[
    {
        "name": "Close Jasons cabinet.",
        "important_objects": [
            {
                "name": "cabinet",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "cabinet",
                    "id": 5
                },
                "relation": null,
                "related_to": null,
                "states": [
                    "closed"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "jasons_office",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 5
                }
            }
        ]
    },
    {
        "name": "Refrigerate the orange left on the kitchen bench.",
        "important_objects": [
            {
                "name": "orange",
                "id": 1
            },
            {
                "name": "fridge",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "orange",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "fridge",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "fridge",
                    "id": 1
                },
                "relation": null,
                "related_to": null,
                "states": [
                    "closed"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "orange",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Take care of the dirty plate in the lunchroom.",
        "important_objects": [
            {
                "name": "plate",
                "id": 1
            },
            {
                "name": "dishwasher",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "plate",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "dishwasher",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "plate",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "dishwasher",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "dishwasher",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "dishwasher",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Place the printed document on Wills desk.",
        "important_objects": [
            {
                "name": "document",
                "id": 1
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "document",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "printer",
                    "id": 2
                },
                "states": [
                    "clear"
                ]
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "document",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "desk",
                    "id": 4
                },
                "states": [
                    "clear"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "printing_zone",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "document",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "wills_office",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "desk",
                    "id": 4
                }
            }
        ]
    },
    {
        "name": "Get Peter a healthy snack from his cabinet. Put it on his desk.",
        "important_objects": [
            {
                "name": "apple",
                "id": 3
            },
            {
                "name": "cabinet",
                "id": 2
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "apple",
                    "id": 3
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "cabinet",
                    "id": 2
                },
                "states": null
            },
            {
                "node": {
                    "name": "cabinet",
                    "id": 2
                },
                "relation": null,
                "related_to": null,
                "states": [
                    "closed"
                ]
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "apple",
                    "id": 3
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "desk",
                    "id": 2
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "peters_office",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cabinet",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "apple",
                    "id": 3
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 2
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "desk",
                    "id": 2
                }
            }
        ]
    },
    {
        "name": "Hide one of Peters valuable belongings.",
        "important_objects": [
            {
                "name": "phone",
                "id": 1
            },
            {
                "name": "cabinet",
                "id": 2
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "phone",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "desk",
                    "id": 2
                },
                "states": [
                    "clear"
                ]
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "phone",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "cabinet",
                    "id": 2
                },
                "states": null
            },
            {
                "node": {
                    "name": "cabinet",
                    "id": 2
                },
                "relation": null,
                "related_to": null,
                "states": [
                    "closed"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "peters_office",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "phone",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cabinet",
                    "id": 2
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "cabinet",
                    "id": 2
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 2
                }
            }
        ]
    },
    {
        "name": "Bring something to wipe the dusty admin shelf. Put it on shelf.",
        "important_objects": [
            {
                "name": "paper_towel",
                "id": 1
            },
            {
                "name": "shelf",
                "id": 1
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "paper_towel",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "cupboard",
                    "id": 1
                },
                "states": null
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "paper_towel",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "shelf",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cupboard",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "paper_towel",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cupboard",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "admin",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "shelf",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "There is coffee dripping on the floor. Stop it.",
        "important_objects": [
            {
                "name": "coffee_machine",
                "id": 1
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "coffee_machine",
                    "id": 1
                },
                "relation": null,
                "related_to": null,
                "states": [
                    "on"
                ]
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "coffee_machine",
                    "id": 1
                },
                "relation": null,
                "related_to": null,
                "states": [
                    "off"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "turn_off",
                "node": {
                    "name": "coffee_machine",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Place Wills drone on his desk.",
        "important_objects": [
            {
                "name": "drone",
                "id": 2
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "drone",
                    "id": 2
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "cabinet",
                    "id": 4
                },
                "states": [
                    "clear"
                ]
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "drone",
                    "id": 2
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "desk",
                    "id": 4
                },
                "states": [
                    "clear"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "wills_office",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cabinet",
                    "id": 4
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "drone",
                    "id": 2
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "desk",
                    "id": 4
                }
            }
        ]
    },
    {
        "name": "Move the monitor from Jasons office to Filipes.",
        "important_objects": [
            {
                "name": "monitor",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "monitor",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "desk",
                    "id": 37
                },
                "states": [
                    "clear"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "jasons_office",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "monitor",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "filipes_office",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "desk",
                    "id": 37
                }
            }
        ]
    },
    {
        "name": "My parcel just got delivered! Locate it and place it on the table in the manipulation lab.",
        "important_objects": [
            {
                "name": "parcel",
                "id": 1
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "parcel",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "floor",
                    "id": 1
                },
                "states": [
                    "clear"
                ]
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "parcel",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 3
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "lobby",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "parcel",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "manipulation_lab",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 3
                }
            }
        ]
    },
    {
        "name": "Heat up the chicken kebab. I will turn off microwave when needed.",
        "important_objects": [
            {
                "name": "chicken_kebab",
                "id": 1
            },
            {
                "name": "microwave",
                "id": 1
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "chicken_kebab",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "fridge",
                    "id": 1
                },
                "states": null
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "chicken_kebab",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "microwave",
                    "id": 1
                },
                "states": ["hot"]
            },
            {
                "node": {
                    "name": "microwave",
                    "id": 1
                },
                "relation": null,
                "related_to": null,
                "states": [
                    "closed",
                    "on"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "chicken_kebab",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "turn_on",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Salmon is smelling in the kitchen. Dispose of it.",
        "important_objects": [
            {
                "name": "salmon_bagel",
                "id": 1
            },
            {
                "name": "rubbish_bin",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "salmon_bagel",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "rubbish_bin",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "salmon_bagel",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Throw what the agent is holding in the bin and get back into lab.",
        "important_objects": [
            {
                "name": "rubbish_bin",
                "id": 1
            }
        ],
        "init_conditions": [
            {
                "node": {
                    "name": "banana_peel",
                    "id": 1
                },
                "relation": "inside_hand",
                "related_to": {
                    "name": "agent",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "agent",
                    "id": 1
                },
                "relation": null,
                "related_to": null,
                "holding": {
                    "name": "banana_peel",
                    "id": 1
                },
                "states": null
            }
        ],
        "goal_conditions": [
            {
                "node": {
                    "name": "banana_peel",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "rubbish_bin",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "mobile_robotics_lab",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Heat up the noodles from fridge, and place it on lunch table.",
        "important_objects": [
            {
                "name": "noodles",
                "id": 1
            },
            {
                "name": "fridge",
                "id": 1
            },
            {
                "name": "microwave",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "noodles",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "lunch_table",
                    "id": 1
                },
                "states": [
                    "hot"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "noodles",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "turn_on",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "turn_off",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "noodles",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "microwave",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "lunch_table",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Throw the rotting fruit in Dimitrys office in the correct bin.",
        "important_objects": null,
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "apple",
                    "id": 2
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "rubbish_bin",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "dimitys_office",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cabinet",
                    "id": 3
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "apple",
                    "id": 2
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 3
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Clean up lunch table. Place clutery in the drawer. And dirty plate into dishwasher.",
        "important_objects": [
            {
                "name": "plate",
                "id": 1
            },
            {
                "name": "knife",
                "id": 2
            },
            {
                "name": "fork",
                "id": 2
            },
            {
                "name": "dishwasher",
                "id": 1
            },
            {
                "name": "drawer",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "plate",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "dishwasher",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "knife",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "drawer",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "knife",
                    "id": 2
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "drawer",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "fork",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "drawer",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "fork",
                    "id": 2
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "drawer",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "knife",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "fork",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "fork",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "knife",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "plate",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "dishwasher",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "dishwasher",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "dishwasher",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Safely file away the freshly printed document in Wills cabinet, then place the undergraduate thesis on his desk.",
        "important_objects": [
            {
                "name": "document",
                "id": 1
            },
            {
                "name": "cabinet",
                "id": 4
            },
            {
                "name": "undergrad_thesis",
                "id": 1
            },
            {
                "name": "desk",
                "id": 4
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "document",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "cabinet",
                    "id": 4
                },
                "states": null
            },
            {
                "node": {
                    "name": "cabinet",
                    "id": 4
                },
                "relation": null,
                "related_to": null,
                "states": [
                    "closed"
                ]
            },
            {
                "node": {
                    "name": "undergrad_thesis",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "desk",
                    "id": 4
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "printing_zone",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "document",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "wills_office",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cabinet",
                    "id": 4
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "cabinet",
                    "id": 4
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "undergrad_thesis",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "desk",
                    "id": 4
                }
            }
        ]
    },
    {
        "name": "Make a coffee for Niko in his coffee mug and set the mug on his desk.",
        "important_objects": [
            {
                "name": "coffee_mug",
                "id": 1
            },
            {
                "name": "coffee_machine",
                "id": 1
            },
            {
                "name": "desk",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "coffee_mug",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "desk",
                    "id": 1
                },
                "states": [
                    "filled_coffee"
                ]
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "nikos_office",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "coffee_mug",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "coffee_machine",
                    "id": 1
                }
            },
            {
                "action": "turn_on",
                "node": {
                    "name": "coffee_machine",
                    "id": 1
                }
            },
            {
                "action": "turn_off",
                "node": {
                    "name": "coffee_machine",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "coffee_mug",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "nikos_office",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "desk",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Correct the misplaced items in the wrong trash bins.",
        "important_objects": [
            {
                "name": "milk_carton",
                "id": 1
            },
            {
                "name": "orange_peel",
                "id": 1
            },
            {
                "name": "apple_core",
                "id": 1
            },
            {
                "name": "banana_peel",
                "id": 1
            },
            {
                "name": "plastic_bottle",
                "id": 1
            },
            {
                "name": "recycling_bin",
                "id": 1
            },
            {
                "name": "rubbish_bin",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "milk_carton",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "recycling_bin",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "orange_peel",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "rubbish_bin",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "apple_core",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "rubbish_bin",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "banana_peel",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "rubbish_bin",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "plastic_bottle",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "recycling_bin",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "recycling_bin",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "plastic_bottle",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "recycling_bin",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "orange_peel",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "apple_core",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "recycling_bin",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Tobi spilt soda on his desk. Throw away the can and put on his table something to clean with.",
        "important_objects": [
            {
                "name": "pepsi",
                "id": 1
            },
            {
                "name": "rubbish_bin",
                "id": 1
            },
            {
                "name": "paper_towel",
                "id": 1
            },
            {
                "name": "cupboard",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "pepsi",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "rubbish_bin",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "paper_towel",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "desk",
                    "id": 38
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "tobis_office",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "pepsi",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cupboard",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "paper_towel",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cupboard",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "tobis_office",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "desk",
                    "id": 38
                }
            }
        ]
    },
    {
        "name": "I want to make a sandwich with cheese tomato and kale. Place all the ingredients on the lunch table.",
        "important_objects": [
            {
                "name": "bread",
                "id": 1
            },
            {
                "name": "butter",
                "id": 1
            },
            {
                "name": "cheese",
                "id": 1
            },
            {
                "name": "tomato",
                "id": 1
            },
            {
                "name": "kale_leaves",
                "id": 2
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "bread",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "lunch_table",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "cheese",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "lunch_table",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "tomato",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "lunch_table",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "kale_leaves",
                    "id": 2
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "lunch_table",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "kitchen_bench",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bread",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "lunch_table",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "tomato",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "lunch_table",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "cheese",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "lunch_table",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "kale_leaves",
                    "id": 2
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "kitchen_bench",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "fridge",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "lunch_table",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Prepare buiscuit water and orange juice on table in meeting room with board games.",
        "important_objects": [
            {
                "name": "bottled_water",
                "id": 1
            },
            {
                "name": "bottled_water",
                "id": 2
            },
            {
                "name": "bottled_water",
                "id": 3
            },
            {
                "name": "bottled_water",
                "id": 4
            },
            {
                "name": "bottled_water",
                "id": 5
            },
            {
                "name": "orange_juice",
                "id": 1
            },
            {
                "name": "biscuits",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "bottled_water",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 2
                },
                "states": null
            },
            {
                "node": {
                    "name": "bottled_water",
                    "id": 2
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 2
                },
                "states": null
            },
            {
                "node": {
                    "name": "bottled_water",
                    "id": 3
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 2
                },
                "states": null
            },
            {
                "node": {
                    "name": "bottled_water",
                    "id": 4
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 2
                },
                "states": null
            },
            {
                "node": {
                    "name": "bottled_water",
                    "id": 5
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 2
                },
                "states": null
            },
            {
                "node": {
                    "name": "orange_juice",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 2
                },
                "states": null
            },
            {
                "node": {
                    "name": "biscuits",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 2
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cupboard",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cupboard",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "biscuits",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "orange_juice",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bottled_water",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bottled_water",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bottled_water",
                    "id": 3
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bottled_water",
                    "id": 4
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bottled_water",
                    "id": 5
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cupboard",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cupboard",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 4
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 2
                }
            }
        ]
    },
    {
        "name": "Provide each seated attendee in Meeting Room 1 with a single bottle of water. Put water bottles on table.",
        "important_objects": [
            {
                "name": "bottled_water",
                "id": 1
            },
            {
                "name": "bottled_water",
                "id": 2
            },
            {
                "name": "bottled_water",
                "id": 3
            },
            {
                "name": "bottled_water",
                "id": 4
            },
            {
                "name": "bottled_water",
                "id": 5
            },
            {
                "name": "chair",
                "id": 3
            },
            {
                "name": "chair",
                "id": 4
            },
            {
                "name": "chair",
                "id": 5
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "bottled_water",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 5
                },
                "states": null
            },
            {
                "node": {
                    "name": "bottled_water",
                    "id": 2
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 5
                },
                "states": null
            },
            {
                "node": {
                    "name": "bottled_water",
                    "id": 3
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "table",
                    "id": 5
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cupboard",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bottled_water",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 5
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bottled_water",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 5
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "supplies_station",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bottled_water",
                    "id": 3
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cupboard",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "meeting_room",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "table",
                    "id": 5
                }
            }
        ]
    },
    {
        "name": "Empty the dishwasher. Place clutery in drawer and other inside bench.",
        "important_objects": [
            {
                "name": "dishwasher",
                "id": 1
            },
            {
                "name": "plate",
                "id": 2
            },
            {
                "name": "spoon",
                "id": 1
            },
            {
                "name": "bowl",
                "id": 1
            },
            {
                "name": "cup",
                "id": 1
            },
            {
                "name": "drawer",
                "id": 1
            },
            {
                "name": "kitchen_bench",
                "id": 1
            },
            {
                "name": "table",
                "id": 2
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "plate",
                    "id": 2
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "kitchen_bench",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "spoon",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "drawer",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "cup",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "kitchen_bench",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "dishwasher",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "spoon",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "kitchen_bench",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "drawer",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "bowl",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "kitchen_bench",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "cup",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "kitchen_bench",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "plate",
                    "id": 2
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "kitchen_bench",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "kitchen_bench",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "dishwasher",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Locate all 6 complimentary t-shirts given to the PhD students and place them on the shelf in admin.",
        "important_objects": [
            {
                "name": "complimentary_tshirt",
                "id": 1
            },
            {
                "name": "complimentary_tshirt",
                "id": 2
            },
            {
                "name": "complimentary_tshirt",
                "id": 3
            },
            {
                "name": "complimentary_tshirt",
                "id": 4
            },
            {
                "name": "complimentary_tshirt",
                "id": 5
            },
            {
                "name": "complimentary_tshirt",
                "id": 6
            },
            {
                "name": "shelf",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "shelf",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 2
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "shelf",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 3
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "shelf",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 4
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "shelf",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 5
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "shelf",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 6
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "shelf",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "phd_bay",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "admin",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "shelf",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "phd_bay",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "admin",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "shelf",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "phd_bay",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 3
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "admin",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "shelf",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "phd_bay",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 4
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "admin",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "shelf",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "phd_bay",
                    "id": 4
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 5
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "admin",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "shelf",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "phd_bay",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "complimentary_tshirt",
                    "id": 6
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "admin",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "shelf",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "I am hungry. Bring me an apple from Peter and a pepsi from Tobi. I am at the lunch table.",
        "important_objects": [
            {
                "name": "apple",
                "id": 3
            },
            {
                "name": "pepsi",
                "id": 1
            },
            {
                "name": "cabinet",
                "id": 2
            },
            {
                "name": "desk",
                "id": 38
            },
            {
                "name": "lunch_table",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "apple",
                    "id": 3
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "lunch_table",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "pepsi",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "lunch_table",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "peters_office",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cabinet",
                    "id": 2
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "apple",
                    "id": 3
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "lunch_table",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "tobis_office",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "pepsi",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "cafeteria",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "lunch_table",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "Lets play a prank with chair on Niko. Dimity might have something.",
        "important_objects": [
            {
                "name": "buzzer",
                "id": 1
            },
            {
                "name": "desk",
                "id": 3
            },
            {
                "name": "cabinet",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "buzzer",
                    "id": 1
                },
                "relation": "ontop_of",
                "related_to": {
                    "name": "chair",
                    "id": 1
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "dimitys_office",
                    "id": 1
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "buzzer",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "nikos_office",
                    "id": 1
                }
            },
            {
                "action": "put_on",
                "node": {
                    "name": "chair",
                    "id": 1
                }
            }
        ]
    },
    {
        "name": "There is an office which has a cabinet containing a rotten apple. The cabinet name contains an odd number. Locate the office, throw away the fruit and get them a fresh apple.",
        "important_objects": [
            {
                "name": "cabinet",
                "id": 3
            },
            {
                "name": "apple",
                "id": 2
            },
            {
                "name": "rubbish_bin",
                "id": 1
            },
            {
                "name": "apple",
                "id": 1
            }
        ],
        "init_conditions": null,
        "goal_conditions": [
            {
                "node": {
                    "name": "apple",
                    "id": 2
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "rubbish_bin",
                    "id": 1
                },
                "states": null
            },
            {
                "node": {
                    "name": "apple",
                    "id": 1
                },
                "relation": "inside_of",
                "related_to": {
                    "name": "cabinet",
                    "id": 3
                },
                "states": null
            }
        ],
        "actions": [
            {
                "action": "go_to",
                "node": {
                    "name": "dimitys_office",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cabinet",
                    "id": 3
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "apple",
                    "id": 2
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "kitchen",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "rubbish_bin",
                    "id": 1
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "wills_office",
                    "id": 1
                }
            },
            {
                "action": "open",
                "node": {
                    "name": "cabinet",
                    "id": 4
                }
            },
            {
                "action": "pick_up",
                "node": {
                    "name": "apple",
                    "id": 1
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 4
                }
            },
            {
                "action": "go_to",
                "node": {
                    "name": "dimitys_office",
                    "id": 1
                }
            },
            {
                "action": "put_inside",
                "node": {
                    "name": "cabinet",
                    "id": 3
                }
            },
            {
                "action": "close",
                "node": {
                    "name": "cabinet",
                    "id": 3
                }
            }
        ]
    }
]