{
  "num_actions": 13,
  "actions": [
    "pickup bottle",
    "pickup cube",
    "pickup eraser",
    "pickup lemon",
    "pickup orange",
    "pickup strawberry",
    "prepare the fruits finished",
    "put cube in the tray finished",
    "put eraser in the tray finished",
    "put lemon in the tray finished",
    "put orange in the tray finished",
    "putdown",
    "tidy up the properties finished"
  ],
  "action_types": [
    "finished",
    "pickup",
    "putdown"
  ]
}