[
  {
    "event": "episode_started",
    "scenario": "make_tea_replica_cad",
    "schema_version": 2,
    "preparation_site": "dining_table",
    "objects": [
      {
        "name": "mug",
        "category": "mug",
        "true_site": "side_table",
        "semantic_id": 9001,
        "template_search": "data/versioned_data/replica_cad_dataset/configs/objects/frl_apartment_cup_01.object_config.json",
        "template_candidates": [
          "frl_apartment_cup_01",
          "coffee_cup",
          "mug",
          "cup"
        ],
        "template_exclusions": [],
        "position_offset": [
          0.0,
          0.0,
          0.0
        ],
        "vertical_offset": 0.0,
        "affordances": [
          "graspable",
          "container",
          "fillable"
        ],
        "task_relevance": 1.0,
        "state_priors": {
          "contains_water": 0.01,
          "water_hot": 0.01,
          "tea_brewed": 0.01,
          "served": 0.01
        },
        "hidden_state_truth": {
          "contains_water": false,
          "water_hot": false,
          "tea_brewed": false,
          "served": false
        },
        "metadata": {
          "visual_proxy": "mug"
        }
      },
      {
        "name": "kettle",
        "category": "kettle",
        "true_site": "kitchen_counter",
        "semantic_id": 9002,
        "template_search": "data/versioned_data/replica_cad_dataset/configs/objects/frl_apartment_cup_01.object_config.json",
        "template_candidates": [
          "electric_kettle",
          "tea_kettle",
          "kettle",
          "teapot",
          "water_pitcher",
          "pitcher",
          "jug",
          "coffee_maker",
          "pot"
        ],
        "template_exclusions": [
          "cup",
          "mug"
        ],
        "position_offset": [
          0.0,
          0.0,
          0.0
        ],
        "vertical_offset": 0.0,
        "affordances": [
          "graspable",
          "container",
          "fillable",
          "pourable",
          "heatable"
        ],
        "task_relevance": 1.0,
        "state_priors": {
          "contains_water": 0.35,
          "water_hot": 0.01
        },
        "hidden_state_truth": {
          "contains_water": false,
          "water_hot": false
        },
        "metadata": {
          "visual_proxy": "auto-select kettle, teapot, pitcher or pot; cup fallback"
        }
      },
      {
        "name": "teabag",
        "category": "teabag",
        "true_site": "console_table",
        "semantic_id": 9003,
        "template_search": "data/versioned_data/replica_cad_dataset/configs/objects/frl_apartment_cup_01.object_config.json",
        "template_candidates": [
          "tea_box",
          "teabag",
          "tea_bag",
          "tea_packet",
          "sachet",
          "small_box",
          "cracker_box",
          "packet",
          "sponge",
          "soap",
          "coaster"
        ],
        "template_exclusions": [
          "cup",
          "mug"
        ],
        "position_offset": [
          0.0,
          0.0,
          0.0
        ],
        "vertical_offset": 0.0,
        "affordances": [
          "graspable",
          "steepable"
        ],
        "task_relevance": 1.0,
        "state_priors": {
          "steeped": 0.01
        },
        "hidden_state_truth": {
          "steeped": false
        },
        "metadata": {
          "visual_proxy": "auto-select packet, small box or sponge; cup fallback"
        }
      }
    ],
    "resolved_assets": {
      "mug": {
        "object_name": "mug",
        "handle": "data/versioned_data/replica_cad_dataset/configs/objects/frl_apartment_cup_01.object_config.json",
        "matched_query": "frl_apartment_cup_01",
        "score": 598.08,
        "used_fallback": false
      },
      "kettle": {
        "object_name": "kettle",
        "handle": "data/versioned_data/replica_cad_dataset/configs/objects/frl_apartment_cup_01.object_config.json",
        "matched_query": "data/versioned_data/replica_cad_dataset/configs/objects/frl_apartment_cup_01.object_config.json",
        "score": 1098.08,
        "used_fallback": true
      },
      "teabag": {
        "object_name": "teabag",
        "handle": "data/versioned_data/replica_cad_dataset/configs/objects/frl_apartment_sponge_dish.object_config.json",
        "matched_query": "sponge",
        "score": 590.03,
        "used_fallback": false
      }
    },
    "hidden_state_truth": {
      "mug": {
        "contains_water": false,
        "water_hot": false,
        "tea_brewed": false,
        "served": false
      },
      "kettle": {
        "contains_water": false,
        "water_hot": false
      },
      "teabag": {
        "steeped": false
      }
    },
    "rendering": {
      "view": "multi",
      "first_person_inset_scale": 0.29,
      "third_person_distance": 1.0,
      "third_person_height": 2.2,
      "third_person_pitch_deg": -22.0,
      "third_person_hfov_deg": 78.0,
      "agent_marker": true,
      "agent_marker_anchor": [
        0.5,
        0.58
      ]
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "beliefs": {
      "mug": {
        "kitchen_counter": 0.45,
        "dining_table": 0.3,
        "side_table": 0.15,
        "living_room_table": 0.05,
        "console_table": 0.05
      },
      "kettle": {
        "kitchen_counter": 0.65,
        "dining_table": 0.15,
        "side_table": 0.05,
        "living_room_table": 0.1,
        "console_table": 0.05
      },
      "teabag": {
        "kitchen_counter": 0.35,
        "dining_table": 0.25,
        "side_table": 0.05,
        "living_room_table": 0.1,
        "console_table": 0.25
      }
    }
  },
  {
    "event": "search_decision",
    "task_frontier": "search_mug",
    "object": "kettle",
    "site": "kitchen_counter",
    "G": -2.9838511865095874,
    "base_G": -2.4069281095865103,
    "task_relevance": 0.7692307692307693,
    "search_relevance": {
      "mug": 1.0,
      "teabag": 0.7692307692307693,
      "kettle": 0.7692307692307693
    },
    "p_target": 0.65,
    "info_gain": 0.5836659427883051,
    "distance": 2.0928540229797363,
    "candidates": [
      {
        "site": "kitchen_counter",
        "G": -2.9838511865095874,
        "distance": 2.0928540229797363,
        "p_target": 0.65,
        "info_gain": 0.5836659427883051,
        "expected_entropy": 0.510742687059476,
        "already_inspected": false,
        "object_name": "kettle",
        "object_category": "kettle",
        "site_name": "kitchen_counter",
        "base_G": -2.4069281095865103,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "kitchen_counter",
        "G": -2.6132658845062764,
        "distance": 2.0928540229797363,
        "p_target": 0.45,
        "info_gain": 0.6212244594014824,
        "expected_entropy": 0.6834370702825767,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "kitchen_counter",
        "base_G": -1.8632658845062764,
        "task_relevance": 1.0
      },
      {
        "site": "dining_table",
        "G": -2.108441062370524,
        "distance": 1.8638584613800049,
        "p_target": 0.3,
        "info_gain": 0.5541418364310167,
        "expected_entropy": 0.7505196932530425,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "dining_table",
        "base_G": -1.3584410623705239,
        "task_relevance": 1.0
      },
      {
        "site": "kitchen_counter",
        "G": -2.0924119275700965,
        "distance": 2.0928540229797363,
        "p_target": 0.35,
        "info_gain": 0.5893731034953112,
        "expected_entropy": 0.8512569436162755,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "kitchen_counter",
        "base_G": -1.5154888506470194,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "dining_table",
        "G": -1.7251455995234442,
        "distance": 1.8638584613800049,
        "p_target": 0.25,
        "info_gain": 0.5139961432509121,
        "expected_entropy": 0.9266339038606746,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "dining_table",
        "base_G": -1.1482225226003673,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "console_table",
        "G": -1.6162975999506903,
        "distance": 2.4080984592437744,
        "p_target": 0.25,
        "info_gain": 0.5139961432509121,
        "expected_entropy": 0.9266339038606746,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "console_table",
        "base_G": -1.0393745230276132,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "dining_table",
        "G": -1.233075941634557,
        "distance": 1.8638584613800049,
        "p_target": 0.15,
        "info_gain": 0.3859497046583207,
        "expected_entropy": 0.7084589251894604,
        "already_inspected": false,
        "object_name": "kettle",
        "object_category": "kettle",
        "site_name": "dining_table",
        "base_G": -0.65615286471148,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "side_table",
        "G": -1.0169186203430192,
        "distance": 3.823821783065796,
        "p_target": 0.15,
        "info_gain": 0.3877886513041189,
        "expected_entropy": 0.9168728783799402,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "side_table",
        "base_G": -0.26691862034301905,
        "task_relevance": 1.0
      },
      {
        "site": "living_room_table",
        "G": -0.9536857534203583,
        "distance": 1.8694770336151123,
        "p_target": 0.1,
        "info_gain": 0.3004387221468692,
        "expected_entropy": 1.1401913249647175,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "living_room_table",
        "base_G": -0.37676267649728135,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "living_room_table",
        "G": -0.9508165151557411,
        "distance": 1.8694770336151123,
        "p_target": 0.1,
        "info_gain": 0.29852589663712437,
        "expected_entropy": 0.7958827332106567,
        "already_inspected": false,
        "object_name": "kettle",
        "object_category": "kettle",
        "site_name": "living_room_table",
        "base_G": -0.37389343823266413,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "living_room_table",
        "G": -0.8022701145607647,
        "distance": 1.8694770336151123,
        "p_target": 0.05,
        "info_gain": 0.18411034752252475,
        "expected_entropy": 1.1205511821615344,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "living_room_table",
        "base_G": -0.05227011456076469,
        "task_relevance": 1.0
      },
      {
        "site": "console_table",
        "G": -0.6945458294350322,
        "distance": 2.4080984592437744,
        "p_target": 0.05,
        "info_gain": 0.18411034752252475,
        "expected_entropy": 1.1205511821615344,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "console_table",
        "base_G": 0.055454170564967764,
        "task_relevance": 1.0
      },
      {
        "site": "console_table",
        "G": -0.5206411390359192,
        "distance": 2.4080984592437744,
        "p_target": 0.05,
        "info_gain": 0.18355850264106477,
        "expected_entropy": 0.9108501272067163,
        "already_inspected": false,
        "object_name": "kettle",
        "object_category": "kettle",
        "site_name": "console_table",
        "base_G": 0.05628193788715774,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "side_table",
        "G": -0.2388595507174357,
        "distance": 3.823821783065796,
        "p_target": 0.05,
        "info_gain": 0.1844672202716786,
        "expected_entropy": 1.256162826839908,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "side_table",
        "base_G": 0.3380635262056413,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "side_table",
        "G": -0.23749647427151493,
        "distance": 3.823821783065796,
        "p_target": 0.05,
        "info_gain": 0.18355850264106477,
        "expected_entropy": 0.9108501272067163,
        "already_inspected": false,
        "object_name": "kettle",
        "object_category": "kettle",
        "site_name": "side_table",
        "base_G": 0.33942660265156205,
        "task_relevance": 0.7692307692307693
      }
    ]
  },
  {
    "event": "search_observation",
    "site": "kitchen_counter",
    "detections": {
      "mug": false,
      "teabag": false,
      "kettle": true
    },
    "visible_pixels": {
      "mug": 0,
      "teabag": 0,
      "kettle": 579
    },
    "updates": {
      "mug": {
        "detected": false,
        "belief": {
          "kitchen_counter": 0.03930131004366812,
          "dining_table": 0.5240174672489082,
          "side_table": 0.2620087336244541,
          "living_room_table": 0.0873362445414847,
          "console_table": 0.0873362445414847
        },
        "confirmed_site": null
      },
      "teabag": {
        "detected": false,
        "belief": {
          "kitchen_counter": 0.026217228464419474,
          "dining_table": 0.37453183520599254,
          "side_table": 0.0749063670411985,
          "living_room_table": 0.149812734082397,
          "console_table": 0.37453183520599254
        },
        "confirmed_site": null
      },
      "kettle": {
        "detected": true,
        "belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        },
        "confirmed_site": "kitchen_counter"
      }
    },
    "beliefs": {
      "mug": {
        "kitchen_counter": 0.03930131004366812,
        "dining_table": 0.5240174672489082,
        "side_table": 0.2620087336244541,
        "living_room_table": 0.0873362445414847,
        "console_table": 0.0873362445414847
      },
      "kettle": {
        "kitchen_counter": 0.9996001599360256,
        "dining_table": 9.996001599360257e-05,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 9.996001599360257e-05
      },
      "teabag": {
        "kitchen_counter": 0.026217228464419474,
        "dining_table": 0.37453183520599254,
        "side_table": 0.0749063670411985,
        "living_room_table": 0.149812734082397,
        "console_table": 0.37453183520599254
      }
    },
    "resolved_objects": [
      "kettle"
    ],
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    }
  },
  {
    "event": "search_decision",
    "task_frontier": "search_mug",
    "object": "mug",
    "site": "dining_table",
    "G": -2.4787735030360305,
    "base_G": -1.7287735030360305,
    "task_relevance": 1.0,
    "search_relevance": {
      "mug": 1.0,
      "teabag": 0.7692307692307693
    },
    "p_target": 0.5240174672489082,
    "info_gain": 0.6232078777984208,
    "distance": 3.890453577041626,
    "candidates": [
      {
        "site": "dining_table",
        "G": -2.4787735030360305,
        "distance": 3.890453577041626,
        "p_target": 0.5240174672489082,
        "info_gain": 0.6232078777984208,
        "expected_entropy": 0.6194049772608096,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "dining_table",
        "base_G": -1.7287735030360305,
        "task_relevance": 1.0
      },
      {
        "site": "console_table",
        "G": -2.232649989462243,
        "distance": 1.8237773180007935,
        "p_target": 0.37453183520599254,
        "info_gain": 0.5979245803475649,
        "expected_entropy": 0.7117014867543973,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "console_table",
        "base_G": -1.6557269125391663,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "side_table",
        "G": -1.8481382313340742,
        "distance": 2.353790044784546,
        "p_target": 0.2620087336244541,
        "info_gain": 0.5219133596117473,
        "expected_entropy": 0.720699495447483,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "side_table",
        "base_G": -1.0981382313340742,
        "task_relevance": 1.0
      },
      {
        "site": "dining_table",
        "G": -1.8193147376540768,
        "distance": 3.890453577041626,
        "p_target": 0.37453183520599254,
        "info_gain": 0.5979245803475649,
        "expected_entropy": 0.7117014867543973,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "dining_table",
        "base_G": -1.2423916607309997,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "living_room_table",
        "G": -1.1653088592910823,
        "distance": 2.211815595626831,
        "p_target": 0.149812734082397,
        "info_gain": 0.3875404661641205,
        "expected_entropy": 0.9220856009378416,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "living_room_table",
        "base_G": -0.5883857823680054,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "console_table",
        "G": -1.0571477406815837,
        "distance": 1.8237773180007935,
        "p_target": 0.0873362445414847,
        "info_gain": 0.2732629804381922,
        "expected_entropy": 0.9693498746210382,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "console_table",
        "base_G": -0.3071477406815837,
        "task_relevance": 1.0
      },
      {
        "site": "living_room_table",
        "G": -0.9795400851563758,
        "distance": 2.211815595626831,
        "p_target": 0.0873362445414847,
        "info_gain": 0.27326298043819197,
        "expected_entropy": 0.9693498746210384,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "living_room_table",
        "base_G": -0.2295400851563758,
        "task_relevance": 1.0
      },
      {
        "site": "side_table",
        "G": -0.699985818834132,
        "distance": 2.353790044784546,
        "p_target": 0.0749063670411985,
        "info_gain": 0.24606776649624584,
        "expected_entropy": 1.0635583006057163,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "side_table",
        "base_G": -0.12306274191105504,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "kitchen_counter",
        "G": -0.09404836906250524,
        "distance": 0.022847961634397507,
        "p_target": 0.03930131004366812,
        "info_gain": 0.1538093541722536,
        "expected_entropy": 1.0888035008869767,
        "already_inspected": true,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "kitchen_counter",
        "base_G": 0.6559516309374948,
        "task_relevance": 1.0
      },
      {
        "site": "kitchen_counter",
        "G": 0.17953982605305074,
        "distance": 0.022847961634397507,
        "p_target": 0.026217228464419474,
        "info_gain": 0.1129700026383289,
        "expected_entropy": 1.1966560644636333,
        "already_inspected": true,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "kitchen_counter",
        "base_G": 0.7564629029761277,
        "task_relevance": 0.7692307692307693
      }
    ]
  },
  {
    "event": "search_observation",
    "site": "dining_table",
    "detections": {
      "mug": false,
      "teabag": false
    },
    "visible_pixels": {
      "mug": 0,
      "teabag": 0
    },
    "updates": {
      "mug": {
        "detected": false,
        "belief": {
          "kitchen_counter": 0.07826086956521738,
          "dining_table": 0.05217391304347826,
          "side_table": 0.5217391304347826,
          "living_room_table": 0.17391304347826084,
          "console_table": 0.17391304347826084
        },
        "confirmed_site": null
      },
      "teabag": {
        "detected": false,
        "belief": {
          "kitchen_counter": 0.04069767441860465,
          "dining_table": 0.029069767441860465,
          "side_table": 0.11627906976744186,
          "living_room_table": 0.23255813953488372,
          "console_table": 0.5813953488372093
        },
        "confirmed_site": null
      }
    },
    "beliefs": {
      "mug": {
        "kitchen_counter": 0.07826086956521738,
        "dining_table": 0.05217391304347826,
        "side_table": 0.5217391304347826,
        "living_room_table": 0.17391304347826084,
        "console_table": 0.17391304347826084
      },
      "kettle": {
        "kitchen_counter": 0.9996001599360256,
        "dining_table": 9.996001599360257e-05,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 9.996001599360257e-05
      },
      "teabag": {
        "kitchen_counter": 0.04069767441860465,
        "dining_table": 0.029069767441860465,
        "side_table": 0.11627906976744186,
        "living_room_table": 0.23255813953488372,
        "console_table": 0.5813953488372093
      }
    },
    "resolved_objects": [],
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    }
  },
  {
    "event": "search_decision",
    "task_frontier": "search_mug",
    "object": "teabag",
    "site": "console_table",
    "G": -2.451708207611213,
    "base_G": -1.874785130688136,
    "task_relevance": 0.7692307692307693,
    "search_relevance": {
      "mug": 1.0,
      "teabag": 0.7692307692307693
    },
    "p_target": 0.5813953488372093,
    "info_gain": 0.608974243983883,
    "distance": 3.914311408996582,
    "candidates": [
      {
        "site": "console_table",
        "G": -2.451708207611213,
        "distance": 3.914311408996582,
        "p_target": 0.5813953488372093,
        "info_gain": 0.608974243983883,
        "expected_entropy": 0.5288957977132671,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "console_table",
        "base_G": -1.874785130688136,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "side_table",
        "G": -2.1743229404395095,
        "distance": 5.402116298675537,
        "p_target": 0.5217391304347826,
        "info_gain": 0.6263525392468463,
        "expected_entropy": 0.6749661744478821,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "side_table",
        "base_G": -1.4243229404395095,
        "task_relevance": 1.0
      },
      {
        "site": "living_room_table",
        "G": -1.2698283707015758,
        "distance": 3.711646795272827,
        "p_target": 0.23255813953488372,
        "info_gain": 0.49170682281894207,
        "expected_entropy": 0.646163218878208,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "living_room_table",
        "base_G": -0.6929052937784989,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "living_room_table",
        "G": -1.163823946448716,
        "distance": 3.711646795272827,
        "p_target": 0.17391304347826084,
        "info_gain": 0.42294278337899927,
        "expected_entropy": 0.8783759303157291,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "living_room_table",
        "base_G": -0.4138239464487159,
        "task_relevance": 1.0
      },
      {
        "site": "console_table",
        "G": -1.1232910237039646,
        "distance": 3.914311408996582,
        "p_target": 0.17391304347826084,
        "info_gain": 0.42294278337899915,
        "expected_entropy": 0.8783759303157292,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "console_table",
        "base_G": -0.3732910237039647,
        "task_relevance": 1.0
      },
      {
        "site": "side_table",
        "G": -0.3399174435831023,
        "distance": 5.402116298675537,
        "p_target": 0.11627906976744186,
        "info_gain": 0.32972027806187154,
        "expected_entropy": 0.8081497636352786,
        "already_inspected": false,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "side_table",
        "base_G": 0.2370056333399747,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "dining_table",
        "G": -0.18741784481781654,
        "distance": 0.020028937608003616,
        "p_target": 0.05217391304347826,
        "info_gain": 0.189934595472655,
        "expected_entropy": 1.1113841182220734,
        "already_inspected": true,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "dining_table",
        "base_G": 0.5625821551821835,
        "task_relevance": 1.0
      },
      {
        "site": "dining_table",
        "G": 0.1567148720988759,
        "distance": 0.020028937608003616,
        "p_target": 0.029069767441860465,
        "info_gain": 0.12210569078271094,
        "expected_entropy": 1.0157643509144392,
        "already_inspected": true,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "dining_table",
        "base_G": 0.7336379490219529,
        "task_relevance": 0.7692307692307693
      },
      {
        "site": "kitchen_counter",
        "G": 0.41337564158525897,
        "distance": 3.893200635910034,
        "p_target": 0.07826086956521738,
        "info_gain": 0.25365458460073054,
        "expected_entropy": 1.0476641290939979,
        "already_inspected": true,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "kitchen_counter",
        "base_G": 1.163375641585259,
        "task_relevance": 1.0
      },
      {
        "site": "kitchen_counter",
        "G": 0.8431175417905427,
        "distance": 3.893200635910034,
        "p_target": 0.04069767441860465,
        "info_gain": 0.15767099014171548,
        "expected_entropy": 0.9801990515554346,
        "already_inspected": true,
        "object_name": "teabag",
        "object_category": "teabag",
        "site_name": "kitchen_counter",
        "base_G": 1.4200406187136196,
        "task_relevance": 0.7692307692307693
      }
    ]
  },
  {
    "event": "search_observation",
    "site": "console_table",
    "detections": {
      "mug": false,
      "teabag": true
    },
    "visible_pixels": {
      "mug": 0,
      "teabag": 567
    },
    "updates": {
      "mug": {
        "detected": false,
        "belief": {
          "kitchen_counter": 0.09375,
          "dining_table": 0.0625,
          "side_table": 0.625,
          "living_room_table": 0.20833333333333331,
          "console_table": 0.010416666666666666
        },
        "confirmed_site": null
      },
      "teabag": {
        "detected": true,
        "belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        },
        "confirmed_site": "console_table"
      }
    },
    "beliefs": {
      "mug": {
        "kitchen_counter": 0.09375,
        "dining_table": 0.0625,
        "side_table": 0.625,
        "living_room_table": 0.20833333333333331,
        "console_table": 0.010416666666666666
      },
      "kettle": {
        "kitchen_counter": 0.9996001599360256,
        "dining_table": 9.996001599360257e-05,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 9.996001599360257e-05
      },
      "teabag": {
        "kitchen_counter": 9.996001599360257e-05,
        "dining_table": 9.996001599360257e-05,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 0.9996001599360256
      }
    },
    "resolved_objects": [
      "teabag"
    ],
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    }
  },
  {
    "event": "search_decision",
    "task_frontier": "search_mug",
    "object": "mug",
    "site": "side_table",
    "G": -3.182921222992029,
    "base_G": -2.432921222992029,
    "task_relevance": 1.0,
    "search_relevance": {
      "mug": 1.0
    },
    "p_target": 0.625,
    "info_gain": 0.5907698340861576,
    "distance": 1.6411676406860352,
    "candidates": [
      {
        "site": "side_table",
        "G": -3.182921222992029,
        "distance": 1.6411676406860352,
        "p_target": 0.625,
        "info_gain": 0.5907698340861576,
        "expected_entropy": 0.4725273447170937,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "side_table",
        "base_G": -2.432921222992029,
        "task_relevance": 1.0
      },
      {
        "site": "living_room_table",
        "G": -1.3508076158381104,
        "distance": 3.601175546646118,
        "p_target": 0.20833333333333331,
        "info_gain": 0.46402848344488934,
        "expected_entropy": 0.5992686953583619,
        "already_inspected": false,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "living_room_table",
        "base_G": -0.6008076158381104,
        "task_relevance": 1.0
      },
      {
        "site": "kitchen_counter",
        "G": -0.0964146304248722,
        "distance": 1.817483901977539,
        "p_target": 0.09375,
        "info_gain": 0.28577427388025334,
        "expected_entropy": 0.7775229049229979,
        "already_inspected": true,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "kitchen_counter",
        "base_G": 0.6535853695751278,
        "task_relevance": 1.0
      },
      {
        "site": "console_table",
        "G": 0.14275358666778637,
        "distance": 0.024910500273108482,
        "p_target": 0.010416666666666666,
        "info_gain": 0.05398567559122358,
        "expected_entropy": 1.0093115032120277,
        "already_inspected": true,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "console_table",
        "base_G": 0.8927535866677864,
        "task_relevance": 1.0
      },
      {
        "site": "dining_table",
        "G": 0.5208654256737044,
        "distance": 3.9092965126037598,
        "p_target": 0.0625,
        "info_gain": 0.21566258456469833,
        "expected_entropy": 0.8476345942385529,
        "already_inspected": true,
        "object_name": "mug",
        "object_category": "mug",
        "site_name": "dining_table",
        "base_G": 1.2708654256737044,
        "task_relevance": 1.0
      }
    ]
  },
  {
    "event": "search_observation",
    "site": "side_table",
    "detections": {
      "mug": true
    },
    "visible_pixels": {
      "mug": 991
    },
    "updates": {
      "mug": {
        "detected": true,
        "belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 0.9996001599360256,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        },
        "confirmed_site": "side_table"
      }
    },
    "beliefs": {
      "mug": {
        "kitchen_counter": 9.996001599360257e-05,
        "dining_table": 9.996001599360257e-05,
        "side_table": 0.9996001599360256,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 9.996001599360257e-05
      },
      "kettle": {
        "kitchen_counter": 0.9996001599360256,
        "dining_table": 9.996001599360257e-05,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 9.996001599360257e-05
      },
      "teabag": {
        "kitchen_counter": 9.996001599360257e-05,
        "dining_table": 9.996001599360257e-05,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 0.9996001599360256
      }
    },
    "resolved_objects": [
      "mug"
    ],
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "pick_mug",
      "kind": "pick",
      "object_name": "mug",
      "target_site": null,
      "parameters": {},
      "label": "Pick up mug"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "side_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 0.9996001599360256,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "console_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "pick_mug",
    "kind": "pick",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 0.9996001599360256,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "console_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "carry_mug",
      "kind": "navigate",
      "object_name": "mug",
      "target_site": "dining_table",
      "parameters": {},
      "label": "Carry mug to dining table"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 0.9996001599360256,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "console_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "carry_mug",
    "kind": "navigate",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 0.9996001599360256,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "console_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "place_mug",
      "kind": "place",
      "object_name": "mug",
      "target_site": "dining_table",
      "parameters": {
        "position_offset": [
          -0.18,
          0.0,
          0.0
        ]
      },
      "label": "Place mug on dining table"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 0.9996001599360256,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "console_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "place_mug",
    "kind": "place",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "console_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "pick_teabag",
      "kind": "pick",
      "object_name": "teabag",
      "target_site": null,
      "parameters": {},
      "label": "Pick up teabag"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "console_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "pick_teabag",
    "kind": "pick",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "carry_teabag",
      "kind": "navigate",
      "object_name": "teabag",
      "target_site": "dining_table",
      "parameters": {},
      "label": "Carry teabag to dining table"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "carry_teabag",
    "kind": "navigate",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "insert_teabag",
      "kind": "insert",
      "object_name": "teabag",
      "target_site": "dining_table",
      "parameters": {
        "container_name": "mug",
        "offset": [
          0.0,
          0.11,
          0.0
        ]
      },
      "label": "Put teabag in mug"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 0.9996001599360256
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "insert_teabag",
    "kind": "insert",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "inspect_kettle_water",
      "kind": "inspect",
      "object_name": "kettle",
      "target_site": null,
      "parameters": {
        "state_name": "contains_water",
        "sensitivity": 0.95,
        "specificity": 0.95
      },
      "label": "Check whether kettle contains water"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.35,
            "probability_false": 0.65,
            "entropy": 0.6474466390346325
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "inspect_kettle_water",
    "kind": "inspect",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.02755905511811026,
            "probability_false": 0.9724409448818897,
            "entropy": 0.1261520221740581
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "fill_kettle",
      "kind": "fill",
      "object_name": "kettle",
      "target_site": null,
      "parameters": {
        "belief_goals": [
          {
            "object_name": "kettle",
            "state_name": "contains_water",
            "probability_at_least": 0.9
          }
        ],
        "belief_effects": [
          {
            "object_name": "kettle",
            "state_name": "contains_water",
            "target_true": true,
            "success_probability": 0.995
          }
        ]
      },
      "label": "Fill kettle with water"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.02755905511811026,
            "probability_false": 0.9724409448818897,
            "entropy": 0.1261520221740581
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "fill_kettle",
    "kind": "fill",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "boil_kettle",
      "kind": "use",
      "object_name": "kettle",
      "target_site": null,
      "parameters": {
        "operation": "boil",
        "required_affordance": "heatable",
        "belief_goals": [
          {
            "object_name": "kettle",
            "state_name": "water_hot",
            "probability_at_least": 0.9
          }
        ],
        "belief_preconditions": [
          {
            "object_name": "kettle",
            "state_name": "contains_water",
            "probability_at_least": 0.85
          }
        ],
        "belief_effects": [
          {
            "object_name": "kettle",
            "state_name": "water_hot",
            "target_true": true,
            "success_probability": 0.995
          }
        ]
      },
      "label": "Boil kettle"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "boil_kettle",
    "kind": "use",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "water_hot": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "pick_kettle",
      "kind": "pick",
      "object_name": "kettle",
      "target_site": null,
      "parameters": {},
      "label": "Pick up hot kettle"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "kitchen_counter",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "water_hot": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "pick_kettle",
    "kind": "pick",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "water_hot": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "carry_kettle",
      "kind": "navigate",
      "object_name": "kettle",
      "target_site": "dining_table",
      "parameters": {},
      "label": "Carry kettle to dining table"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "water_hot": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "carry_kettle",
    "kind": "navigate",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "water_hot": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "pour_hot_water",
      "kind": "pour",
      "object_name": "kettle",
      "target_site": "dining_table",
      "parameters": {
        "destination_object": "mug",
        "belief_preconditions": [
          {
            "object_name": "kettle",
            "state_name": "contains_water",
            "probability_at_least": 0.85
          },
          {
            "object_name": "kettle",
            "state_name": "water_hot",
            "probability_at_least": 0.9
          }
        ],
        "belief_effects": [
          {
            "object_name": "kettle",
            "state_name": "contains_water",
            "target_true": false,
            "success_probability": 0.95
          },
          {
            "object_name": "kettle",
            "state_name": "water_hot",
            "target_true": false,
            "success_probability": 0.95
          },
          {
            "object_name": "mug",
            "state_name": "contains_water",
            "target_true": true,
            "success_probability": 0.99
          },
          {
            "object_name": "mug",
            "state_name": "water_hot",
            "target_true": true,
            "success_probability": 0.97
          }
        ]
      },
      "label": "Pour hot water into mug"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "water_hot": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "pour_hot_water",
    "kind": "pour",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_object": "mug",
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99,
                "posterior_probability_true": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97,
                "posterior_probability_true": 0.97
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.99,
            "probability_false": 0.010000000000000009,
            "entropy": 0.056001534354847386
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.97,
            "probability_false": 0.030000000000000027,
            "entropy": 0.13474216817976684
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          },
          "water_hot": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "place_kettle",
      "kind": "place",
      "object_name": "kettle",
      "target_site": "dining_table",
      "parameters": {
        "position_offset": [
          0.2,
          0.0,
          0.0
        ]
      },
      "label": "Place kettle on dining table"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_object": "mug",
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99,
                "posterior_probability_true": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97,
                "posterior_probability_true": 0.97
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.99,
            "probability_false": 0.010000000000000009,
            "entropy": 0.056001534354847386
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.97,
            "probability_false": 0.030000000000000027,
            "entropy": 0.13474216817976684
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": true,
        "current_site": null,
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          },
          "water_hot": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          }
        },
        "location_belief": {
          "kitchen_counter": 0.9996001599360256,
          "dining_table": 9.996001599360257e-05,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "place_kettle",
    "kind": "place",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_object": "mug",
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99,
                "posterior_probability_true": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97,
                "posterior_probability_true": 0.97
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "pending",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.99,
            "probability_false": 0.010000000000000009,
            "entropy": 0.056001534354847386
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.97,
            "probability_false": 0.030000000000000027,
            "entropy": 0.13474216817976684
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          },
          "water_hot": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "steep_tea",
      "kind": "wait",
      "object_name": "mug",
      "target_site": null,
      "parameters": {
        "duration_seconds": 4,
        "belief_goals": [
          {
            "object_name": "mug",
            "state_name": "tea_brewed",
            "probability_at_least": 0.9
          }
        ],
        "belief_preconditions": [
          {
            "object_name": "mug",
            "state_name": "contains_water",
            "probability_at_least": 0.9
          },
          {
            "object_name": "mug",
            "state_name": "water_hot",
            "probability_at_least": 0.9
          }
        ],
        "belief_effects": [
          {
            "object_name": "mug",
            "state_name": "tea_brewed",
            "target_true": true,
            "success_probability": 0.98
          },
          {
            "object_name": "teabag",
            "state_name": "steeped",
            "target_true": true,
            "success_probability": 0.98
          }
        ]
      },
      "label": "Let tea steep"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_object": "mug",
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99,
                "posterior_probability_true": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97,
                "posterior_probability_true": 0.97
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "active",
          "result": {},
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.99,
            "probability_false": 0.010000000000000009,
            "entropy": 0.056001534354847386
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "water_hot": {
            "probability_true": 0.97,
            "probability_false": 0.030000000000000027,
            "entropy": 0.13474216817976684
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          },
          "water_hot": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "steep_tea",
    "kind": "wait",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_object": "mug",
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99,
                "posterior_probability_true": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97,
                "posterior_probability_true": 0.97
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98,
                "posterior_probability_true": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98,
                "posterior_probability_true": 0.98
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "pending",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.99,
            "probability_false": 0.010000000000000009,
            "entropy": 0.056001534354847386
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.98,
            "probability_false": 0.020000000000000018,
            "entropy": 0.09803911327973205
          },
          "water_hot": {
            "probability_true": 0.97,
            "probability_false": 0.030000000000000027,
            "entropy": 0.13474216817976684
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          },
          "water_hot": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.98,
            "probability_false": 0.020000000000000018,
            "entropy": 0.09803911327973205
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_started",
    "action": {
      "action_id": "serve_tea",
      "kind": "use",
      "object_name": "mug",
      "target_site": null,
      "parameters": {
        "operation": "serve",
        "belief_preconditions": [
          {
            "object_name": "mug",
            "state_name": "tea_brewed",
            "probability_at_least": 0.9
          }
        ],
        "belief_effects": [
          {
            "object_name": "mug",
            "state_name": "served",
            "target_true": true,
            "success_probability": 0.995
          }
        ]
      },
      "label": "Serve tea"
    },
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": false,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_object": "mug",
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99,
                "posterior_probability_true": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97,
                "posterior_probability_true": 0.97
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98,
                "posterior_probability_true": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98,
                "posterior_probability_true": 0.98
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "active",
          "result": {},
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.99,
            "probability_false": 0.010000000000000009,
            "entropy": 0.056001534354847386
          },
          "served": {
            "probability_true": 0.01,
            "probability_false": 0.99,
            "entropy": 0.056001534354847345
          },
          "tea_brewed": {
            "probability_true": 0.98,
            "probability_false": 0.020000000000000018,
            "entropy": 0.09803911327973205
          },
          "water_hot": {
            "probability_true": 0.97,
            "probability_false": 0.030000000000000027,
            "entropy": 0.13474216817976684
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          },
          "water_hot": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.98,
            "probability_false": 0.020000000000000018,
            "entropy": 0.09803911327973205
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "task_action_completed",
    "action_id": "serve_tea",
    "kind": "use",
    "task_graph": {
      "name": "make_tea_at_dining_table",
      "done": true,
      "failed": false,
      "nodes": [
        {
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "label": "Locate mug",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "side_table"
          },
          "error": null
        },
        {
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "label": "Pick up mug",
          "parameters": {},
          "depends_on": [
            "search_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "side_table"
          },
          "error": null
        },
        {
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Carry mug to dining table",
          "parameters": {},
          "depends_on": [
            "pick_mug"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "label": "Place mug on dining table",
          "parameters": {
            "position_offset": [
              -0.18,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "carry_mug"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "label": "Locate teabag",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "console_table"
          },
          "error": null
        },
        {
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "label": "Pick up teabag",
          "parameters": {},
          "depends_on": [
            "search_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "source_site": "console_table"
          },
          "error": null
        },
        {
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Carry teabag to dining table",
          "parameters": {},
          "depends_on": [
            "pick_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "label": "Put teabag in mug",
          "parameters": {
            "container_name": "mug",
            "offset": [
              0.0,
              0.11,
              0.0
            ]
          },
          "depends_on": [
            "carry_teabag",
            "place_mug"
          ],
          "status": "complete",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "label": "Locate kettle",
          "parameters": {},
          "depends_on": [],
          "status": "complete",
          "result": {
            "site_name": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "label": "Check whether kettle contains water",
          "parameters": {
            "state_name": "contains_water",
            "sensitivity": 0.95,
            "specificity": 0.95
          },
          "depends_on": [
            "search_kettle"
          ],
          "status": "complete",
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "label": "Fill kettle with water",
          "parameters": {
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "inspect_kettle_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "label": "Boil kettle",
          "parameters": {
            "operation": "boil",
            "required_affordance": "heatable",
            "belief_goals": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "fill_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "label": "Pick up hot kettle",
          "parameters": {},
          "depends_on": [
            "boil_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "source_site": "kitchen_counter"
          },
          "error": null
        },
        {
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Carry kettle to dining table",
          "parameters": {},
          "depends_on": [
            "pick_kettle"
          ],
          "status": "complete",
          "result": {
            "destination_site": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Pour hot water into mug",
          "parameters": {
            "destination_object": "mug",
            "belief_preconditions": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "probability_at_least": 0.85
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97
              }
            ]
          },
          "depends_on": [
            "carry_kettle",
            "insert_teabag"
          ],
          "status": "complete",
          "result": {
            "destination_object": "mug",
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99,
                "posterior_probability_true": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97,
                "posterior_probability_true": 0.97
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "label": "Place kettle on dining table",
          "parameters": {
            "position_offset": [
              0.2,
              0.0,
              0.0
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "complete",
          "result": {
            "site_name": "dining_table"
          },
          "error": null
        },
        {
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "label": "Let tea steep",
          "parameters": {
            "duration_seconds": 4,
            "belief_goals": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "probability_at_least": 0.9
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98
              }
            ]
          },
          "depends_on": [
            "pour_hot_water"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98,
                "posterior_probability_true": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98,
                "posterior_probability_true": 0.98
              }
            ]
          },
          "error": null
        },
        {
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "label": "Serve tea",
          "parameters": {
            "operation": "serve",
            "belief_preconditions": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "probability_at_least": 0.9
              }
            ],
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995
              }
            ]
          },
          "depends_on": [
            "steep_tea",
            "place_kettle"
          ],
          "status": "complete",
          "result": {
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          },
          "error": null
        }
      ]
    },
    "objects": {
      "mug": {
        "name": "mug",
        "category": "mug",
        "affordances": [
          "container",
          "fillable",
          "graspable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.99,
            "probability_false": 0.010000000000000009,
            "entropy": 0.056001534354847386
          },
          "served": {
            "probability_true": 0.995,
            "probability_false": 0.0050000000000000044,
            "entropy": 0.03147906594716676
          },
          "tea_brewed": {
            "probability_true": 0.98,
            "probability_false": 0.020000000000000018,
            "entropy": 0.09803911327973205
          },
          "water_hot": {
            "probability_true": 0.97,
            "probability_false": 0.030000000000000027,
            "entropy": 0.13474216817976684
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "kettle": {
        "name": "kettle",
        "category": "kettle",
        "affordances": [
          "container",
          "fillable",
          "graspable",
          "heatable",
          "pourable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": null,
        "properties": {},
        "latent_states": {
          "contains_water": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          },
          "water_hot": {
            "probability_true": 0.050000000000000044,
            "probability_false": 0.95,
            "entropy": 0.19851524334587267
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      },
      "teabag": {
        "name": "teabag",
        "category": "teabag",
        "affordances": [
          "graspable",
          "steepable"
        ],
        "held": false,
        "current_site": "dining_table",
        "contained_in": "mug",
        "properties": {},
        "latent_states": {
          "steeped": {
            "probability_true": 0.98,
            "probability_false": 0.020000000000000018,
            "entropy": 0.09803911327973205
          }
        },
        "location_belief": {
          "kitchen_counter": 9.996001599360257e-05,
          "dining_table": 0.9996001599360256,
          "side_table": 9.996001599360257e-05,
          "living_room_table": 9.996001599360257e-05,
          "console_table": 9.996001599360257e-05
        }
      }
    }
  },
  {
    "event": "episode_complete",
    "task": {
      "task_graph": {
        "name": "make_tea_at_dining_table",
        "done": true,
        "failed": false,
        "nodes": [
          {
            "action_id": "search_mug",
            "kind": "search",
            "object_name": "mug",
            "target_site": null,
            "label": "Locate mug",
            "parameters": {},
            "depends_on": [],
            "status": "complete",
            "result": {
              "site_name": "side_table"
            },
            "error": null
          },
          {
            "action_id": "pick_mug",
            "kind": "pick",
            "object_name": "mug",
            "target_site": null,
            "label": "Pick up mug",
            "parameters": {},
            "depends_on": [
              "search_mug"
            ],
            "status": "complete",
            "result": {
              "source_site": "side_table"
            },
            "error": null
          },
          {
            "action_id": "carry_mug",
            "kind": "navigate",
            "object_name": "mug",
            "target_site": "dining_table",
            "label": "Carry mug to dining table",
            "parameters": {},
            "depends_on": [
              "pick_mug"
            ],
            "status": "complete",
            "result": {
              "destination_site": "dining_table"
            },
            "error": null
          },
          {
            "action_id": "place_mug",
            "kind": "place",
            "object_name": "mug",
            "target_site": "dining_table",
            "label": "Place mug on dining table",
            "parameters": {
              "position_offset": [
                -0.18,
                0.0,
                0.0
              ]
            },
            "depends_on": [
              "carry_mug"
            ],
            "status": "complete",
            "result": {
              "site_name": "dining_table"
            },
            "error": null
          },
          {
            "action_id": "search_teabag",
            "kind": "search",
            "object_name": "teabag",
            "target_site": null,
            "label": "Locate teabag",
            "parameters": {},
            "depends_on": [],
            "status": "complete",
            "result": {
              "site_name": "console_table"
            },
            "error": null
          },
          {
            "action_id": "pick_teabag",
            "kind": "pick",
            "object_name": "teabag",
            "target_site": null,
            "label": "Pick up teabag",
            "parameters": {},
            "depends_on": [
              "search_teabag",
              "place_mug"
            ],
            "status": "complete",
            "result": {
              "source_site": "console_table"
            },
            "error": null
          },
          {
            "action_id": "carry_teabag",
            "kind": "navigate",
            "object_name": "teabag",
            "target_site": "dining_table",
            "label": "Carry teabag to dining table",
            "parameters": {},
            "depends_on": [
              "pick_teabag"
            ],
            "status": "complete",
            "result": {
              "destination_site": "dining_table"
            },
            "error": null
          },
          {
            "action_id": "insert_teabag",
            "kind": "insert",
            "object_name": "teabag",
            "target_site": "dining_table",
            "label": "Put teabag in mug",
            "parameters": {
              "container_name": "mug",
              "offset": [
                0.0,
                0.11,
                0.0
              ]
            },
            "depends_on": [
              "carry_teabag",
              "place_mug"
            ],
            "status": "complete",
            "result": {
              "container_name": "mug",
              "site_name": "dining_table"
            },
            "error": null
          },
          {
            "action_id": "search_kettle",
            "kind": "search",
            "object_name": "kettle",
            "target_site": null,
            "label": "Locate kettle",
            "parameters": {},
            "depends_on": [],
            "status": "complete",
            "result": {
              "site_name": "kitchen_counter"
            },
            "error": null
          },
          {
            "action_id": "inspect_kettle_water",
            "kind": "inspect",
            "object_name": "kettle",
            "target_site": null,
            "label": "Check whether kettle contains water",
            "parameters": {
              "state_name": "contains_water",
              "sensitivity": 0.95,
              "specificity": 0.95
            },
            "depends_on": [
              "search_kettle"
            ],
            "status": "complete",
            "result": {
              "state_observations": [
                {
                  "object_name": "kettle",
                  "state_name": "contains_water",
                  "observed_true": false,
                  "sensitivity": 0.95,
                  "specificity": 0.95,
                  "posterior_probability_true": 0.02755905511811026
                }
              ]
            },
            "error": null
          },
          {
            "action_id": "fill_kettle",
            "kind": "fill",
            "object_name": "kettle",
            "target_site": null,
            "label": "Fill kettle with water",
            "parameters": {
              "belief_goals": [
                {
                  "object_name": "kettle",
                  "state_name": "contains_water",
                  "probability_at_least": 0.9
                }
              ],
              "belief_effects": [
                {
                  "object_name": "kettle",
                  "state_name": "contains_water",
                  "target_true": true,
                  "success_probability": 0.995
                }
              ]
            },
            "depends_on": [
              "inspect_kettle_water"
            ],
            "status": "complete",
            "result": {
              "belief_effects": [
                {
                  "object_name": "kettle",
                  "state_name": "contains_water",
                  "target_true": true,
                  "success_probability": 0.995,
                  "posterior_probability_true": 0.995
                }
              ]
            },
            "error": null
          },
          {
            "action_id": "boil_kettle",
            "kind": "use",
            "object_name": "kettle",
            "target_site": null,
            "label": "Boil kettle",
            "parameters": {
              "operation": "boil",
              "required_affordance": "heatable",
              "belief_goals": [
                {
                  "object_name": "kettle",
                  "state_name": "water_hot",
                  "probability_at_least": 0.9
                }
              ],
              "belief_preconditions": [
                {
                  "object_name": "kettle",
                  "state_name": "contains_water",
                  "probability_at_least": 0.85
                }
              ],
              "belief_effects": [
                {
                  "object_name": "kettle",
                  "state_name": "water_hot",
                  "target_true": true,
                  "success_probability": 0.995
                }
              ]
            },
            "depends_on": [
              "fill_kettle"
            ],
            "status": "complete",
            "result": {
              "belief_effects": [
                {
                  "object_name": "kettle",
                  "state_name": "water_hot",
                  "target_true": true,
                  "success_probability": 0.995,
                  "posterior_probability_true": 0.995
                }
              ]
            },
            "error": null
          },
          {
            "action_id": "pick_kettle",
            "kind": "pick",
            "object_name": "kettle",
            "target_site": null,
            "label": "Pick up hot kettle",
            "parameters": {},
            "depends_on": [
              "boil_kettle",
              "insert_teabag"
            ],
            "status": "complete",
            "result": {
              "source_site": "kitchen_counter"
            },
            "error": null
          },
          {
            "action_id": "carry_kettle",
            "kind": "navigate",
            "object_name": "kettle",
            "target_site": "dining_table",
            "label": "Carry kettle to dining table",
            "parameters": {},
            "depends_on": [
              "pick_kettle"
            ],
            "status": "complete",
            "result": {
              "destination_site": "dining_table"
            },
            "error": null
          },
          {
            "action_id": "pour_hot_water",
            "kind": "pour",
            "object_name": "kettle",
            "target_site": "dining_table",
            "label": "Pour hot water into mug",
            "parameters": {
              "destination_object": "mug",
              "belief_preconditions": [
                {
                  "object_name": "kettle",
                  "state_name": "contains_water",
                  "probability_at_least": 0.85
                },
                {
                  "object_name": "kettle",
                  "state_name": "water_hot",
                  "probability_at_least": 0.9
                }
              ],
              "belief_effects": [
                {
                  "object_name": "kettle",
                  "state_name": "contains_water",
                  "target_true": false,
                  "success_probability": 0.95
                },
                {
                  "object_name": "kettle",
                  "state_name": "water_hot",
                  "target_true": false,
                  "success_probability": 0.95
                },
                {
                  "object_name": "mug",
                  "state_name": "contains_water",
                  "target_true": true,
                  "success_probability": 0.99
                },
                {
                  "object_name": "mug",
                  "state_name": "water_hot",
                  "target_true": true,
                  "success_probability": 0.97
                }
              ]
            },
            "depends_on": [
              "carry_kettle",
              "insert_teabag"
            ],
            "status": "complete",
            "result": {
              "destination_object": "mug",
              "belief_effects": [
                {
                  "object_name": "kettle",
                  "state_name": "contains_water",
                  "target_true": false,
                  "success_probability": 0.95,
                  "posterior_probability_true": 0.050000000000000044
                },
                {
                  "object_name": "kettle",
                  "state_name": "water_hot",
                  "target_true": false,
                  "success_probability": 0.95,
                  "posterior_probability_true": 0.050000000000000044
                },
                {
                  "object_name": "mug",
                  "state_name": "contains_water",
                  "target_true": true,
                  "success_probability": 0.99,
                  "posterior_probability_true": 0.99
                },
                {
                  "object_name": "mug",
                  "state_name": "water_hot",
                  "target_true": true,
                  "success_probability": 0.97,
                  "posterior_probability_true": 0.97
                }
              ]
            },
            "error": null
          },
          {
            "action_id": "place_kettle",
            "kind": "place",
            "object_name": "kettle",
            "target_site": "dining_table",
            "label": "Place kettle on dining table",
            "parameters": {
              "position_offset": [
                0.2,
                0.0,
                0.0
              ]
            },
            "depends_on": [
              "pour_hot_water"
            ],
            "status": "complete",
            "result": {
              "site_name": "dining_table"
            },
            "error": null
          },
          {
            "action_id": "steep_tea",
            "kind": "wait",
            "object_name": "mug",
            "target_site": null,
            "label": "Let tea steep",
            "parameters": {
              "duration_seconds": 4,
              "belief_goals": [
                {
                  "object_name": "mug",
                  "state_name": "tea_brewed",
                  "probability_at_least": 0.9
                }
              ],
              "belief_preconditions": [
                {
                  "object_name": "mug",
                  "state_name": "contains_water",
                  "probability_at_least": 0.9
                },
                {
                  "object_name": "mug",
                  "state_name": "water_hot",
                  "probability_at_least": 0.9
                }
              ],
              "belief_effects": [
                {
                  "object_name": "mug",
                  "state_name": "tea_brewed",
                  "target_true": true,
                  "success_probability": 0.98
                },
                {
                  "object_name": "teabag",
                  "state_name": "steeped",
                  "target_true": true,
                  "success_probability": 0.98
                }
              ]
            },
            "depends_on": [
              "pour_hot_water"
            ],
            "status": "complete",
            "result": {
              "belief_effects": [
                {
                  "object_name": "mug",
                  "state_name": "tea_brewed",
                  "target_true": true,
                  "success_probability": 0.98,
                  "posterior_probability_true": 0.98
                },
                {
                  "object_name": "teabag",
                  "state_name": "steeped",
                  "target_true": true,
                  "success_probability": 0.98,
                  "posterior_probability_true": 0.98
                }
              ]
            },
            "error": null
          },
          {
            "action_id": "serve_tea",
            "kind": "use",
            "object_name": "mug",
            "target_site": null,
            "label": "Serve tea",
            "parameters": {
              "operation": "serve",
              "belief_preconditions": [
                {
                  "object_name": "mug",
                  "state_name": "tea_brewed",
                  "probability_at_least": 0.9
                }
              ],
              "belief_effects": [
                {
                  "object_name": "mug",
                  "state_name": "served",
                  "target_true": true,
                  "success_probability": 0.995
                }
              ]
            },
            "depends_on": [
              "steep_tea",
              "place_kettle"
            ],
            "status": "complete",
            "result": {
              "belief_effects": [
                {
                  "object_name": "mug",
                  "state_name": "served",
                  "target_true": true,
                  "success_probability": 0.995,
                  "posterior_probability_true": 0.995
                }
              ]
            },
            "error": null
          }
        ]
      },
      "objects": {
        "mug": {
          "name": "mug",
          "category": "mug",
          "affordances": [
            "container",
            "fillable",
            "graspable"
          ],
          "held": false,
          "current_site": "dining_table",
          "contained_in": null,
          "properties": {},
          "latent_states": {
            "contains_water": {
              "probability_true": 0.99,
              "probability_false": 0.010000000000000009,
              "entropy": 0.056001534354847386
            },
            "served": {
              "probability_true": 0.995,
              "probability_false": 0.0050000000000000044,
              "entropy": 0.03147906594716676
            },
            "tea_brewed": {
              "probability_true": 0.98,
              "probability_false": 0.020000000000000018,
              "entropy": 0.09803911327973205
            },
            "water_hot": {
              "probability_true": 0.97,
              "probability_false": 0.030000000000000027,
              "entropy": 0.13474216817976684
            }
          },
          "location_belief": {
            "kitchen_counter": 9.996001599360257e-05,
            "dining_table": 0.9996001599360256,
            "side_table": 9.996001599360257e-05,
            "living_room_table": 9.996001599360257e-05,
            "console_table": 9.996001599360257e-05
          }
        },
        "kettle": {
          "name": "kettle",
          "category": "kettle",
          "affordances": [
            "container",
            "fillable",
            "graspable",
            "heatable",
            "pourable"
          ],
          "held": false,
          "current_site": "dining_table",
          "contained_in": null,
          "properties": {},
          "latent_states": {
            "contains_water": {
              "probability_true": 0.050000000000000044,
              "probability_false": 0.95,
              "entropy": 0.19851524334587267
            },
            "water_hot": {
              "probability_true": 0.050000000000000044,
              "probability_false": 0.95,
              "entropy": 0.19851524334587267
            }
          },
          "location_belief": {
            "kitchen_counter": 9.996001599360257e-05,
            "dining_table": 0.9996001599360256,
            "side_table": 9.996001599360257e-05,
            "living_room_table": 9.996001599360257e-05,
            "console_table": 9.996001599360257e-05
          }
        },
        "teabag": {
          "name": "teabag",
          "category": "teabag",
          "affordances": [
            "graspable",
            "steepable"
          ],
          "held": false,
          "current_site": "dining_table",
          "contained_in": "mug",
          "properties": {},
          "latent_states": {
            "steeped": {
              "probability_true": 0.98,
              "probability_false": 0.020000000000000018,
              "entropy": 0.09803911327973205
            }
          },
          "location_belief": {
            "kitchen_counter": 9.996001599360257e-05,
            "dining_table": 0.9996001599360256,
            "side_table": 9.996001599360257e-05,
            "living_room_table": 9.996001599360257e-05,
            "console_table": 9.996001599360257e-05
          }
        }
      },
      "events": [
        {
          "event": "search_confirmed",
          "action_id": "search_kettle",
          "kind": "search",
          "object_name": "kettle",
          "target_site": null,
          "result": {
            "site_name": "kitchen_counter"
          }
        },
        {
          "event": "search_confirmed",
          "action_id": "search_teabag",
          "kind": "search",
          "object_name": "teabag",
          "target_site": null,
          "result": {
            "site_name": "console_table"
          }
        },
        {
          "event": "search_confirmed",
          "action_id": "search_mug",
          "kind": "search",
          "object_name": "mug",
          "target_site": null,
          "result": {
            "site_name": "side_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "pick_mug",
          "kind": "pick",
          "object_name": "mug",
          "target_site": null,
          "result": {
            "source_site": "side_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "carry_mug",
          "kind": "navigate",
          "object_name": "mug",
          "target_site": "dining_table",
          "result": {
            "destination_site": "dining_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "place_mug",
          "kind": "place",
          "object_name": "mug",
          "target_site": "dining_table",
          "result": {
            "site_name": "dining_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "pick_teabag",
          "kind": "pick",
          "object_name": "teabag",
          "target_site": null,
          "result": {
            "source_site": "console_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "carry_teabag",
          "kind": "navigate",
          "object_name": "teabag",
          "target_site": "dining_table",
          "result": {
            "destination_site": "dining_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "insert_teabag",
          "kind": "insert",
          "object_name": "teabag",
          "target_site": "dining_table",
          "result": {
            "container_name": "mug",
            "site_name": "dining_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "inspect_kettle_water",
          "kind": "inspect",
          "object_name": "kettle",
          "target_site": null,
          "result": {
            "state_observations": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "observed_true": false,
                "sensitivity": 0.95,
                "specificity": 0.95,
                "posterior_probability_true": 0.02755905511811026
              }
            ]
          }
        },
        {
          "event": "action_completed",
          "action_id": "fill_kettle",
          "kind": "fill",
          "object_name": "kettle",
          "target_site": null,
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          }
        },
        {
          "event": "action_completed",
          "action_id": "boil_kettle",
          "kind": "use",
          "object_name": "kettle",
          "target_site": null,
          "result": {
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          }
        },
        {
          "event": "action_completed",
          "action_id": "pick_kettle",
          "kind": "pick",
          "object_name": "kettle",
          "target_site": null,
          "result": {
            "source_site": "kitchen_counter"
          }
        },
        {
          "event": "action_completed",
          "action_id": "carry_kettle",
          "kind": "navigate",
          "object_name": "kettle",
          "target_site": "dining_table",
          "result": {
            "destination_site": "dining_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "pour_hot_water",
          "kind": "pour",
          "object_name": "kettle",
          "target_site": "dining_table",
          "result": {
            "destination_object": "mug",
            "belief_effects": [
              {
                "object_name": "kettle",
                "state_name": "contains_water",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "kettle",
                "state_name": "water_hot",
                "target_true": false,
                "success_probability": 0.95,
                "posterior_probability_true": 0.050000000000000044
              },
              {
                "object_name": "mug",
                "state_name": "contains_water",
                "target_true": true,
                "success_probability": 0.99,
                "posterior_probability_true": 0.99
              },
              {
                "object_name": "mug",
                "state_name": "water_hot",
                "target_true": true,
                "success_probability": 0.97,
                "posterior_probability_true": 0.97
              }
            ]
          }
        },
        {
          "event": "action_completed",
          "action_id": "place_kettle",
          "kind": "place",
          "object_name": "kettle",
          "target_site": "dining_table",
          "result": {
            "site_name": "dining_table"
          }
        },
        {
          "event": "action_completed",
          "action_id": "steep_tea",
          "kind": "wait",
          "object_name": "mug",
          "target_site": null,
          "result": {
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "tea_brewed",
                "target_true": true,
                "success_probability": 0.98,
                "posterior_probability_true": 0.98
              },
              {
                "object_name": "teabag",
                "state_name": "steeped",
                "target_true": true,
                "success_probability": 0.98,
                "posterior_probability_true": 0.98
              }
            ]
          }
        },
        {
          "event": "action_completed",
          "action_id": "serve_tea",
          "kind": "use",
          "object_name": "mug",
          "target_site": null,
          "result": {
            "belief_effects": [
              {
                "object_name": "mug",
                "state_name": "served",
                "target_true": true,
                "success_probability": 0.995,
                "posterior_probability_true": 0.995
              }
            ]
          }
        }
      ]
    },
    "beliefs": {
      "mug": {
        "kitchen_counter": 9.996001599360257e-05,
        "dining_table": 0.9996001599360256,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 9.996001599360257e-05
      },
      "kettle": {
        "kitchen_counter": 9.996001599360257e-05,
        "dining_table": 0.9996001599360256,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 9.996001599360257e-05
      },
      "teabag": {
        "kitchen_counter": 9.996001599360257e-05,
        "dining_table": 0.9996001599360256,
        "side_table": 9.996001599360257e-05,
        "living_room_table": 9.996001599360257e-05,
        "console_table": 9.996001599360257e-05
      }
    }
  }
]