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[], + "appears_in_shortest_success_paths": [], + "appears_in_longer_success_paths": [], + "appears_in_full_edges": [ + "e16", + "e18", + "e32", + "e34", + "e37", + "e39", + "e50", + "e51", + "e66", + "e78", + "e83", + "e85", + "e98", + "e100", + "e124", + "e126" + ], + "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_TableLamp_03_C_1", + "template_id": "look_at_{object}", + "action_type": "look_at", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_Microwave_01_C_2)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_Microwave_01_C_2)", + "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_TableLamp_03_C_1", + "template_id": "walk_to_{object}", + "action_type": "walk_to", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_Microwave_01_C_2)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_TableLamp_03_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": "switch_on_BP_TableLamp_03_C_1", + "template_id": "switch_on_{object}", + "action_type": "switch_on", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1) | with_reach(BP_TableLamp_03_C_1)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_TableLamp_03_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_Microwave_01_C_2", + "template_id": "look_at_{object}", + "action_type": "look_at", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_TableLamp_03_C_1)", + "powered_on(BP_Microwave_01_C_2)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "powered_on(BP_Microwave_01_C_2)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_TableLamp_03_C_1) | powered_on(BP_Microwave_01_C_2) | with_reach(BP_TableLamp_03_C_1)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1) | powered_on(BP_Microwave_01_C_2) | with_reach(BP_TableLamp_03_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", + "e63", + "e64", + "e77", + "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_Microwave_01_C_2", + "template_id": "walk_to_{object}", + "action_type": "walk_to", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "powered_on(BP_Microwave_01_C_2)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "powered_on(BP_Microwave_01_C_2)", + "with_reach(BP_Microwave_01_C_2)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1) | powered_on(BP_Microwave_01_C_2) | with_reach(BP_TableLamp_03_C_1)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1) | powered_on(BP_Microwave_01_C_2) | with_reach(BP_Microwave_01_C_2)", + "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", + "e63", + "e64", + "e77", + "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_Microwave_01_C_2", + "template_id": "look_at_{object}", + "action_type": "look_at", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_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_Microwave_01_C_2", + "template_id": "walk_to_{object}", + "action_type": "walk_to", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1) | with_reach(BP_Microwave_01_C_2)", + "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": "switch_on_BP_Microwave_01_C_2", + "template_id": "switch_on_{object}", + "action_type": "switch_on", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "powered_on(BP_Microwave_01_C_2)", + "with_reach(BP_Microwave_01_C_2)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1) | with_reach(BP_Microwave_01_C_2)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1) | powered_on(BP_Microwave_01_C_2) | with_reach(BP_Microwave_01_C_2)", + "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_Microwave_01_C_2", + "template_id": "look_at_{object}", + "action_type": "look_at", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_TableLamp_03_C_1)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_TableLamp_03_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_Microwave_01_C_2", + "template_id": "walk_to_{object}", + "action_type": "walk_to", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_TableLamp_03_C_1)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_Microwave_01_C_2)", + "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": "switch_on_BP_Microwave_01_C_2", + "template_id": "switch_on_{object}", + "action_type": "switch_on", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_on(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_Microwave_01_C_2)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_Microwave_01_C_2) | powered_on(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_Microwave_01_C_2)", + "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": "switch_off_BP_TableLamp_03_C_1", + "template_id": "switch_off_{object}", + "action_type": "switch_off", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "before_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_on(BP_TableLamp_03_C_1) | with_reach(BP_TableLamp_03_C_1)", + "after_state_key": "empty | exists(BP_Microwave_01_C_2) | exists(BP_TableLamp_03_C_1) | in_view(BP_TableLamp_03_C_1) | powered_off(BP_Microwave_01_C_2) | powered_off(BP_TableLamp_03_C_1) | with_reach(BP_TableLamp_03_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", + "e36", + "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 + } + } + ] +} \ No newline at end of file diff --git a/input/merged/tasks/task_L2_HL_v5_adult_0017/input/task_L2_HL_v5_adult_0017_success_paths.json b/input/merged/tasks/task_L2_HL_v5_adult_0017/input/task_L2_HL_v5_adult_0017_success_paths.json new file mode 100644 index 0000000000000000000000000000000000000000..f49baa1cabbe6301ffbd93bdfbd319d07513953c --- /dev/null +++ b/input/merged/tasks/task_L2_HL_v5_adult_0017/input/task_L2_HL_v5_adult_0017_success_paths.json @@ -0,0 +1,556 @@ +{ + "task_id": "task_L2_HL_v5_adult_0017", + "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": "power_on_{object}__BP_TableLamp_03_C_1", + "template_id": "subtask_0006", + "source": "subtask", + "action_type": "power_on", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ] + }, + { + "action": "power_on_{object}__BP_Microwave_01_C_2", + "template_id": "subtask_0006", + "source": "subtask", + "action_type": "power_on", + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_Microwave_01_C_2)", + "powered_on(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_Microwave_01_C_2)" + ] + } + ], + "atomic_steps": [ + { + "atomic_step_id": null, + "parent_edge_id": null, + "parent_action": "power_on_{object}__BP_TableLamp_03_C_1", + "parent_source": "subtask", + "atomic_action": "look_at_BP_TableLamp_03_C_1", + "template_id": "look_at_{object}", + "action_type": "look_at", + "role_bindings": { + "r1": "BP_TableLamp_03_C_1" + }, + "required_preconditions": [ + "exists(BP_TableLamp_03_C_1)" + ], + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)" + ], + "path_edge_ids": [] + }, + { + "atomic_step_id": null, + "parent_edge_id": null, + "parent_action": "power_on_{object}__BP_TableLamp_03_C_1", + "parent_source": "subtask", + "atomic_action": "walk_to_BP_TableLamp_03_C_1", + "template_id": "walk_to_{object}", + "action_type": "walk_to", + "role_bindings": { + "r1": "BP_TableLamp_03_C_1" + }, + "required_preconditions": [ + "in_view(BP_TableLamp_03_C_1)" + ], + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "path_edge_ids": [] + }, + { + "atomic_step_id": null, + "parent_edge_id": null, + "parent_action": "power_on_{object}__BP_TableLamp_03_C_1", + "parent_source": "subtask", + "atomic_action": "switch_on_BP_TableLamp_03_C_1", + "template_id": "switch_on_{object}", + "action_type": "switch_on", + "role_bindings": { + "r1": "BP_TableLamp_03_C_1" + }, + "required_preconditions": [ + "powered_off(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "before_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_off(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "after_state": [ + "empty", + "exists(BP_Microwave_01_C_2)", + "exists(BP_TableLamp_03_C_1)", + "in_view(BP_TableLamp_03_C_1)", + "powered_off(BP_Microwave_01_C_2)", + "powered_on(BP_TableLamp_03_C_1)", + "with_reach(BP_TableLamp_03_C_1)" + ], + "path_edge_ids": [] + }, + { + "atomic_step_id": null, + "parent_edge_id": null, + "parent_action": "power_on_{object}__BP_Microwave_01_C_2", + "parent_source": "subtask", + "atomic_action": "look_at_BP_Microwave_01_C_2", + "template_id": "look_at_{object}", + "action_type": "look_at", + "role_bindings": { + "r1": "BP_Microwave_01_C_2" + }, + "required_preconditions": [ + 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| with_reach(BP_Frigerator_KidType_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": "open_BP_Microwave_01_C_2", + "template_id": "open_{object}", + "action_type": "open", + "before_state": [ + "closed(BP_Microwave_01_C_2)", + "empty", + "exists(BP_Frigerator_KidType_C_0)", + "exists(BP_Microwave_01_C_2)", + "in_view(BP_Microwave_01_C_2)", + "open(BP_Frigerator_KidType_C_0)", + "with_reach(BP_Microwave_01_C_2)" + ], + "after_state": [ + "empty", + "exists(BP_Frigerator_KidType_C_0)", + "exists(BP_Microwave_01_C_2)", + "in_view(BP_Microwave_01_C_2)", + "open(BP_Frigerator_KidType_C_0)", + "open(BP_Microwave_01_C_2)", + "with_reach(BP_Microwave_01_C_2)" + ], + "before_state_key": "closed(BP_Microwave_01_C_2) | empty | exists(BP_Frigerator_KidType_C_0) | exists(BP_Microwave_01_C_2) | in_view(BP_Microwave_01_C_2) | open(BP_Frigerator_KidType_C_0) | with_reach(BP_Microwave_01_C_2)", + "after_state_key": "empty | exists(BP_Frigerator_KidType_C_0) | exists(BP_Microwave_01_C_2) | in_view(BP_Microwave_01_C_2) | open(BP_Frigerator_KidType_C_0) | open(BP_Microwave_01_C_2) | with_reach(BP_Microwave_01_C_2)", + "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", + "e36", + "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 + } + } + ] +} \ No newline at end of file diff --git a/input/merged/tasks/task_L2_HL_v5_adult_0021/input/task_L2_HL_v5_adult_0021_success_paths.json b/input/merged/tasks/task_L2_HL_v5_adult_0021/input/task_L2_HL_v5_adult_0021_success_paths.json new file mode 100644 index 0000000000000000000000000000000000000000..c18ba6bf63be4f9984637faf34741993a8e3ac45 --- /dev/null +++ b/input/merged/tasks/task_L2_HL_v5_adult_0021/input/task_L2_HL_v5_adult_0021_success_paths.json @@ -0,0 +1,556 @@ +{ + "task_id": "task_L2_HL_v5_adult_0021", + "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": "close_container_{object}__BP_Microwave_01_C_2", + 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