Object Relocation
- put rubbish in bin (type 1, 2, 3, 4, 5)
- move tomatoes in plate (type 1, 2, 3, 4, 5)

Object Interaction
- open drawer (type 1, 2, 3, 4, 5)

Auxiliary Manipulation
- auxiliary_manipulation_1 (type 1, 2, 3, 4, 5)
- auxiliary_manipulation_2 (type 1, 2, 3, 4, 5)

Long-Horizon
- long horizon 1[put rubbish in bin + open drawer] (type 1, 2, 3, 4, 5)
- long horizon 2[move tomatoes in plate + open drawer] (type 1, 2, 3, 4, 5)