Add files using upload-large-folder tool

archives/tongbench_l2_l4_scaleup_v1_input_subsets.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bbcf0c26f724d9461313aa3a0272fdd0e2f627896fa98604787800f530833e2
+size 237147849

input/by_scene/scene_001/ready_highlevel_v2_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da7ed28069405018a9bac3acc0c79c2c233fffc548df7b87fe4198f259c49a5f
+size 15060392

input/by_scene/scene_001/ready_l4_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3068639508d38af8202a42d16453400506a11af005e5dbf4c7fefb32ededeaac
+size 13014690

input/by_scene/scene_002/ready_highlevel_v2_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc605fdffa46a17242e5093a91efc5f4c643c156ca615cbf70ce58468060fc0f
+size 14526924

input/by_scene/scene_002/ready_l4_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:594e7eddb9624ea3693cdd47a6b46937796b6e9d87ec341134b85e986a55e378
+size 12926962

input/by_scene/scene_005/ready_highlevel_v2_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ddf35db6460c43bb06293f2fc4d7b0eb47576ec006bf8ddc371cbd4a63710d6
+size 13227216

input/by_scene/scene_005/ready_l4_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5360f21e46a14b07656d88b3d3435f63e566f5e56f4cd28af9d518636dddad6
+size 11137564

input/by_scene/scene_021/ready_l4_tasks_with_images.json

@@ -0,0 +1 @@
+[]

input/by_scene/scene_036_02/ready_highlevel_v2_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31e51dce6362f27f86944b7918d91b04f0438da885fe10b663a2163a7ee52120
+size 16048390

input/by_scene/scene_036_02/ready_l4_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d7c269111d20d39de640243e0569066950bd497dc7610a53d4c3f2fc752615
+size 13492036

input/merged/option_bank_highlevel_v2_smoke.jsonl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c09dde62b3127ba5758c4d0eb650d02ac7a5b1b1360cf6612eec4ce2662fa8
+size 21533998

input/merged/ready_highlevel_v2_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd7818e16bb59edfa9d4bd2b8c45da5c397a30047415ac3353a2f146abb10c14
+size 63179168

input/merged/ready_l4_tasks_with_images.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd8437f46ed2fe6914e7ef429a4d6ae0990aa9234009f5f1586078cbf9377e4
+size 54079766

input/merged/tasks/task_L2_HL_v5_adult_0007/input/task_L2_HL_v5_adult_0007_atomic_transition_manifest.json

@@ -0,0 +1,845 @@
+{
+  "task_id": "task_L2_HL_v5_adult_0007",
+  "unique_atomic_transition_count": 19,
+  "transitions": [
+    {
+      "transition_id": "atomic_t0",
+      "atomic_action": "look_at_BP_TV_Curved1_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e0",
+        "e2"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t1",
+      "atomic_action": "walk_to_BP_TV_Curved1_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e0",
+        "e2"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t10",
+      "atomic_action": "look_at_BP_TV_Curved1_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "after_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "before_state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "after_state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e8",
+        "e9",
+        "e49",
+        "e50"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t11",
+      "atomic_action": "walk_to_BP_TV_Curved1_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "after_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "after_state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e8",
+        "e9",
+        "e49",
+        "e50"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t12",
+      "atomic_action": "switch_on_BP_TV_Curved1_C_1",
+      "template_id": "switch_on_{object}",
+      "action_type": "switch_on",
+      "before_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "after_state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e8",
+        "e26",
+        "e43",
+        "e49"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t13",
+      "atomic_action": "look_at_BP_Plate_01_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e11",
+        "e12",
+        "e23",
+        "e24",
+        "e34",
+        "e35",
+        "e52",
+        "e55",
+        "e56"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t14",
+      "atomic_action": "walk_to_BP_Plate_01_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e11",
+        "e12",
+        "e23",
+        "e24",
+        "e34",
+        "e35",
+        "e52",
+        "e55",
+        "e56"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t15",
+      "atomic_action": "look_at_BP_TV_Curved1_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e14",
+        "e16",
+        "e29",
+        "e31",
+        "e37",
+        "e38",
+        "e53"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t16",
+      "atomic_action": "walk_to_BP_TV_Curved1_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e14",
+        "e16",
+        "e29",
+        "e31",
+        "e37",
+        "e38",
+        "e53"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t17",
+      "atomic_action": "look_at_BP_TV_Curved1_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e19",
+        "e20",
+        "e40",
+        "e41",
+        "e51"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t18",
+      "atomic_action": "walk_to_BP_TV_Curved1_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e19",
+        "e20",
+        "e40",
+        "e41",
+        "e51"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t2",
+      "atomic_action": "switch_on_BP_TV_Curved1_C_1",
+      "template_id": "switch_on_{object}",
+      "action_type": "switch_on",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e0",
+        "e10",
+        "e14",
+        "e22",
+        "e29",
+        "e33",
+        "e37",
+        "e53",
+        "e54"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t3",
+      "atomic_action": "look_at_BP_Plate_01_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e1",
+        "e3"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t4",
+      "atomic_action": "walk_to_BP_Plate_01_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e1",
+        "e3"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t5",
+      "atomic_action": "pick_up_BP_Plate_01_C_1",
+      "template_id": "pick_up_{object}",
+      "action_type": "pick_up",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "after_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "after_state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e1",
+        "e11",
+        "e15",
+        "e23",
+        "e30",
+        "e34",
+        "e55"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t6",
+      "atomic_action": "look_at_BP_Plate_01_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e4",
+        "e5",
+        "e45",
+        "e46"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t7",
+      "atomic_action": "walk_to_BP_Plate_01_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e4",
+        "e5",
+        "e45",
+        "e46"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t8",
+      "atomic_action": "pick_up_BP_Plate_01_C_1",
+      "template_id": "pick_up_{object}",
+      "action_type": "pick_up",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "after_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "after_state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e4",
+        "e18",
+        "e39",
+        "e45"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t9",
+      "atomic_action": "switch_off_BP_TV_Curved1_C_1",
+      "template_id": "switch_off_{object}",
+      "action_type": "switch_off",
+      "before_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "after_state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e6",
+        "e20",
+        "e28",
+        "e41",
+        "e47",
+        "e51"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    }
+  ]
+}

input/merged/tasks/task_L2_HL_v5_adult_0007/input/task_L2_HL_v5_adult_0007_success_paths.json

@@ -0,0 +1,522 @@
+{
+  "task_id": "task_L2_HL_v5_adult_0007",
+  "success_path_output": "shortest_only",
+  "total_success_path_count_in_full_graph": 32,
+  "unique_atomic_success_path_count": 2,
+  "shortest_success_path_count": 2,
+  "min_success_atomic_len": 6,
+  "success_path_count": 2,
+  "success_paths": [
+    {
+      "path_id": "p0",
+      "is_shortest_success_path": true,
+      "atomic_len": 6,
+      "subtask_steps": [
+        {
+          "action": "power_on_{object}__BP_TV_Curved1_C_1",
+          "template_id": "subtask_0006",
+          "source": "subtask",
+          "action_type": "power_on",
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ]
+        },
+        {
+          "action": "acquire_{object}__BP_Plate_01_C_1",
+          "template_id": "subtask_0002",
+          "source": "subtask",
+          "action_type": "acquire",
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ]
+        }
+      ],
+      "atomic_steps": [
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "power_on_{object}__BP_TV_Curved1_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "look_at_BP_TV_Curved1_C_1",
+          "template_id": "look_at_{object}",
+          "action_type": "look_at",
+          "role_bindings": {
+            "r1": "BP_TV_Curved1_C_1"
+          },
+          "required_preconditions": [
+            "exists(BP_TV_Curved1_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "power_on_{object}__BP_TV_Curved1_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "walk_to_BP_TV_Curved1_C_1",
+          "template_id": "walk_to_{object}",
+          "action_type": "walk_to",
+          "role_bindings": {
+            "r1": "BP_TV_Curved1_C_1"
+          },
+          "required_preconditions": [
+            "in_view(BP_TV_Curved1_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "power_on_{object}__BP_TV_Curved1_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "switch_on_BP_TV_Curved1_C_1",
+          "template_id": "switch_on_{object}",
+          "action_type": "switch_on",
+          "role_bindings": {
+            "r1": "BP_TV_Curved1_C_1"
+          },
+          "required_preconditions": [
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "acquire_{object}__BP_Plate_01_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "look_at_BP_Plate_01_C_1",
+          "template_id": "look_at_{object}",
+          "action_type": "look_at",
+          "role_bindings": {
+            "r1": "BP_Plate_01_C_1"
+          },
+          "required_preconditions": [
+            "exists(BP_Plate_01_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "acquire_{object}__BP_Plate_01_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "walk_to_BP_Plate_01_C_1",
+          "template_id": "walk_to_{object}",
+          "action_type": "walk_to",
+          "role_bindings": {
+            "r1": "BP_Plate_01_C_1"
+          },
+          "required_preconditions": [
+            "in_view(BP_Plate_01_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "acquire_{object}__BP_Plate_01_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "pick_up_BP_Plate_01_C_1",
+          "template_id": "pick_up_{object}",
+          "action_type": "pick_up",
+          "role_bindings": {
+            "r1": "BP_Plate_01_C_1"
+          },
+          "required_preconditions": [
+            "empty",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "after_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "path_edge_ids": []
+        }
+      ],
+      "final_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ]
+    },
+    {
+      "path_id": "p1",
+      "is_shortest_success_path": true,
+      "atomic_len": 6,
+      "subtask_steps": [
+        {
+          "action": "acquire_{object}__BP_Plate_01_C_1",
+          "template_id": "subtask_0002",
+          "source": "subtask",
+          "action_type": "acquire",
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ]
+        },
+        {
+          "action": "power_on_{object}__BP_TV_Curved1_C_1",
+          "template_id": "subtask_0006",
+          "source": "subtask",
+          "action_type": "power_on",
+          "before_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "after_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ]
+        }
+      ],
+      "atomic_steps": [
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "acquire_{object}__BP_Plate_01_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "look_at_BP_Plate_01_C_1",
+          "template_id": "look_at_{object}",
+          "action_type": "look_at",
+          "role_bindings": {
+            "r1": "BP_Plate_01_C_1"
+          },
+          "required_preconditions": [
+            "exists(BP_Plate_01_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "acquire_{object}__BP_Plate_01_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "walk_to_BP_Plate_01_C_1",
+          "template_id": "walk_to_{object}",
+          "action_type": "walk_to",
+          "role_bindings": {
+            "r1": "BP_Plate_01_C_1"
+          },
+          "required_preconditions": [
+            "in_view(BP_Plate_01_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "acquire_{object}__BP_Plate_01_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "pick_up_BP_Plate_01_C_1",
+          "template_id": "pick_up_{object}",
+          "action_type": "pick_up",
+          "role_bindings": {
+            "r1": "BP_Plate_01_C_1"
+          },
+          "required_preconditions": [
+            "empty",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "after_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "power_on_{object}__BP_TV_Curved1_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "look_at_BP_TV_Curved1_C_1",
+          "template_id": "look_at_{object}",
+          "action_type": "look_at",
+          "role_bindings": {
+            "r1": "BP_TV_Curved1_C_1"
+          },
+          "required_preconditions": [
+            "exists(BP_TV_Curved1_C_1)"
+          ],
+          "before_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_Plate_01_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "after_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "power_on_{object}__BP_TV_Curved1_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "walk_to_BP_TV_Curved1_C_1",
+          "template_id": "walk_to_{object}",
+          "action_type": "walk_to",
+          "role_bindings": {
+            "r1": "BP_TV_Curved1_C_1"
+          },
+          "required_preconditions": [
+            "in_view(BP_TV_Curved1_C_1)"
+          ],
+          "before_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_Plate_01_C_1)"
+          ],
+          "after_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "power_on_{object}__BP_TV_Curved1_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "switch_on_BP_TV_Curved1_C_1",
+          "template_id": "switch_on_{object}",
+          "action_type": "switch_on",
+          "role_bindings": {
+            "r1": "BP_TV_Curved1_C_1"
+          },
+          "required_preconditions": [
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "before_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_off(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "after_state": [
+            "exists(BP_Plate_01_C_1)",
+            "exists(BP_TV_Curved1_C_1)",
+            "holding(BP_Plate_01_C_1)",
+            "in_view(BP_TV_Curved1_C_1)",
+            "powered_on(BP_TV_Curved1_C_1)",
+            "with_reach(BP_TV_Curved1_C_1)"
+          ],
+          "path_edge_ids": []
+        }
+      ],
+      "final_state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ]
+    }
+  ],
+  "success_path_summary": {
+    "task_id": "task_L2_HL_v5_adult_0007",
+    "success_path_output": "shortest_only",
+    "total_success_path_count_in_full_graph": 32,
+    "unique_atomic_success_path_count": 2,
+    "shortest_success_path_count": 2,
+    "min_success_atomic_len": 6,
+    "max_success_atomic_len_in_full_graph": 16,
+    "duplicate_success_paths_merged": 6,
+    "longer_success_paths_omitted": 24,
+    "shortest_success_paths_omitted_by_trace_limit": 0,
+    "bounded_shortest_only_extraction": true
+  }
+}

input/merged/tasks/task_L2_HL_v5_adult_0007/input/task_L2_HL_v5_adult_0007_unique_states.json

@@ -0,0 +1,714 @@
+{
+  "task_id": "task_L2_HL_v5_adult_0007",
+  "unique_state_count": 16,
+  "states": [
+    {
+      "state_id": "state_0000",
+      "atomic_expanded_node_id": "as0",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "is_initial_state": true,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s0"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae0",
+        "ae3",
+        "ae6",
+        "ae8"
+      ],
+      "appears_in_edge_after_ids": [],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0001",
+      "atomic_expanded_node_id": "as1",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s1"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae10",
+        "ae13",
+        "ae15",
+        "ae16",
+        "ae41",
+        "ae52",
+        "ae77",
+        "ae81",
+        "ae84",
+        "ae86",
+        "ae87",
+        "ae95"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae2",
+        "ae16",
+        "ae22",
+        "ae31",
+        "ae38",
+        "ae40",
+        "ae43",
+        "ae55",
+        "ae60",
+        "ae69",
+        "ae74",
+        "ae76",
+        "ae87",
+        "ae94",
+        "ae100",
+        "ae101"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0002",
+      "atomic_expanded_node_id": "as2",
+      "state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s2"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae17",
+        "ae20",
+        "ae88",
+        "ae91"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae5",
+        "ae25",
+        "ae32",
+        "ae46",
+        "ae56",
+        "ae63",
+        "ae104"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0003",
+      "atomic_expanded_node_id": "as3",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s3"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae2",
+        "ae22",
+        "ae23",
+        "ae26",
+        "ae28",
+        "ae31",
+        "ae43",
+        "ae44",
+        "ae47",
+        "ae49",
+        "ae55",
+        "ae60",
+        "ae61",
+        "ae64",
+        "ae66",
+        "ae69",
+        "ae96",
+        "ae100",
+        "ae101",
+        "ae102",
+        "ae105",
+        "ae107"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae1",
+        "ae7",
+        "ae15",
+        "ae28",
+        "ae30",
+        "ae34",
+        "ae41",
+        "ae49",
+        "ae52",
+        "ae54",
+        "ae58",
+        "ae66",
+        "ae68",
+        "ae71",
+        "ae77",
+        "ae86",
+        "ae95",
+        "ae99",
+        "ae107"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0004",
+      "atomic_expanded_node_id": "as4",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s4"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae5",
+        "ae25",
+        "ae29",
+        "ae32",
+        "ae33",
+        "ae35",
+        "ae46",
+        "ae53",
+        "ae56",
+        "ae57",
+        "ae59",
+        "ae63",
+        "ae67",
+        "ae70",
+        "ae98",
+        "ae104"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae4",
+        "ae9",
+        "ae24",
+        "ae27",
+        "ae35",
+        "ae45",
+        "ae48",
+        "ae59",
+        "ae62",
+        "ae65",
+        "ae97",
+        "ae103",
+        "ae106"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0005",
+      "atomic_expanded_node_id": "as5",
+      "state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s5"
+      ],
+      "appears_in_edge_before_ids": [],
+      "appears_in_edge_after_ids": [
+        "ae12",
+        "ae36",
+        "ae72",
+        "ae83"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0006",
+      "atomic_expanded_node_id": "as6",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s6"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae12",
+        "ae36",
+        "ae37",
+        "ae39",
+        "ae42",
+        "ae72",
+        "ae73",
+        "ae75",
+        "ae78",
+        "ae83",
+        "ae93"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae11",
+        "ae14",
+        "ae42",
+        "ae78",
+        "ae82",
+        "ae85"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0007",
+      "atomic_expanded_node_id": "as7",
+      "state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s7"
+      ],
+      "appears_in_edge_before_ids": [],
+      "appears_in_edge_after_ids": [
+        "ae19",
+        "ae50",
+        "ae79",
+        "ae90"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0008",
+      "atomic_expanded_node_id": "as8",
+      "state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s8"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae19",
+        "ae50",
+        "ae51",
+        "ae79",
+        "ae80",
+        "ae90"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae18",
+        "ae21",
+        "ae51",
+        "ae80",
+        "ae89",
+        "ae92"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0009",
+      "atomic_expanded_node_id": "as9",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae1",
+        "ae7"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae0",
+        "ae6"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0010",
+      "atomic_expanded_node_id": "as10",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae4",
+        "ae9"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae3",
+        "ae8"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0011",
+      "atomic_expanded_node_id": "as11",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae11",
+        "ae14",
+        "ae82",
+        "ae85"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae10",
+        "ae13",
+        "ae81",
+        "ae84"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0012",
+      "atomic_expanded_node_id": "as12",
+      "state": [
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "holding(BP_Plate_01_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "state_key": "exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | holding(BP_Plate_01_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae18",
+        "ae21",
+        "ae89",
+        "ae92"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae17",
+        "ae20",
+        "ae88",
+        "ae91"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0013",
+      "atomic_expanded_node_id": "as13",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_Plate_01_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_TV_Curved1_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_Plate_01_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_TV_Curved1_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae24",
+        "ae27",
+        "ae45",
+        "ae48",
+        "ae62",
+        "ae65",
+        "ae97",
+        "ae103",
+        "ae106"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae23",
+        "ae26",
+        "ae44",
+        "ae47",
+        "ae61",
+        "ae64",
+        "ae96",
+        "ae102",
+        "ae105"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0014",
+      "atomic_expanded_node_id": "as14",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_off(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_off(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae30",
+        "ae34",
+        "ae54",
+        "ae58",
+        "ae68",
+        "ae71",
+        "ae99"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae29",
+        "ae33",
+        "ae53",
+        "ae57",
+        "ae67",
+        "ae70",
+        "ae98"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0015",
+      "atomic_expanded_node_id": "as15",
+      "state": [
+        "empty",
+        "exists(BP_Plate_01_C_1)",
+        "exists(BP_TV_Curved1_C_1)",
+        "in_view(BP_TV_Curved1_C_1)",
+        "powered_on(BP_TV_Curved1_C_1)",
+        "with_reach(BP_Plate_01_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Plate_01_C_1) | exists(BP_TV_Curved1_C_1) | in_view(BP_TV_Curved1_C_1) | powered_on(BP_TV_Curved1_C_1) | with_reach(BP_Plate_01_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae38",
+        "ae40",
+        "ae74",
+        "ae76",
+        "ae94"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae37",
+        "ae39",
+        "ae73",
+        "ae75",
+        "ae93"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    }
+  ],
+  "source_atomic_graph_budget": null
+}

input/merged/tasks/task_L2_HL_v5_adult_0009/input/task_L2_HL_v5_adult_0009_atomic_transition_manifest.json

@@ -0,0 +1,1118 @@
+{
+  "task_id": "task_L2_HL_v5_adult_0009",
+  "unique_atomic_transition_count": 22,
+  "transitions": [
+    {
+      "transition_id": "atomic_t0",
+      "atomic_action": "look_at_BP_Desk_003_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e0",
+        "e3"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t1",
+      "atomic_action": "walk_to_BP_Desk_003_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e0",
+        "e3"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t10",
+      "atomic_action": "look_at_BP_Desk_003_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e8",
+        "e9",
+        "e46",
+        "e47",
+        "e71",
+        "e72",
+        "e110",
+        "e111"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t11",
+      "atomic_action": "walk_to_BP_Desk_003_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e8",
+        "e9",
+        "e46",
+        "e47",
+        "e71",
+        "e72",
+        "e110",
+        "e111"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t12",
+      "atomic_action": "open_BP_Desk_003_C_1",
+      "template_id": "open_{object}",
+      "action_type": "open",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e8",
+        "e28",
+        "e46",
+        "e63",
+        "e71",
+        "e79",
+        "e106",
+        "e110"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t13",
+      "atomic_action": "open_BP_ShoesBox_C_0",
+      "template_id": "open_{object}",
+      "action_type": "open",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e10",
+        "e30",
+        "e36",
+        "e48",
+        "e65",
+        "e73",
+        "e76",
+        "e81",
+        "e87",
+        "e108",
+        "e112",
+        "e114"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t14",
+      "atomic_action": "look_at_BP_Desk_003_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e12",
+        "e14",
+        "e32",
+        "e34",
+        "e42",
+        "e44",
+        "e50",
+        "e51",
+        "e77",
+        "e78",
+        "e83",
+        "e85",
+        "e102",
+        "e104",
+        "e124",
+        "e126"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t15",
+      "atomic_action": "walk_to_BP_Desk_003_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e12",
+        "e14",
+        "e32",
+        "e34",
+        "e42",
+        "e44",
+        "e50",
+        "e51",
+        "e77",
+        "e78",
+        "e83",
+        "e85",
+        "e102",
+        "e104",
+        "e124",
+        "e126"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t16",
+      "atomic_action": "look_at_BP_ShoesBox_C_0",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e17",
+        "e18",
+        "e25",
+        "e26",
+        "e38",
+        "e39",
+        "e56",
+        "e57",
+        "e62",
+        "e88",
+        "e94",
+        "e95",
+        "e99",
+        "e100",
+        "e129",
+        "e130"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t17",
+      "atomic_action": "walk_to_BP_ShoesBox_C_0",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e17",
+        "e18",
+        "e25",
+        "e26",
+        "e38",
+        "e39",
+        "e56",
+        "e57",
+        "e62",
+        "e88",
+        "e94",
+        "e95",
+        "e99",
+        "e100",
+        "e129",
+        "e130"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t18",
+      "atomic_action": "look_at_BP_Desk_003_C_1",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e21",
+        "e22",
+        "e59",
+        "e60",
+        "e75",
+        "e90",
+        "e91",
+        "e116",
+        "e117",
+        "e123"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t19",
+      "atomic_action": "walk_to_BP_Desk_003_C_1",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e21",
+        "e22",
+        "e59",
+        "e60",
+        "e75",
+        "e90",
+        "e91",
+        "e116",
+        "e117",
+        "e123"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t2",
+      "atomic_action": "open_BP_Desk_003_C_1",
+      "template_id": "open_{object}",
+      "action_type": "open",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e0",
+        "e12",
+        "e16",
+        "e24",
+        "e32",
+        "e37",
+        "e42",
+        "e50",
+        "e78",
+        "e83",
+        "e93",
+        "e98",
+        "e102",
+        "e124",
+        "e128"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t20",
+      "atomic_action": "look_at_BP_ShoesBox_C_0",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e29",
+        "e30",
+        "e64",
+        "e65",
+        "e76",
+        "e80",
+        "e81",
+        "e107",
+        "e108",
+        "e114"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t21",
+      "atomic_action": "walk_to_BP_ShoesBox_C_0",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e29",
+        "e30",
+        "e64",
+        "e65",
+        "e76",
+        "e80",
+        "e81",
+        "e107",
+        "e108",
+        "e114"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t3",
+      "atomic_action": "look_at_BP_ShoesBox_C_0",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e1",
+        "e2"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t4",
+      "atomic_action": "walk_to_BP_ShoesBox_C_0",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e1",
+        "e2"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t5",
+      "atomic_action": "close_BP_ShoesBox_C_0",
+      "template_id": "close_{object}",
+      "action_type": "close",
+      "before_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p1"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p1"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e1",
+        "e13",
+        "e17",
+        "e25",
+        "e33",
+        "e38",
+        "e43",
+        "e56",
+        "e84",
+        "e88",
+        "e94",
+        "e99",
+        "e103",
+        "e125",
+        "e129"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t6",
+      "atomic_action": "look_at_BP_ShoesBox_C_0",
+      "template_id": "look_at_{object}",
+      "action_type": "look_at",
+      "before_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e4",
+        "e5",
+        "e52",
+        "e53",
+        "e67",
+        "e68",
+        "e119",
+        "e120"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t7",
+      "atomic_action": "walk_to_BP_ShoesBox_C_0",
+      "template_id": "walk_to_{object}",
+      "action_type": "walk_to",
+      "before_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e4",
+        "e5",
+        "e52",
+        "e53",
+        "e67",
+        "e68",
+        "e119",
+        "e120"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t8",
+      "atomic_action": "close_BP_ShoesBox_C_0",
+      "template_id": "close_{object}",
+      "action_type": "close",
+      "before_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "after_state": [
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "before_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "after_state_key": "closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | with_reach(BP_ShoesBox_C_0)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [
+        "p0"
+      ],
+      "appears_in_shortest_success_paths": [
+        "p0"
+      ],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e4",
+        "e20",
+        "e52",
+        "e58",
+        "e67",
+        "e89",
+        "e115",
+        "e119"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    },
+    {
+      "transition_id": "atomic_t9",
+      "atomic_action": "close_BP_Desk_003_C_1",
+      "template_id": "close_{object}",
+      "action_type": "close",
+      "before_state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "after_state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "before_state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "after_state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "state_changed": true,
+      "is_no_op_transition": false,
+      "appears_in_success_paths": [],
+      "appears_in_shortest_success_paths": [],
+      "appears_in_longer_success_paths": [],
+      "appears_in_full_edges": [
+        "e6",
+        "e22",
+        "e41",
+        "e54",
+        "e60",
+        "e69",
+        "e75",
+        "e91",
+        "e97",
+        "e117",
+        "e121",
+        "e123"
+      ],
+      "image_capture": {
+        "need_before_image": true,
+        "need_after_image": true,
+        "before_image_path": null,
+        "after_image_path": null
+      }
+    }
+  ]
+}

input/merged/tasks/task_L2_HL_v5_adult_0009/input/task_L2_HL_v5_adult_0009_success_paths.json

@@ -0,0 +1,556 @@
+{
+  "task_id": "task_L2_HL_v5_adult_0009",
+  "success_path_output": "shortest_only",
+  "total_success_path_count_in_full_graph": 44,
+  "unique_atomic_success_path_count": 2,
+  "shortest_success_path_count": 2,
+  "min_success_atomic_len": 6,
+  "success_path_count": 2,
+  "success_paths": [
+    {
+      "path_id": "p0",
+      "is_shortest_success_path": true,
+      "atomic_len": 6,
+      "subtask_steps": [
+        {
+          "action": "open_container_{object}__BP_Desk_003_C_1",
+          "template_id": "subtask_0004",
+          "source": "subtask",
+          "action_type": "open_container",
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "open(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_Desk_003_C_1)"
+          ]
+        },
+        {
+          "action": "close_container_{object}__BP_ShoesBox_C_0",
+          "template_id": "subtask_0005",
+          "source": "subtask",
+          "action_type": "close_container",
+          "before_state": [
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "after_state": [
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_Desk_003_C_1)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ]
+        }
+      ],
+      "atomic_steps": [
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "open_container_{object}__BP_Desk_003_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "look_at_BP_Desk_003_C_1",
+          "template_id": "look_at_{object}",
+          "action_type": "look_at",
+          "role_bindings": {
+            "r1": "BP_Desk_003_C_1"
+          },
+          "required_preconditions": [
+            "exists(BP_Desk_003_C_1)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "open(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "open_container_{object}__BP_Desk_003_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "walk_to_BP_Desk_003_C_1",
+          "template_id": "walk_to_{object}",
+          "action_type": "walk_to",
+          "role_bindings": {
+            "r1": "BP_Desk_003_C_1"
+          },
+          "required_preconditions": [
+            "in_view(BP_Desk_003_C_1)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "open_container_{object}__BP_Desk_003_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "open_BP_Desk_003_C_1",
+          "template_id": "open_{object}",
+          "action_type": "open",
+          "role_bindings": {
+            "r1": "BP_Desk_003_C_1"
+          },
+          "required_preconditions": [
+            "closed(BP_Desk_003_C_1)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "close_container_{object}__BP_ShoesBox_C_0",
+          "parent_source": "subtask",
+          "atomic_action": "look_at_BP_ShoesBox_C_0",
+          "template_id": "look_at_{object}",
+          "action_type": "look_at",
+          "role_bindings": {
+            "r1": "BP_ShoesBox_C_0"
+          },
+          "required_preconditions": [
+            "exists(BP_ShoesBox_C_0)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "close_container_{object}__BP_ShoesBox_C_0",
+          "parent_source": "subtask",
+          "atomic_action": "walk_to_BP_ShoesBox_C_0",
+          "template_id": "walk_to_{object}",
+          "action_type": "walk_to",
+          "role_bindings": {
+            "r1": "BP_ShoesBox_C_0"
+          },
+          "required_preconditions": [
+            "in_view(BP_ShoesBox_C_0)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "after_state": [
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "close_container_{object}__BP_ShoesBox_C_0",
+          "parent_source": "subtask",
+          "atomic_action": "close_BP_ShoesBox_C_0",
+          "template_id": "close_{object}",
+          "action_type": "close",
+          "role_bindings": {
+            "r1": "BP_ShoesBox_C_0"
+          },
+          "required_preconditions": [
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "before_state": [
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_Desk_003_C_1)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_Desk_003_C_1)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "path_edge_ids": []
+        }
+      ],
+      "final_state": [
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ]
+    },
+    {
+      "path_id": "p1",
+      "is_shortest_success_path": true,
+      "atomic_len": 6,
+      "subtask_steps": [
+        {
+          "action": "close_container_{object}__BP_ShoesBox_C_0",
+          "template_id": "subtask_0005",
+          "source": "subtask",
+          "action_type": "close_container",
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "open(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_Desk_003_C_1)",
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ]
+        },
+        {
+          "action": "open_container_{object}__BP_Desk_003_C_1",
+          "template_id": "subtask_0004",
+          "source": "subtask",
+          "action_type": "open_container",
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_Desk_003_C_1)",
+            "with_reach(BP_Desk_003_C_1)"
+          ]
+        }
+      ],
+      "atomic_steps": [
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "close_container_{object}__BP_ShoesBox_C_0",
+          "parent_source": "subtask",
+          "atomic_action": "look_at_BP_ShoesBox_C_0",
+          "template_id": "look_at_{object}",
+          "action_type": "look_at",
+          "role_bindings": {
+            "r1": "BP_ShoesBox_C_0"
+          },
+          "required_preconditions": [
+            "exists(BP_ShoesBox_C_0)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "open(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_ShoesBox_C_0)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "close_container_{object}__BP_ShoesBox_C_0",
+          "parent_source": "subtask",
+          "atomic_action": "walk_to_BP_ShoesBox_C_0",
+          "template_id": "walk_to_{object}",
+          "action_type": "walk_to",
+          "role_bindings": {
+            "r1": "BP_ShoesBox_C_0"
+          },
+          "required_preconditions": [
+            "in_view(BP_ShoesBox_C_0)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "close_container_{object}__BP_ShoesBox_C_0",
+          "parent_source": "subtask",
+          "atomic_action": "close_BP_ShoesBox_C_0",
+          "template_id": "close_{object}",
+          "action_type": "close",
+          "role_bindings": {
+            "r1": "BP_ShoesBox_C_0"
+          },
+          "required_preconditions": [
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "open(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_Desk_003_C_1)",
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "open_container_{object}__BP_Desk_003_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "look_at_BP_Desk_003_C_1",
+          "template_id": "look_at_{object}",
+          "action_type": "look_at",
+          "role_bindings": {
+            "r1": "BP_Desk_003_C_1"
+          },
+          "required_preconditions": [
+            "exists(BP_Desk_003_C_1)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_ShoesBox_C_0)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_Desk_003_C_1)",
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "open_container_{object}__BP_Desk_003_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "walk_to_BP_Desk_003_C_1",
+          "template_id": "walk_to_{object}",
+          "action_type": "walk_to",
+          "role_bindings": {
+            "r1": "BP_Desk_003_C_1"
+          },
+          "required_preconditions": [
+            "in_view(BP_Desk_003_C_1)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "with_reach(BP_ShoesBox_C_0)"
+          ],
+          "after_state": [
+            "closed(BP_Desk_003_C_1)",
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "path_edge_ids": []
+        },
+        {
+          "atomic_step_id": null,
+          "parent_edge_id": null,
+          "parent_action": "open_container_{object}__BP_Desk_003_C_1",
+          "parent_source": "subtask",
+          "atomic_action": "open_BP_Desk_003_C_1",
+          "template_id": "open_{object}",
+          "action_type": "open",
+          "role_bindings": {
+            "r1": "BP_Desk_003_C_1"
+          },
+          "required_preconditions": [
+            "closed(BP_Desk_003_C_1)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "before_state": [
+            "closed(BP_Desk_003_C_1)",
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "after_state": [
+            "closed(BP_ShoesBox_C_0)",
+            "empty",
+            "exists(BP_Desk_003_C_1)",
+            "exists(BP_ShoesBox_C_0)",
+            "in_view(BP_Desk_003_C_1)",
+            "open(BP_Desk_003_C_1)",
+            "with_reach(BP_Desk_003_C_1)"
+          ],
+          "path_edge_ids": []
+        }
+      ],
+      "final_state": [
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "with_reach(BP_Desk_003_C_1)"
+      ]
+    }
+  ],
+  "success_path_summary": {
+    "task_id": "task_L2_HL_v5_adult_0009",
+    "success_path_output": "shortest_only",
+    "total_success_path_count_in_full_graph": 44,
+    "unique_atomic_success_path_count": 2,
+    "shortest_success_path_count": 2,
+    "min_success_atomic_len": 6,
+    "max_success_atomic_len_in_full_graph": 16,
+    "duplicate_success_paths_merged": 6,
+    "longer_success_paths_omitted": 36,
+    "shortest_success_paths_omitted_by_trace_limit": 0,
+    "bounded_shortest_only_extraction": true
+  }
+}

input/merged/tasks/task_L2_HL_v5_adult_0009/input/task_L2_HL_v5_adult_0009_unique_states.json

@@ -0,0 +1,1029 @@
+{
+  "task_id": "task_L2_HL_v5_adult_0009",
+  "unique_state_count": 17,
+  "states": [
+    {
+      "state_id": "state_0000",
+      "atomic_expanded_node_id": "as0",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0)",
+      "is_initial_state": true,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s0"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae0",
+        "ae3",
+        "ae6",
+        "ae8"
+      ],
+      "appears_in_edge_after_ids": [],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0001",
+      "atomic_expanded_node_id": "as1",
+      "state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s1"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae10",
+        "ae13",
+        "ae15",
+        "ae16",
+        "ae43",
+        "ae74",
+        "ae94",
+        "ae97",
+        "ae99",
+        "ae100",
+        "ae111",
+        "ae122",
+        "ae125",
+        "ae127",
+        "ae128",
+        "ae138",
+        "ae170",
+        "ae179",
+        "ae216",
+        "ae218",
+        "ae221",
+        "ae223",
+        "ae224",
+        "ae227"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae2",
+        "ae16",
+        "ae26",
+        "ae31",
+        "ae40",
+        "ae42",
+        "ae45",
+        "ae61",
+        "ae67",
+        "ae77",
+        "ae91",
+        "ae100",
+        "ae108",
+        "ae110",
+        "ae128",
+        "ae137",
+        "ae146",
+        "ae156",
+        "ae167",
+        "ae169",
+        "ae172",
+        "ae180",
+        "ae189",
+        "ae213",
+        "ae215",
+        "ae224",
+        "ae226",
+        "ae230",
+        "ae235"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0002",
+      "atomic_expanded_node_id": "as2",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s2"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae17",
+        "ae20",
+        "ae22",
+        "ae23",
+        "ae57",
+        "ae66",
+        "ae82",
+        "ae85",
+        "ae87",
+        "ae88",
+        "ae120",
+        "ae129",
+        "ae132",
+        "ae134",
+        "ae135",
+        "ae141",
+        "ae152",
+        "ae161",
+        "ae199",
+        "ae201",
+        "ae204",
+        "ae206",
+        "ae207",
+        "ae210"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae5",
+        "ae23",
+        "ae27",
+        "ae34",
+        "ae48",
+        "ae54",
+        "ae56",
+        "ae62",
+        "ae70",
+        "ae78",
+        "ae88",
+        "ae103",
+        "ae117",
+        "ae119",
+        "ae135",
+        "ae140",
+        "ae149",
+        "ae151",
+        "ae157",
+        "ae164",
+        "ae175",
+        "ae183",
+        "ae190",
+        "ae196",
+        "ae198",
+        "ae207",
+        "ae209",
+        "ae231",
+        "ae238"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0003",
+      "atomic_expanded_node_id": "as3",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s3"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae5",
+        "ae24",
+        "ae27",
+        "ae28",
+        "ae30",
+        "ae34",
+        "ae48",
+        "ae59",
+        "ae62",
+        "ae63",
+        "ae65",
+        "ae70",
+        "ae75",
+        "ae78",
+        "ae79",
+        "ae81",
+        "ae89",
+        "ae92",
+        "ae103",
+        "ae142",
+        "ae144",
+        "ae154",
+        "ae157",
+        "ae158",
+        "ae160",
+        "ae164",
+        "ae175",
+        "ae183",
+        "ae187",
+        "ae190",
+        "ae191",
+        "ae193",
+        "ae228",
+        "ae231",
+        "ae232",
+        "ae234",
+        "ae238"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae4",
+        "ae7",
+        "ae22",
+        "ae30",
+        "ae33",
+        "ae36",
+        "ae47",
+        "ae50",
+        "ae57",
+        "ae65",
+        "ae66",
+        "ae69",
+        "ae72",
+        "ae81",
+        "ae87",
+        "ae102",
+        "ae105",
+        "ae114",
+        "ae120",
+        "ae134",
+        "ae141",
+        "ae152",
+        "ae160",
+        "ae161",
+        "ae163",
+        "ae174",
+        "ae177",
+        "ae182",
+        "ae185",
+        "ae193",
+        "ae199",
+        "ae206",
+        "ae210",
+        "ae234",
+        "ae237",
+        "ae240"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0004",
+      "atomic_expanded_node_id": "as4",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s4"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae2",
+        "ae26",
+        "ae31",
+        "ae32",
+        "ae35",
+        "ae37",
+        "ae45",
+        "ae46",
+        "ae49",
+        "ae51",
+        "ae61",
+        "ae67",
+        "ae68",
+        "ae71",
+        "ae73",
+        "ae77",
+        "ae91",
+        "ae101",
+        "ae104",
+        "ae113",
+        "ae146",
+        "ae156",
+        "ae162",
+        "ae172",
+        "ae173",
+        "ae176",
+        "ae178",
+        "ae180",
+        "ae181",
+        "ae184",
+        "ae186",
+        "ae189",
+        "ae230",
+        "ae235",
+        "ae236",
+        "ae239",
+        "ae241"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae1",
+        "ae9",
+        "ae15",
+        "ae25",
+        "ae29",
+        "ae37",
+        "ae43",
+        "ae51",
+        "ae60",
+        "ae64",
+        "ae73",
+        "ae74",
+        "ae76",
+        "ae80",
+        "ae90",
+        "ae93",
+        "ae99",
+        "ae111",
+        "ae127",
+        "ae138",
+        "ae143",
+        "ae145",
+        "ae155",
+        "ae159",
+        "ae170",
+        "ae178",
+        "ae179",
+        "ae186",
+        "ae188",
+        "ae192",
+        "ae216",
+        "ae223",
+        "ae227",
+        "ae229",
+        "ae233",
+        "ae241"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0005",
+      "atomic_expanded_node_id": "as5",
+      "state": [
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | with_reach(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s5"
+      ],
+      "appears_in_edge_before_ids": [],
+      "appears_in_edge_after_ids": [
+        "ae12",
+        "ae38",
+        "ae96",
+        "ae106",
+        "ae124",
+        "ae165",
+        "ae211",
+        "ae220"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0006",
+      "atomic_expanded_node_id": "as6",
+      "state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s6"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae12",
+        "ae38",
+        "ae39",
+        "ae41",
+        "ae44",
+        "ae96",
+        "ae106",
+        "ae107",
+        "ae109",
+        "ae112",
+        "ae124",
+        "ae136",
+        "ae165",
+        "ae166",
+        "ae168",
+        "ae171",
+        "ae211",
+        "ae212",
+        "ae214",
+        "ae217",
+        "ae220",
+        "ae225"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae11",
+        "ae14",
+        "ae44",
+        "ae95",
+        "ae98",
+        "ae112",
+        "ae123",
+        "ae126",
+        "ae171",
+        "ae217",
+        "ae219",
+        "ae222"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0007",
+      "atomic_expanded_node_id": "as7",
+      "state": [
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "state_key": "closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | with_reach(BP_Desk_003_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s7"
+      ],
+      "appears_in_edge_before_ids": [],
+      "appears_in_edge_after_ids": [
+        "ae19",
+        "ae52",
+        "ae84",
+        "ae115",
+        "ae131",
+        "ae147",
+        "ae194",
+        "ae203"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0008",
+      "atomic_expanded_node_id": "as8",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | with_reach(BP_Desk_003_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [
+        "s8"
+      ],
+      "appears_in_edge_before_ids": [
+        "ae19",
+        "ae52",
+        "ae53",
+        "ae55",
+        "ae58",
+        "ae84",
+        "ae115",
+        "ae116",
+        "ae118",
+        "ae121",
+        "ae131",
+        "ae139",
+        "ae147",
+        "ae148",
+        "ae150",
+        "ae153",
+        "ae194",
+        "ae195",
+        "ae197",
+        "ae200",
+        "ae203",
+        "ae208"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae18",
+        "ae21",
+        "ae58",
+        "ae83",
+        "ae86",
+        "ae121",
+        "ae130",
+        "ae133",
+        "ae153",
+        "ae200",
+        "ae202",
+        "ae205"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0009",
+      "atomic_expanded_node_id": "as9",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae1",
+        "ae9"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae0",
+        "ae8"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0010",
+      "atomic_expanded_node_id": "as10",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae4",
+        "ae7"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae3",
+        "ae6"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0011",
+      "atomic_expanded_node_id": "as11",
+      "state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae11",
+        "ae14",
+        "ae95",
+        "ae98",
+        "ae123",
+        "ae126",
+        "ae219",
+        "ae222"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae10",
+        "ae13",
+        "ae94",
+        "ae97",
+        "ae122",
+        "ae125",
+        "ae218",
+        "ae221"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0012",
+      "atomic_expanded_node_id": "as12",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | with_reach(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae18",
+        "ae21",
+        "ae83",
+        "ae86",
+        "ae130",
+        "ae133",
+        "ae202",
+        "ae205"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae17",
+        "ae20",
+        "ae82",
+        "ae85",
+        "ae129",
+        "ae132",
+        "ae201",
+        "ae204"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0013",
+      "atomic_expanded_node_id": "as13",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae25",
+        "ae29",
+        "ae60",
+        "ae64",
+        "ae76",
+        "ae80",
+        "ae90",
+        "ae93",
+        "ae143",
+        "ae145",
+        "ae155",
+        "ae159",
+        "ae188",
+        "ae192",
+        "ae229",
+        "ae233"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae24",
+        "ae28",
+        "ae59",
+        "ae63",
+        "ae75",
+        "ae79",
+        "ae89",
+        "ae92",
+        "ae142",
+        "ae144",
+        "ae154",
+        "ae158",
+        "ae187",
+        "ae191",
+        "ae228",
+        "ae232"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0014",
+      "atomic_expanded_node_id": "as14",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | open(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae33",
+        "ae36",
+        "ae47",
+        "ae50",
+        "ae69",
+        "ae72",
+        "ae102",
+        "ae105",
+        "ae114",
+        "ae163",
+        "ae174",
+        "ae177",
+        "ae182",
+        "ae185",
+        "ae237",
+        "ae240"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae32",
+        "ae35",
+        "ae46",
+        "ae49",
+        "ae68",
+        "ae71",
+        "ae101",
+        "ae104",
+        "ae113",
+        "ae162",
+        "ae173",
+        "ae176",
+        "ae181",
+        "ae184",
+        "ae236",
+        "ae239"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0015",
+      "atomic_expanded_node_id": "as15",
+      "state": [
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_Desk_003_C_1)",
+        "open(BP_Desk_003_C_1)",
+        "open(BP_ShoesBox_C_0)",
+        "with_reach(BP_ShoesBox_C_0)"
+      ],
+      "state_key": "empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_Desk_003_C_1) | open(BP_Desk_003_C_1) | open(BP_ShoesBox_C_0) | with_reach(BP_ShoesBox_C_0)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae40",
+        "ae42",
+        "ae108",
+        "ae110",
+        "ae137",
+        "ae167",
+        "ae169",
+        "ae213",
+        "ae215",
+        "ae226"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae39",
+        "ae41",
+        "ae107",
+        "ae109",
+        "ae136",
+        "ae166",
+        "ae168",
+        "ae212",
+        "ae214",
+        "ae225"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    },
+    {
+      "state_id": "state_0016",
+      "atomic_expanded_node_id": "as16",
+      "state": [
+        "closed(BP_Desk_003_C_1)",
+        "closed(BP_ShoesBox_C_0)",
+        "empty",
+        "exists(BP_Desk_003_C_1)",
+        "exists(BP_ShoesBox_C_0)",
+        "in_view(BP_ShoesBox_C_0)",
+        "with_reach(BP_Desk_003_C_1)"
+      ],
+      "state_key": "closed(BP_Desk_003_C_1) | closed(BP_ShoesBox_C_0) | empty | exists(BP_Desk_003_C_1) | exists(BP_ShoesBox_C_0) | in_view(BP_ShoesBox_C_0) | with_reach(BP_Desk_003_C_1)",
+      "is_initial_state": false,
+      "is_goal_state": false,
+      "appears_in_node_ids": [],
+      "appears_in_edge_before_ids": [
+        "ae54",
+        "ae56",
+        "ae117",
+        "ae119",
+        "ae140",
+        "ae149",
+        "ae151",
+        "ae196",
+        "ae198",
+        "ae209"
+      ],
+      "appears_in_edge_after_ids": [
+        "ae53",
+        "ae55",
+        "ae116",
+        "ae118",
+        "ae139",
+        "ae148",
+        "ae150",
+        "ae195",
+        "ae197",
+        "ae208"
+      ],
+      "appears_in_atomic_step_before_ids": [],
+      "appears_in_atomic_step_after_ids": [],
+      "terminal_branch_statuses": [],
+      "state_sources": [
+        "atomic_expanded_graph"
+      ],
+      "image_capture": {
+        "need_image": true,
+        "image_path": null
+      }
+    }
+  ],
+  "source_atomic_graph_budget": null
+}