{
  "schema_version": 1,
  "plan_version": 1,
  "task_type": "pick_transport_place",
  "goal": "Move water from shelf_A to tote_A",
  "slots": {
    "target_name": "water",
    "quantity": 1,
    "source_location": "shelf_A",
    "destination": "tote_A"
  },
  "missing_information": [],
  "subtasks": [
    {
      "id": "S1",
      "skill": "NAVIGATE",
      "arguments": {
        "destination": "shelf_A"
      },
      "depends_on": []
    },
    {
      "id": "S2",
      "skill": "GROUND_TARGET",
      "arguments": {
        "target": "water"
      },
      "depends_on": [
        "S1"
      ]
    },
    {
      "id": "S3",
      "skill": "PICK",
      "arguments": {
        "target": "water"
      },
      "depends_on": [
        "S2"
      ]
    },
    {
      "id": "S4",
      "skill": "NAVIGATE",
      "arguments": {
        "destination": "tote_A"
      },
      "depends_on": [
        "S3"
      ]
    },
    {
      "id": "S5",
      "skill": "CHECK_FREE_SPACE",
      "arguments": {
        "destination": "tote_A"
      },
      "depends_on": [
        "S4"
      ]
    },
    {
      "id": "S6",
      "skill": "PLACE",
      "arguments": {
        "target": "water",
        "destination": "tote_A"
      },
      "depends_on": [
        "S5"
      ]
    }
  ]
}