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up the sphere object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_133953.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_135343_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up the sphere object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_paper_ball_train_1022_135343.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_pear_val_1021_174156_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a white oval object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 7),2-grasp(7),3-pick_up(7)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_pear_val_1021_174156.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_155209_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a large cylindrical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_155209.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_152914_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a cylindrical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_plastic_bottle_train_1022_152914.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_173608_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <pick up a disc-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_173608.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1017_155518_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <pick up a disc-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1017_155518.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_160706_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <pick up a disc-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_pot_lid_train_1016_160706.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_142221_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <pick up a cone-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_142221.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_150805_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a small cone-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_150805.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_143843_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a small cone-shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 8),2-grasp(8),3-pick_up(8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_red_pepper_train_1018_143843.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_171444_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a flower shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_171444.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_180645_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a circular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_round_bread_train_1018_180645.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_104420_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a long bar shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_104420.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_103412_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a long bar shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_103412.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_102116_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a long bar shaped object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_square_bread_train_1021_102116.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_163416_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a sheet-like object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_163416.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_toast_val_1017_141944_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a sheet-like object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_toast_val_1017_141944.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_163255_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a cuboid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
    "gt_answer": "1-move_to(none, 9),2-grasp(9),3-pick_up(9),4-move_to(9, 1),5-place(9, 1),6-grasp(9),7-pick_up(9)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_toast_train_1021_163255.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1016_165120_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a triangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1016_165120.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_154229_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a triangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_154229.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_161255_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a triangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_triangle_bread_train_1018_161255.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_175918_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a yellow ellipse> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 7),2-grasp(7),3-pick_up(7)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_175918.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_180812_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a yellow cuboid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_pick_up_yellow_pepper_train_1017_180812.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_train_1017_165904_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Take an object with a curved hook shape> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(2),2-move_to(2, 1),3-place(2, 1),4-move_to(1, 2)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_train_1017_165904.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_train_1017_165207_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Take an object with a curved hook shape> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1),4-move_to(3, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_banana_in_top_drawer_train_1017_165207.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_in_pot_val_1016_140816_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a strip of cuboid object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(6),2-move_to(6, 1),3-place(6, 1),4-move_to(1, 6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_bread_in_pot_val_1016_140816.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_104710_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(8),2-move_to(8, 1),3-place(8, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_104710.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_103917_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(2),2-move_to(2, 6),3-place(2, 6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_bread_slice_in_pot_val_1017_103917.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_val_1021_161426_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(bread_slice),2-move_to(bread_slice, drawer),3-place(bread_slice, drawer),4-move_to(none, Initial_position)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_val_1021_161426.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_val_1021_144039_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1),4-move_to(none, 3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_val_1021_144039.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_161028_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a sheet-like object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(8),2-move_to(8, 1),3-place(8, 1),4-move_to(none, 8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_bread_slice_in_top_white_drawer_train_1021_161028.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_141124_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Grab objects to the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1),4-move_to(none, 3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_can_in_trash_can_val_1022_141124.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_donut_in_pot_val_1016_182102_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a donut into a potPick up a circular object and put it in the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(7),2-move_to(7, 1),3-place(7, 1),4-move_to(none, 7)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_donut_in_pot_val_1016_182102.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_donut_in_top_white_drawer_val_1021_110316_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a circular object and put it in the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(6),2-move_to(6, 2),3-place(6, 2),4-move_to(none, 6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_donut_in_top_white_drawer_val_1021_110316.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_111827_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing an elliptical object into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(5, 2),2-place(5, 2),3-move_to(none, 5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_egg_in_pot_val_1016_111827.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_green_pepper_in_top_white_drawer_val_1018_135746_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a rectangular object into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
    "gt_answer": "1-place(1, 2),2-move_to(none, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_green_pepper_in_top_white_drawer_val_1018_135746.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_green_onion_in_pot_train_1017_153146_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <putting slender object in a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(2, 1),2-place(2, 1),3-move_to(none, 2)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_green_onion_in_pot_train_1017_153146.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_green_pepper_in_top_white_drawer_train_1018_135113_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a green pepper into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(5),2-move_to(5, 1),3-place(5, 1),4-move_to(none, 5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_green_pepper_in_top_white_drawer_train_1018_135113.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_green_pepper_in_pot_val_1016_152303_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a green pepper into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(6),2-move_to(6, 2),3-place(6, 2),4-move_to(none, 6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_green_pepper_in_pot_val_1016_152303.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_134231_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a rectangular object in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(6),2-move_to(6, 1),3-place(6, 1),4-move_to(6,none)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_long_bread_in_top_white_drawer_train_1021_134231.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_long_bread_in_pot_val_1017_134737_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a rectangular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-grasp(5),2-pick_up(5),3-move_to(5, 1),4-place(5, 1),5-move_to(none, 5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_long_bread_in_pot_val_1017_134737.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1021_182425_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a circular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(9),2-move_to(9, 1),3-place(9, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1021_182425.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_102820_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing an eggplant in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(8),2-move_to(8, 2),3-place(8,2),4-move_to(none, 8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_mangosteen_in_top_white_drawer_train_1022_102820.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112454_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put circular objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(none,1),5-place(3,1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_112454.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_111618_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put circular objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(3),2-move_to(3, 2),3-place(3, 2),4-move_to(none, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_111618.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_134625_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put circular objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1),4-move_to(none,1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_paper_ball_in_trash_can_train_1022_134625.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_train_1021_171310_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a round into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(9),2-move_to(9, 1),3-place(9,1),4-move_to(none, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_pear_in_top_white_drawer_train_1021_171310.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150004_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Throw a cylindrical object into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(4),2-move_to(4, 1),3-place(4,1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_train_1022_150004.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_val_1022_144412_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <throwing a plastic bottle into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-pick_up(4),2-move_to(4, 1),3-place(4, 1),4-move_to(none,8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_plastic_bottle_in_trash_can_val_1022_144412.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_112824_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Cover the pot with a circular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(6),2-move_to(6),3-place(6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_112824.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_173346_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a pot lid on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
    "gt_answer": "1-pick_up(2),2-place(2, 8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1016_173346.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_153354_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Cover a circular object on the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(2),2-move_to(2,1),3-place(2, 8)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_pot_lid_on_table_train_1017_153354.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_red_pepper_in_top_white_drawer_val_1018_152559_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the elliptical object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(4),3-place(4, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_red_pepper_in_top_white_drawer_val_1018_152559.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_red_pepper_in_top_white_drawer_train_1018_152900_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the elliptical object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-place(4, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_red_pepper_in_top_white_drawer_train_1018_152900.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_1023_101026_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put flower shaped objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(3, 1),2-grasp(3),3-place(3, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_1023_101026.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_top_white_drawer_1018_173534_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <storing a piece of food> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up1),2-move_to(1,5),3-place(1,5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_round_bread_in_top_white_drawer_1018_173534.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_val_1022_173603_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put flower shaped objects into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(6),2-move_to(1),3-place(6, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_val_1022_173603.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_train_1022_174023_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a flower shaped object into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(3),2-move_to(5),3-place(3,5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_round_bread_in_trash_can_train_1022_174023.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_round_bread_in_top_white_drawer_train_1018_173948_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a flower shaped object into the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(6),2-move_to(6,3),3-place(6, 3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_round_bread_in_top_white_drawer_train_1018_173948.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_square_bread_in_top_white_drawer_val_1021_101941_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a piece of bread into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(7),2-move_to(7,1),3-place(7, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_square_bread_in_top_white_drawer_val_1021_101941.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163532_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a rectangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6),4-place(6,2)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_toast_in_top_white_drawer_1021_163532.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_toast_in_pot_1017_145242_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put a rectangular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(6),2-move_to(6,3),3-place(6, 3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_toast_in_pot_1017_145242.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_triangle_bread_in_pot_val_1016_172540_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the triangular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(5),2-move_to(5,1),3-place(5, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_triangle_bread_in_pot_val_1016_172540.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_put_yellow_pepper_in_pot_val_1016_142419_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the triangular object into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-pick_up(3),2-move_to(3, 1),3-place(3, 1)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_put_yellow_pepper_in_pot_val_1016_142419.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_train_1015_152936_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, 6),5-place(3,6)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_train_1015_152936.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1015_112031_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 4),5-place(3, 4)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1015_112031.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1014_165536_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5),4-move_to(5, 2),5-place(5, 2)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_red_pepper_in_basket_train_1014_165536.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_triangle_bread_on_table_1015_170018_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a rectangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,bread),2-grasp(bread),3-pick_up(bread),4-move_to(bread, basket),5-place(rbread, basket)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_triangle_bread_on_table_1015_170018.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1015_104009_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up an elliptical object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none,5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1015_104009.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_175712_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking up a piece of bread> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
    "gt_answer": "1-move_to(none, 5),2-grasp(5),3-pick_up(5)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_175712.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_143643_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <picking and placing a piece of triangular object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, none),5-place(3,3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_triangle_bread_in_basket_1_1015_143643.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_train_1015_144518_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,3),2-grasp(3),3-pick_up(3),4-move_to(3, 2),5-place(3, 2)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_train_1015_144518.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_1_val_1014_155227_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Put the elliptical object into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1, 3),5-place(1, 3)",
    "image_urls": [
      "benchmark1_h5_ur_1rgb_yellow_pepper_in_basket_1_val_1014_155227.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_val_1014_133353_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <throwing an object into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 6),2-grasp(6),3-pick_up(6),4-move_to(6, 3),5-place(6, 3)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_val_1014_133353.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_103155_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <throwing an object into the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,7),2-grasp(7),3-pick_up(7),4-move_to(7,3),5-place(7, 3)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_pick_up_and_throw_away_1_train_1014_103155.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_val_1011_161259_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <pick up a yellow block and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-move_to(1, 1,5-place(1, table)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_val_1011_161259.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_181504_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a block shaped object from the plate and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(1),3-pick_up(1),4-move_to(1, table),5-place(1, 10)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_181504.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_160455_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Pick up a block shaped object from the plate and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
    "gt_answer": "1-move_to(none,1),2-grasp(1),3-pick_up(1),4-place(1, 11)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_yellow_block_on_table_train_1011_160455.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_195805_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Place spherical objects in blue plates and square objects in purple plates> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
    "gt_answer": "1-move_to(none, 4),2-grasp(4),3-pick_up(4),4-move_to(4,6),5-place(4,6),6-move_to(none,3),7-grasp(3),8-pick_up(3),9-move_to(3,6),10-place(3,6),11-move_to(none, 5),12-grasp(5),13-pick_up(5),14-move_to(5, 2),15-place(5,2),16-move_to(none,1),17-grasp(5),18-pick_up(5),19-move_to(5,2),20-place(5,2)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_195805.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_183854_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Place spherical objects in blue plates and square objects in purple plates> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
    "gt_answer": "1-move_to(none,1),2-grasp(2),3-pick_up(2),4-move_to(2, 3),5-place(2,3),6-move_to(none, 2),7-grasp(2),8-pick_up(2),9-move_to(2, 3),10-place(2,3),11-move_to(none, 5),12-grasp(5),13-pick_up(5),14-move_to(5, 3),15-place(5,3),16-move_to(none,5),17-grasp(5),18-pick_up(6),19-move_to(6,3),20-place(6,3)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_183854.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_185740_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Place spherical objects in blue plates and square objects in purple plates> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
    "gt_answer": "1-move_to(none, 1),2-grasp(2),3-pick_up(2),4-move_to(2, 3),5-place(3,3),6-move_to(none, 3),7-grasp(2),8-pick_up(2),9-move_to(2, 3),10-place(2,3),11-move_to(none,5),12-grasp(5),13-pick_up(5),14-move_to(5, 4),15-place(5,4),16-move_to(none,4),17-grasp(5),18-pick_up(5),19-move_to(5,4),20-place(5,4)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_block_tennis_ball_train_0923_185740.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_155322_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <placing a cube block into a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
    "gt_answer": "1-move_to(none,6),2-grasp (6),3-pick_up(6),4-move_to(6, 7),5-place(6,7),6-move_to(none, 6)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_155322.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_183236_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Picking up a cube object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
    "gt_answer": "1-move_to(none, purple_cube_block),2-grasp(purple_cube_block),3-pick_up(purple_cube_block),4-move_to(purple_cube_block, plate),5-place(purple_cube_block, plate),6-move_to(none, Initial Position)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_183236.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/physical_attribute/shape/images/benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_182701_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "physical_attribute",
      "shape"
    ],
    "input_type": "image",
    "robotic_type": "single-arm",
    "question": "With <Picking up a square object> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
    "gt_answer": "1-move_to(none, 3),2-grasp(3),3-pick_up(3),4-move_to(3, 6),5-place(3, 6),6-move_to(none, 3)",
    "image_urls": [
      "benchmark1_h5_franka_3rgb_place_in_block_in_plate_1_train_1014_182701.png"
    ]
  }
]