scene_id stringclasses 1
value | task_id stringlengths 43 76 | task_name stringlengths 10 40 | natural_language_description stringlengths 18 257 | original_goal stringlengths 558 4.57k | tl_goal stringlengths 17 1.17k | action_trajectory stringlengths 88 3.4k | transition_model stringlengths 320 1.51k |
|---|---|---|---|---|---|---|---|
default | assembling_gift_baskets_0_Beechwood_0_int_0_2021-10-26_12-46-37 | assembling_gift_baskets | Put one candle, one cheese, one cookie, and one bow into each basket. | (define (problem assembling_gift_baskets_0)
(:domain igibson)
(:objects
basket.n.01_1 basket.n.01_2 basket.n.01_3 basket.n.01_4 - basket.n.01
floor.n.01_1 - floor.n.01
candle.n.01_1 candle.n.01_2 candle.n.01_3 candle.n.01_4 - candle.n.01
cookie.n.01_1 cookie.n.01_2 cookie.n.01_3 cookie.n.0... | forall x0. (not basket_n_01(x0) or forn 1. x1. (not candle_n_01(x1) or inside(x1, x0))) and forall x1. (not candle_n_01(x1) or forn 1. x0. (not basket_n_01(x0) or inside(x1, x0))) and forall x0. (not basket_n_01(x0) or forn 1. x1. (not cheese_n_01(x1) or inside(x1, x0))) and forall x1. (not cheese_n_01(x1) or forn 1. x... | [{'action': 'RIGHT_GRASP', 'object': 'bow_0'}, {'action': 'LEFT_GRASP', 'object': 'bow_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'basket_1'}, {'action': 'RIGHT_GRASP', 'object': 'bow_2'}, {'action': 'LEFT_GRASP', 'object': 'bow_3'}, {'action': 'RIGHT_PLACE_IN... | (define (problem assembling_gift_baskets)
(:domain igibson)
(:objects agent_n_01_1 - agent basket_n_01_1 basket_n_01_2 - basket_n_01 bow_n_08_2 - bow_n_08 candle_n_01_1 - candle_n_01 cheese_n_01_1 - cheese_n_01 cookie_n_01_1 - cookie_n_01 floor_n_01_1 - floor_n_01 table_n_02_1 table_n_02_2 - table_n_02)
(:i... |
default | brushing_lint_off_clothing_0_Pomaria_2_int_0_2021-06-04_17-41-56 | brushing_lint_off_clothing | Check every sweater for lint, make sure none of them are dusty, and put them on the bed. | (define (problem brushing_lint_off_clothing_0)
(:domain igibson)
(:objects
sweater.n.01_1 sweater.n.01_2 sweater.n.01_3 sweater.n.01_4 - sweater.n.01
floor.n.01_1 - floor.n.01
bed.n.01_1 - bed.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
agent.n.01_1 - agent.n.01
)
(:init
... | forall x0. (not sweater_n_01(x0) or (not dusty(x0))) and forall x0. (not sweater_n_01(x0) or ontop(x0, bed.11)) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_40'}, {'action': 'CLEAN', 'object': 'sweater_36'}, {'action': 'LEFT_GRASP', 'object': 'sweater_36'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'bed_11'}, {'action': 'CLEAN', 'object': 'sweater_37'}, {'action': 'LEFT_GRASP', 'object': 'sweater_37'}, {'action': 'LEFT_PLACE... | (define (problem brushing_lint_off_clothing)
(:domain igibson)
(:objects agent_n_01_1 - agent bed_n_01_1 - bed_n_01 floor_n_01_1 - floor_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sweater_n_01_1 sweater_n_01_2 sweater_n_01_3 sweater_n_01_4 - sweater_n_01)
(:init (dusty sweater_n_01_1) (dusty sweater_n_01_2)... |
default | boxing_books_up_for_storage_0_Benevolence_1_int_0_2021-09-10_15-35-47 | boxing_books_up_for_storage | Place the books into the carton for storage. | (define (problem boxing_books_up_for_storage_0)
(:domain igibson)
(:objects
book.n.02_1 book.n.02_2 book.n.02_3 book.n.02_4 book.n.02_5 book.n.02_6 book.n.02_7 - book.n.02
floor.n.01_1 - floor.n.01
shelf.n.01_1 - shelf.n.01
carton.n.02_1 - carton.n.02
agent.n.01_1 - agent.n.01
)
... | forall x0. (not book_n_02(x0) or inside(x0, carton.66)) | [{'action': 'RIGHT_GRASP', 'object': 'notebook_60'}, {'action': 'LEFT_GRASP', 'object': 'hardback_65'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_66'}, {'action': 'RIGHT_GRASP', 'object': 'hardback_64'}, {'action': 'LEFT_GRASP', 'object': 'notebook_59'}, ... | (define (problem boxing_books_up_for_storage)
(:domain igibson)
(:objects agent_n_01_1 - agent book_n_02_2 book_n_02_5 book_n_02_6 book_n_02_7 - book_n_02 carton_n_02_1 - carton_n_02 floor_n_01_1 - floor_n_01 shelf_n_01_1 - shelf_n_01)
(:init (onfloor book_n_02_2 floor_n_01_1) (onfloor book_n_02_5 floor_n_0... |
default | collecting_aluminum_cans_0_Ihlen_1_int_0_2021-06-06_20-13-28 | collecting_aluminum_cans | Collect all aluminum cans and place them into the bucket. | (define (problem collecting_aluminum_cans_0)
(:domain igibson)
(:objects
pop.n.02_1 pop.n.02_2 pop.n.02_3 pop.n.02_4 pop.n.02_5 pop.n.02_6 - pop.n.02
bed.n.01_1 - bed.n.01
floor.n.01_1 - floor.n.01
bucket.n.01_1 - bucket.n.01
agent.n.01_1 - agent.n.01
)
(:init
... | forall x0. (not pop_n_02(x0) or inside(x0, bucket.118)) | [{'action': 'RIGHT_GRASP', 'object': 'pop_113'}, {'action': 'LEFT_GRASP', 'object': 'pop_117'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_118'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_118'}, {'action': 'RIGHT_GRASP', 'object': 'pop_115'}, {'action': 'LEFT_GRASP', 'object': 'pop_114'}, {'action': 'LE... | (define (problem collecting_aluminum_cans)
(:domain igibson)
(:objects agent_n_01_1 - agent bed_n_01_1 - bed_n_01 bucket_n_01_1 - bucket_n_01 floor_n_01_1 - floor_n_01 pop_n_02_1 pop_n_02_4 pop_n_02_5 pop_n_02_6 - pop_n_02)
(:init (onfloor pop_n_02_4 floor_n_01_1) (onfloor pop_n_02_5 floor_n_01_1) (onfloor ... |
default | mopping_floors_0_Benevolence_2_int_0_2021-10-25_21-01-58 | mopping_floors | Use the bucket, soap and broom to clean the stained floor, when you are done, leave the soap in the bucket and place the bucket and broom next to the sink. | (define (problem mopping_floors_0)
(:domain igibson)
(:objects
broom.n.01_1 - broom.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
soap.n.01_1 - soap.n.01
bucket.n.01_1 - bucket.n.01
piece_of_cloth.n.01_1 - piece_of_cloth.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
... | not stained(room_floor_bathroom.0) and nextto(bucket.0, sink.28) and inside(soap.0, bucket.0) and nextto(broom.0, sink.28) | [{'action': 'RIGHT_GRASP', 'object': 'bucket_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_28'}, {'action': 'RIGHT_GRASP', 'object': 'broom_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_28'}, {'action': 'RIGHT_GRASP', 'object': 'soap_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action'... | (define (problem mopping_floors)
(:domain igibson)
(:objects agent_n_01_1 - agent broom_n_01_1 - broom_n_01 bucket_n_01_1 - bucket_n_01 floor_n_01_1 floor_n_01_2 - floor_n_01 piece_of_cloth_n_01_1 - piece_of_cloth_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_... |
default | preserving_food_0_Rs_int_0_2021-08-25_15-53-33 | preserving_food | Slice and cook all the strawberries, then seal them inside the jar, remember to freeze the beef. | (define (problem preserving_food_0)
(:domain igibson)
(:objects
strawberry.n.01_1 strawberry.n.01_2 - strawberry.n.01
beef.n.02_1 - beef.n.02
jar.n.01_1 - jar.n.01
pan.n.01_1 - pan.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
cabinet.n.01_1 - c... | forall x0. (not strawberry_n_01(x0) or sliced(x0)) and forall x0. (not strawberry_n_01(x0) or cooked(x0)) and forall x0. (not strawberry_n_01(x0) or inside(x0, jar.64)) and not open(jar.64) and inside(beef.63, fridge.40) and frozen(beef.63) | [{'action': 'RIGHT_GRASP', 'object': 'strawberry_62'}, {'action': 'LEFT_GRASP', 'object': 'strawberry_61'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'saucepan_65'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'saucepan_65'}, {'action': 'RIGHT_GRASP', 'object': 'carving_knife_66'}, {'action': 'SLICE', 'object': 'strawbe... | (define (problem preserving_food)
(:domain igibson)
(:objects agent_n_01_1 - agent beef_n_02_1 - beef_n_02 carving_knife_n_01_1 - carving_knife_n_01 countertop_n_01_1 - countertop_n_01 jar_n_01_1 - jar_n_01 pan_n_01_1 - pan_n_01 strawberry_n_01_1 strawberry_n_01_2 - strawberry_n_01)
(:init (ontop beef_n_02_... |
default | re-shelving_library_books_0_Rs_int_0_2021-10-25_21-22-26 | re-shelving_library_books | Place books 1 through 4 on the shelf, and place books 5 through 8 on the table. | (define (problem re-shelving_library_books_0)
(:domain igibson)
(:objects
book.n.02_1 book.n.02_2 book.n.02_3 book.n.02_4 book.n.02_5 book.n.02_6 book.n.02_7 book.n.02_8 - book.n.02
table.n.02_1 - table.n.02
shelf.n.01_1 - shelf.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01... | ontop(hardback.0, shelf.19) and ontop(hardback.1, shelf.19) and ontop(hardback.2, shelf.19) and ontop(notebook.0, shelf.19) and ontop(hardback.3, breakfast_table.9) and ontop(notebook.1, breakfast_table.9) and ontop(notebook.2, breakfast_table.9) and ontop(notebook.3, breakfast_table.9) | [{'action': 'RIGHT_GRASP', 'object': 'hardback_2'}, {'action': 'LEFT_GRASP', 'object': 'hardback_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'shelf_19'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'shelf_19'}, {'action': 'RIGHT_GRASP', 'object': 'hardback_1'}, {'action': 'LEFT_GRASP', 'object': 'notebook_0'}, {'action... | (define (problem re-shelving_library_books)
(:domain igibson)
(:objects agent_n_01_1 - agent book_n_02_1 book_n_02_2 book_n_02_3 book_n_02_4 book_n_02_5 book_n_02_6 book_n_02_7 book_n_02_8 - book_n_02 shelf_n_01_1 - shelf_n_01 table_n_02_1 - table_n_02)
(:init (ontop book_n_02_1 table_n_02_1) (ontop book_n_... |
default | polishing_silver_0_Merom_1_int_0_2021-10-26_11-43-15 | polishing_silver | Polish all spoons and put them inside the cabinet. | (define (problem polishing_silver_0)
(:domain igibson)
(:objects
spoon.n.01_1 spoon.n.01_2 spoon.n.01_3 spoon.n.01_4 - spoon.n.01
rag.n.01_1 - rag.n.01
cabinet.n.01_1 - cabinet.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(dusty spoon.n.01_1)... | not dusty(spoon.97) and not dusty(spoon.98) and not dusty(spoon.99) and not dusty(spoon.100) and not inside(rag.101, bottom_cabinet.49) and inside(spoon.97, bottom_cabinet.49) and inside(spoon.98, bottom_cabinet.49) and inside(spoon.99, bottom_cabinet.49) and inside(spoon.100, bottom_cabinet.49) | [{'action': 'OPEN', 'object': 'bottom_cabinet_49'}, {'action': 'RIGHT_GRASP', 'object': 'rag_101'}, {'action': 'CLEAN', 'object': 'spoon_97'}, {'action': 'CLEAN', 'object': 'spoon_99'}, {'action': 'CLEAN', 'object': 'spoon_98'}, {'action': 'CLEAN', 'object': 'spoon_100'}] | (define (problem polishing_silver)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 rag_n_01_1 - rag_n_01 spoon_n_01_1 spoon_n_01_2 spoon_n_01_3 spoon_n_01_4 - spoon_n_01)
(:init (dusty spoon_n_01_1) (dusty spoon_n_01_3) (dusty spoon_n_01_4) (inside rag_n_01_1 cabinet_n_01_1) (... |
default | packing_boxes_for_household_move_or_trip_0_Ihlen_1_int_0_2021-06-08_19-16-19 | packing_boxes_for_household_move_or_trip | Pack all plates, the dishtowel, books, shirts, and the sweater inside separate cartons. | (define (problem packing_boxes_for_household_move_or_trip_0)
(:domain igibson)
(:objects
carton.n.02_1 carton.n.02_2 - carton.n.02
floor.n.01_1 - floor.n.01
book.n.02_1 book.n.02_2 - book.n.02
table.n.02_1 - table.n.02
sweater.n.01_1 - sweater.n.01
shirt.n.01_1 shirt.n.01_2 - shi... | exists x0. (not carton_n_02(x0) or ((forall x1. (not plate_n_04(x1) or inside(x1, x0))) and inside(dishtowel.0, x0))) and exists x0. (not carton_n_02(x0) or ((forall x1. (not book_n_02(x1) or inside(x1, x0))) and (forall x1. (not shirt_n_01(x1) or inside(x1, x0))) and inside(sweater.0, x0))) | [{'action': 'RIGHT_GRASP', 'object': 't-shirt_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 't-shirt_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'notebook_0'}, {'action': 'LEFT_GRASP', 'object': 'hardback_0'}, {'action... | (define (problem packing_boxes_for_household_move_or_trip)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_1 carton_n_02_2 - carton_n_02 dishtowel_n_01_1 - dishtowel_n_01 floor_n_01_1 - floor_n_01 plate_n_04_2 - plate_n_04 shirt_n_01_1 shirt_n_01_2 - shirt_n_01)
(:init (onfloor carton_n_02_1 fl... |
default | cleaning_freezer_0_Pomaria_1_int_0_2021-10-26_12-59-25 | cleaning_freezer | Clean the stained freezer and remove all food items from the freezer. | (define (problem cleaning_freezer_0)
(:domain igibson)
(:objects
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
food.n.01_1 food.n.01_2 food.n.01_3 - food.n.01
cleansing_agent.n.01_1 - cleansing_agent.n.01
table.n.02_1 - table.n.02
towel.n.01_1 - towel.n.01
floor.n.01_... | not stained(fridge.20) and forall x0. (not food_n_01(x0) or (not inside(x0, fridge.20))) | [{'action': 'OPEN', 'object': 'fridge_20'}, {'action': 'RIGHT_GRASP', 'object': 'pop_1'}, {'action': 'LEFT_GRASP', 'object': 'pop_2'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'RIGHT_GRASP', 'object': 'pop_0'}, {'action': 'RIGHT_PL... | (define (problem cleaning_freezer)
(:domain igibson)
(:objects agent_n_01_1 - agent electric_refrigerator_n_01_1 - electric_refrigerator_n_01 food_n_01_1 food_n_01_2 food_n_01_3 - food_n_01 sink_n_01_1 - sink_n_01 table_n_02_1 - table_n_02 towel_n_01_1 - towel_n_01)
(:init (inside food_n_01_1 electric_refri... |
default | installing_a_modem_0_Beechwood_0_int_0_2021-10-25_20-28-55 | installing_a_modem | Place the modem under the table and make sure it is turned on. | (define (problem installing_a_modem_0)
(:domain igibson)
(:objects
modem.n.01_1 - modem.n.01
table.n.02_1 - table.n.02
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(not
(toggled_on modem.n.01_1)
)
(ontop modem.n.01_1 table... | toggledon(modem.0) and under(modem.0, breakfast_table.37) | [{'action': 'RIGHT_GRASP', 'object': 'modem_0'}, {'action': 'TOGGLE_ON', 'object': 'modem_0'}, {'action': 'RIGHT_PLACE_UNDER', 'object': 'breakfast_table_37'}] | (define (problem installing_a_modem)
(:domain igibson)
(:objects agent_n_01_1 - agent modem_n_01_1 - modem_n_01 table_n_02_1 - table_n_02)
(:init (not (toggled_on modem_n_01_1)) (ontop modem_n_01_1 table_n_02_1) (same_obj modem_n_01_1 modem_n_01_1) (same_obj table_n_02_1 table_n_02_1))
(:goal (and (unde... |
default | cleaning_up_after_a_meal_0_Wainscott_0_int_0_2021-10-20_05-33-24 | cleaning_up_after_a_meal | Clean all the stained tableware, put all hamburgers into sack1 which is on the floor, and clean the stained floor, chair, and table. | (define (problem cleaning_up_after_a_meal_0)
(:domain igibson)
(:objects
bowl.n.01_1 bowl.n.01_2 - bowl.n.01
table.n.02_1 - table.n.02
sack.n.01_1 - sack.n.01
chair.n.01_1 chair.n.01_2 - chair.n.01
plate.n.04_1 plate.n.04_2 plate.n.04_3 plate.n.04_4 - plate.n.04
cup.n.01_1 cup.n.... | forall x0. (not bowl_n_01(x0) or (not stained(x0))) and forall x0. (not plate_n_04(x0) or (not stained(x0))) and forall x0. (not cup_n_01(x0) or (not stained(x0))) and forall x0. (not hamburger_n_01(x0) or inside(x0, paper_bag.145)) and onfloor(paper_bag.145, room_floor_dining_room.0) and not stained(room_floor_dining_... | [{'action': 'OPEN', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'plate_147'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'cup_151'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_83'}, {'action': 'LEFT_GRASP', 'object': 'plate_149'}, {'actio... | (define (problem cleaning_up_after_a_meal)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 bowl_n_01_2 - bowl_n_01 cup_n_01_1 cup_n_01_2 - cup_n_01 dishwasher_n_01_1 - dishwasher_n_01 plate_n_04_1 plate_n_04_2 plate_n_04_3 plate_n_04_4 - plate_n_04 sack_n_01_1 - sack_n_01 sink_n_01_1 - sink_n_01 ta... |
default | putting_away_Christmas_decorations_0_Wainscott_0_int_0_2021-06-06_17-03-25 | putting_away_Christmas_decorations | Place all wreaths and bows next to the cabinet, and put all ribbons inside the cabinet. | (define (problem putting_away_Christmas_decorations_0)
(:domain igibson)
(:objects
wreath.n.01_1 wreath.n.01_2 - wreath.n.01
floor.n.01_1 - floor.n.01
bow.n.08_1 bow.n.08_2 bow.n.08_3 - bow.n.08
ribbon.n.01_1 ribbon.n.01_2 ribbon.n.01_3 - ribbon.n.01
cabinet.n.01_1 - cabinet.n.01
... | forall x0. (not wreath_n_01(x0) or nextto(x0, bottom_cabinet.79)) and forall x0. (not bow_n_08(x0) or nextto(x0, bottom_cabinet.79)) and forall x0. (not ribbon_n_01(x0) or inside(x0, bottom_cabinet.79)) | [{'action': 'OPEN', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'ribbon_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_79'}, {'action': 'LEFT_GRASP', 'object': 'ribbon_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'ribbo... | (define (problem putting_away_Christmas_decorations)
(:domain igibson)
(:objects agent_n_01_1 - agent bow_n_08_1 bow_n_08_2 - bow_n_08 cabinet_n_01_1 - cabinet_n_01 floor_n_01_1 - floor_n_01 ribbon_n_01_1 ribbon_n_01_3 - ribbon_n_01)
(:init (onfloor bow_n_08_1 floor_n_01_1) (onfloor bow_n_08_2 floor_n_01_1)... |
default | setting_up_candles_0_Wainscott_0_int_0_2021-10-26_13-40-51 | setting_up_candles | Place 3 candles on each table. | (define (problem setting_up_candles_0)
(:domain igibson)
(:objects
candle.n.01_1 candle.n.01_2 candle.n.01_3 candle.n.01_4 candle.n.01_5 candle.n.01_6 - candle.n.01
table.n.02_1 table.n.02_2 - table.n.02
floor.n.01_1 floor.n.01_2 - floor.n.01
carton.n.02_1 carton.n.02_2 - carton... | forn 3. x0. (not candle_n_01(x0) or ontop(x0, coffee_table.33)) and forn 3. x0. (not candle_n_01(x0) or ontop(x0, breakfast_table.1)) | [{'action': 'RIGHT_GRASP', 'object': 'candle_3'}, {'action': 'LEFT_GRASP', 'object': 'candle_5'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'coffee_table_33'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'coffee_table_33'}, {'action': 'RIGHT_GRASP', 'object': 'candle_4'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'coffee_... | (define (problem setting_up_candles)
(:domain igibson)
(:objects agent_n_01_1 - agent candle_n_01_1 candle_n_01_3 candle_n_01_5 candle_n_01_6 - candle_n_01 carton_n_02_1 carton_n_02_2 - carton_n_02 table_n_02_1 table_n_02_2 - table_n_02)
(:init (inside candle_n_01_1 carton_n_02_1) (inside candle_n_01_3 cart... |
default | cleaning_shoes_0_Pomaria_2_int_0_2021-09-11_13-59-22 | cleaning_shoes | Clean all the shoes, and leave the towel on the floor. | (define (problem cleaning_shoes_0)
(:domain igibson)
(:objects
soap.n.01_1 - soap.n.01
bed.n.01_1 - bed.n.01
floor.n.01_1 - floor.n.01
rag.n.01_1 - rag.n.01
towel.n.01_1 - towel.n.01
shoe.n.01_1 shoe.n.01_2 shoe.n.01_3 shoe.n.01_4 - shoe.n.01
sink.n.01_1 - sink.n.01
... | forall x0. (not shoe_n_01(x0) or (not stained(x0))) and forall x0. (not shoe_n_01(x0) or (not dusty(x0))) and onfloor(paper_towel.38, room_floor_bedroom.0) | [{'action': 'RIGHT_GRASP', 'object': 'rag_37'}, {'action': 'TOGGLE_ON', 'object': 'sink_18'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_18'}, {'action': 'SOAK', 'object': 'rag_37'}, {'action': 'TOGGLE_OFF', 'object': 'sink_18'}, {'action': 'RIGHT_GRASP', 'object': 'rag_37'}, {'action': 'CLEAN', 'object': 'sandal... | (define (problem cleaning_shoes)
(:domain igibson)
(:objects agent_n_01_1 - agent bed_n_01_1 - bed_n_01 floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 shoe_n_01_1 shoe_n_01_2 shoe_n_01_3 shoe_n_01_4 - shoe_n_01 sink_n_01_1 - sink_n_01 towel_n_01_1 - towel_n_01)
(:init (dusty shoe_n_01_3) (dusty shoe_n_01_4... |
default | cleaning_sneakers_0_Pomaria_1_int_0_2021-10-26_13-36-08 | cleaning_sneakers | Place the towel on the countertop, the brush next to the towel, and the soap into the sink. Clean the dusty and stained sneakers, place 2 sneakers next to the table and 2 other sneakers under the table. | (define (problem cleaning_sneakers_0)
(:domain igibson)
(:objects
gym_shoe.n.01_1 gym_shoe.n.01_2 gym_shoe.n.01_3 gym_shoe.n.01_4 - gym_shoe.n.01
countertop.n.01_1 - countertop.n.01
soap.n.01_1 - soap.n.01
cabinet.n.01_1 - cabinet.n.01
towel.n.01_1 - towel.... | ontop(hand_towel.83, countertop.31) and nextto(scrub_brush.84, hand_towel.83) and inside(soap.82, sink.37) and forall x0. (not gym_shoe_n_01(x0) or (not dusty(x0))) and forall x0. (not gym_shoe_n_01(x0) or (not stained(x0))) and forn 2. x0. (not gym_shoe_n_01(x0) or nextto(x0, coffee_table.4)) and forn 2. x0. (not gym_... | [{'action': 'OPEN', 'object': 'top_cabinet_24'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_84'}, {'action': 'LEFT_GRASP', 'object': 'soap_82'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_37'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_37'}, {'action': 'TOGGLE_ON', 'object': 'sink_37'}, {'action': 'SO... | (define (problem cleaning_sneakers)
(:domain igibson)
(:objects agent_n_01_1 - agent countertop_n_01_1 - countertop_n_01 floor_n_01_1 floor_n_01_2 - floor_n_01 gym_shoe_n_01_1 gym_shoe_n_01_4 - gym_shoe_n_01 sink_n_01_1 - sink_n_01 towel_n_01_1 - towel_n_01)
(:init (dusty gym_shoe_n_01_4) (not (stained towe... |
default | locking_every_window_0_Merom_1_int_0_2021-11-01_14-51-10 | locking_every_window | Close and lock all the windows. | (define (problem locking_every_window_0)
(:domain igibson)
(:objects
window.n.01_1 window.n.01_2 window.n.01_3 window.n.01_4 - window.n.01
bed.n.01_1 - bed.n.01
sofa.n.01_1 - sofa.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(open window.n.01... | not open(window.79) and not open(window.76) and not open(window.82) and not open(window.81) | [{'action': 'CLOSE', 'object': 'window_82'}, {'action': 'CLOSE', 'object': 'window_81'}, {'action': 'CLOSE', 'object': 'window_79'}, {'action': 'CLOSE', 'object': 'window_76'}] | (define (problem locking_every_window)
(:domain igibson)
(:objects agent_n_01_1 - agent window_n_01_1 window_n_01_2 window_n_01_3 window_n_01_4 - window_n_01)
(:init (open window_n_01_1) (open window_n_01_2) (open window_n_01_3) (open window_n_01_4) (same_obj window_n_01_1 window_n_01_1) (same_obj window_n_... |
default | washing_cars_or_other_vehicles_0_Ihlen_0_int_0_2021-10-25_22-38-10 | washing_cars_or_other_vehicles | Wash all dust and stains from the car or vehicle. | (define (problem washing_cars_or_other_vehicles_0)
(:domain igibson)
(:objects
soap.n.01_1 - soap.n.01
car.n.01_1 - car.n.01
floor.n.01_1 - floor.n.01
bucket.n.01_1 - bucket.n.01
rag.n.01_1 - rag.n.01
agent.n.01_1 - agent.n.01
sink.n.01_1 - sink.n.01
)
(:init... | not dusty(car.0) and not stained(car.0) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_32'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_32'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_32'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'CLEAN', 'object': 'car_0'}, ... | (define (problem washing_cars_or_other_vehicles)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 car_n_01_1 - car_n_01 floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01)
(:init (dusty car_n_01_1) (onfloor car_n_01_1 floor_n_01_1) (on... |
default | washing_dishes_0_Benevolence_1_int_0_2021-06-08_18-07-48 | washing_dishes | Wash all the stained plates, cups, and bowls. | (define (problem washing_dishes_0)
(:domain igibson)
(:objects
plate.n.04_1 plate.n.04_2 - plate.n.04
cup.n.01_1 - cup.n.01
sink.n.01_1 - sink.n.01
bowl.n.01_1 - bowl.n.01
floor.n.01_1 - floor.n.01
countertop.n.01_1 - countertop.n.01
scrub_brush.n.01_1 - scrub_brush... | forall x0. (not plate_n_04(x0) or (not stained(x0))) and not stained(cup.61) and not stained(bowl.62) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_63'}, {'action': 'TOGGLE_ON', 'object': 'sink_19'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'SOAK', 'object': 'scrub_brush_63'}, {'action': 'TOGGLE_OFF', 'object': 'sink_19'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_63'}, {'action': 'C... | (define (problem washing_dishes)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 - bowl_n_01 countertop_n_01_1 - countertop_n_01 cup_n_01_1 - cup_n_01 plate_n_04_1 plate_n_04_2 - plate_n_04 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01)
(:init (inside scrub_brush_n_01_1 sink_n_0... |
default | putting_away_Halloween_decorations_0_Rs_int_0_2021-10-25_22-42-17 | putting_away_Halloween_decorations | Place all pumpkins and candles into the cabinet, arrange the sheet either next to or on the table, and position the caldron next to the table. | (define (problem putting_away_Halloween_decorations_0)
(:domain igibson)
(:objects
pumpkin.n.02_1 pumpkin.n.02_2 - pumpkin.n.02
floor.n.01_1 - floor.n.01
caldron.n.01_1 - caldron.n.01
sheet.n.03_1 - sheet.n.03
table.n.02_1 - table.n.02
candle.n.01_1 candle.n.01_2 candle.n.01_3 - ... | forall x0. (not pumpkin_n_02(x0) or inside(x0, bottom_cabinet.13)) and forall x0. (not candle_n_01(x0) or inside(x0, bottom_cabinet.13)) and nextto(sheet.0, coffee_table.5) or ontop(sheet.0, coffee_table.5) and nextto(cauldron.0, coffee_table.5) | [{'action': 'OPEN', 'object': 'bottom_cabinet_13'}, {'action': 'RIGHT_GRASP', 'object': 'pumpkin_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_13'}, {'action': 'LEFT_GRASP', 'object': 'candle_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bottom_cabinet_13'}, {'action': 'RIGHT_GRASP', 'object': 'pump... | (define (problem putting_away_Halloween_decorations)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 caldron_n_01_1 - caldron_n_01 candle_n_01_2 candle_n_01_3 - candle_n_01 floor_n_01_1 - floor_n_01 pumpkin_n_02_1 - pumpkin_n_02 sheet_n_03_1 - sheet_n_03 table_n_02_1 - table_n_02)... |
default | collect_misplaced_items_0_Wainscott_0_int_1_2021-10-26_18-48-11 | collect_misplaced_items | Collect all misplaced items including the gym shoe, necklace, notebook, and socks. Then place them on the table. | (define (problem collect_misplaced_items_0)
(:domain igibson)
(:objects
gym_shoe.n.01_1 - gym_shoe.n.01
necklace.n.01_1 - necklace.n.01
notebook.n.01_1 - notebook.n.01
sock.n.01_1 sock.n.01_2 - sock.n.01
table.n.02_1 table.n.02_2 - table.n.02
cabinet.n.01_1 - cab... | ontop(gym_shoe.0, breakfast_table.1) and ontop(necklace.0, breakfast_table.1) and ontop(notebook.0, breakfast_table.1) and forall x0. (not sock_n_01(x0) or ontop(x0, breakfast_table.1)) | [{'action': 'OPEN', 'object': 'bottom_cabinet_79'}, {'action': 'RIGHT_GRASP', 'object': 'necklace_0'}, {'action': 'LEFT_GRASP', 'object': 'sock_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_1'}, {'action': 'RIGHT_GRASP', 'object': 'sock_1'... | (define (problem collect_misplaced_items)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 floor_n_01_1 - floor_n_01 necklace_n_01_1 - necklace_n_01 notebook_n_01_1 - notebook_n_01 sock_n_01_1 sock_n_01_2 - sock_n_01 sofa_n_01_1 - sofa_n_01 table_n_02_2 - table_n_02)
(:init (in... |
default | cleaning_high_chair_0_Wainscott_0_int_0_2021-06-05_18-03-15 | cleaning_high_chair | Clean the high chair. | (define (problem cleaning_high_chair_0)
(:domain igibson)
(:objects
highchair.n.01_1 - highchair.n.01
piece_of_cloth.n.01_1 - piece_of_cloth.n.01
cabinet.n.01_1 - cabinet.n.01
sink.n.01_1 - sink.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
agent.n.01_1 - agent.n.0... | not dusty(highchair.0) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'RIGHT_GRASP', 'object': 'paper_towel_0'}, {'action': 'LEFT_GRASP', 'object': 'highchair_0'}, {'action': 'CLEAN', 'object': 'highchair_0'}] | (define (problem cleaning_high_chair)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 floor_n_01_2 - floor_n_01 highchair_n_01_1 - highchair_n_01 piece_of_cloth_n_01_1 - piece_of_cloth_n_01)
(:init (dusty highchair_n_01_1) (inside piece_of_cloth_n_01_1 cabinet_n_01_1) (onfloor... |
default | washing_floor_0_Ihlen_1_int_1_2021-10-26_14-53-28 | washing_floor | Clean the dust and stain off the floor. | (define (problem washing_floor_0)
(:domain igibson)
(:objects
bucket.n.01_1 - bucket.n.01
floor.n.01_1 - floor.n.01
soap.n.01_1 - soap.n.01
towel.n.01_1 - towel.n.01
shower.n.01_1 - shower.n.01
toilet.n.02_1 - toilet.n.02
bed.n.01_1 - bed.n.01
sink.n.01_1 - sink.n.01
... | not (dusty(room_floor_bathroom.0) or stained(room_floor_bathroom.0)) | [{'action': 'RIGHT_GRASP', 'object': 'bath_towel_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_49'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_49'}, {'action': 'SOAK', 'object': 'bath_towel_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_49'}, {'action': 'RIGHT_GRASP', 'object': 'bath_towel_0'}, {'action': 'CLEAN',... | (define (problem washing_floor)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 floor_n_01_1 - floor_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01 towel_n_01_1 - towel_n_01)
(:init (dusty floor_n_01_1) (not (stained towel_n_01_1)) (onfloor agent_n_01_1 floor_n_01_1) (onfl... |
default | sorting_mail_0_Wainscott_0_int_1_2021-10-26_14-38-16 | sorting_mail | Sort the envelopes and newspapers into two stacked piles. | (define (problem sorting_mail_0)
(:domain igibson)
(:objects
envelope.n.01_1 envelope.n.01_2 envelope.n.01_3 envelope.n.01_4 - envelope.n.01
floor.n.01_1 - floor.n.01
sofa.n.01_1 - sofa.n.01
newspaper.n.03_1 newspaper.n.03_2 newspaper.n.03_3 newspaper.n.03_4 - newspaper.n.03
... | forall x0. (not envelope_n_01(x0) or (touching(x0, envelope.143) or touching(x0, envelope.144) or touching(x0, envelope.145) or touching(x0, envelope.146))) and forall x0. (not newspaper_n_03(x0) or (touching(x0, newspaper.147) or touching(x0, newspaper.148) or touching(x0, newspaper.149) or touching(x0, newspaper.150)... | [{'action': 'RIGHT_GRASP', 'object': 'envelope_143'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'envelope_146'}, {'action': 'LEFT_GRASP', 'object': 'envelope_144'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'envelope_146'}, {'action': 'RIGHT_GRASP', 'object': 'envelope_145'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'e... | (define (problem sorting_mail)
(:domain igibson)
(:objects agent_n_01_1 - agent envelope_n_01_1 envelope_n_01_2 envelope_n_01_3 envelope_n_01_4 - envelope_n_01 floor_n_01_1 - floor_n_01 newspaper_n_03_1 newspaper_n_03_2 - newspaper_n_03)
(:init (onfloor envelope_n_01_1 floor_n_01_1) (onfloor envelope_n_01_2... |
default | cleaning_bathrooms_0_Benevolence_0_int_1_2021-06-12_19-33-28 | cleaning_bathrooms | Use the rag and bucket to clean stains off the toilet, the bathtub, the sink, and the floor. | (define (problem cleaning_bathrooms_0)
(:domain igibson)
(:objects
sink.n.01_1 - sink.n.01
bathtub.n.01_1 - bathtub.n.01
toilet.n.02_1 - toilet.n.02
floor.n.01_1 - floor.n.01
bucket.n.01_1 - bucket.n.01
soap.n.01_1 - soap.n.01
brush.n.02_1 - brush.n.02
... | not stained(toilet.6) and not stained(bathtub.4) and not stained(sink.7) and not stained(room_floor_bathroom.0) and soaked(rag.0) and inside(rag.0, bucket.0) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_7'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_7'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_7'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'CLEAN', 'object': 'sink_7'}, {'... | (define (problem cleaning_bathrooms)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01 toilet_n_02_1 - toilet_n_02)
(:init (inside soap_n_01_1 sink_n_01_1) (not (soaked rag_n_01_1)) (on... |
default | cleaning_kitchen_cupboard_0_Pomaria_1_int_0_2021-10-26_13-05-36 | cleaning_kitchen_cupboard | Clean all dusty cabinets, put all bowls in one cabinet and all cups in another. | (define (problem cleaning_kitchen_cupboard_0)
(:domain igibson)
(:objects
cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
countertop.n.01_1 - countertop.n.01
piece_of_cloth.n.01_1 - piece_of_cloth.n.01
cleansing_agent.n.01_1 - cleansing_agent.n.01
bowl.n.01_1 bowl.n.01_2 - bowl.n.01
... | forall x0. (not cabinet_n_01(x0) or (not dusty(x0))) and exists x0. (not cabinet_n_01(x0) or (forall x1. (not bowl_n_01(x1) or (inside(x1, x0) and (not inside(cup.0, x0)))))) and exists x0. (not cabinet_n_01(x0) or (forall x1. (not cup_n_01(x1) or (inside(x1, x0) and (not inside(bowl.0, x0)))))) | [{'action': 'TOGGLE_ON', 'object': 'sink_37'}, {'action': 'TOGGLE_OFF', 'object': 'sink_37'}, {'action': 'RIGHT_GRASP', 'object': 'paper_towel_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_37'}, {'action': 'SOAK', 'object': 'paper_towel_0'}, {'action': 'RIGHT_GRASP', 'object': 'paper_towel_0'}, {'action': 'OPEN... | (define (problem cleaning_kitchen_cupboard)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 bowl_n_01_2 - bowl_n_01 cabinet_n_01_1 cabinet_n_01_2 - cabinet_n_01 countertop_n_01_1 - countertop_n_01 cup_n_01_1 cup_n_01_2 - cup_n_01 piece_of_cloth_n_01_1 - piece_of_cloth_n_01)
(:init (dusty cabine... |
default | preparing_salad_0_Pomaria_1_int_1_2021-10-26_14-17-24 | preparing_salad | Place a whole lettuce, a sliced apple, a sliced tomato, and a whole radish on separate plates. | (define (problem preparing_salad_0)
(:domain igibson)
(:objects
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
lettuce.n.03_1 lettuce.n.03_2 - lettuce.n.03
countertop.n.01_1 - countertop.n.01
apple.n.01_1 apple.n.01_2 - apple.n.01
tomato.n.01_1 tomato.n.01_2 - tomato.n.01
... | forall x0. (not lettuce_n_03(x0) or forn 1. x1. (not plate_n_04(x1) or ontop(x0, x1))) and forall x1. (not plate_n_04(x1) or forn 1. x0. (not lettuce_n_03(x0) or ontop(x0, x1))) and forall x0. (not apple_n_01(x0) or forn 1. x1. (not plate_n_04(x1) or (sliced(x0) and ontop(x0, x1)))) and forall x1. (not plate_n_04(x1) o... | [{'action': 'OPEN', 'object': 'top_cabinet_27'}, {'action': 'LEFT_GRASP', 'object': 'plate_87'}, {'action': 'RIGHT_GRASP', 'object': 'plate_88'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'OPEN', 'object': 'fridge_20'}, {'action': '... | (define (problem preparing_salad)
(:domain igibson)
(:objects agent_n_01_1 - agent apple_n_01_1 apple_n_01_2 - apple_n_01 cabinet_n_01_1 - cabinet_n_01 carving_knife_n_01_1 - carving_knife_n_01 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 lettuce_n_03_1 lettuce_n... |
default | putting_leftovers_away_0_Ihlen_1_int_0_2021-06-08_13-42-57 | putting_leftovers_away | Put all pasta and sauce inside the fridge. | (define (problem putting_leftovers_away_0)
(:domain igibson)
(:objects
pasta.n.02_1 pasta.n.02_2 pasta.n.02_3 pasta.n.02_4 - pasta.n.02
floor.n.01_1 - floor.n.01
sauce.n.01_1 sauce.n.01_2 sauce.n.01_3 sauce.n.01_4 - sauce.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
... | forall x0. (not pasta_n_02(x0) or inside(x0, fridge.61)) and forall x0. (not sauce_n_01(x0) or inside(x0, fridge.61)) | [{'action': 'OPEN', 'object': 'fridge_61'}, {'action': 'RIGHT_GRASP', 'object': 'spaghetti_sauce_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'LEFT_GRASP', 'object': 'spaghetti_sauce_1'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'fridge_61'}, {'action': 'RIGHT_GRASP', 'object': 'spaghetti_s... | (define (problem putting_leftovers_away)
(:domain igibson)
(:objects agent_n_01_1 - agent countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 pasta_n_02_2 - pasta_n_02 sauce_n_01_2 sauce_n_01_3 sauce_n_01_4 - sauce_n_01)
(:init (ontop pasta_n_02_2 countertop_n_01_1)... |
default | preparing_a_shower_for_child_0_Ihlen_0_int_0_2021-10-25_21-36-25 | preparing_a_shower_for_child | Place the towel, shampoo, and soap on the floor near the sink for the child's shower. | (define (problem preparing_a_shower_for_child_0)
(:domain igibson)
(:objects
shampoo.n.01_1 - shampoo.n.01
floor.n.01_1 - floor.n.01
soap.n.01_1 - soap.n.01
towel.n.01_1 - towel.n.01
shower.n.01_1 - shower.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
... | onfloor(dishtowel.0, room_floor_bathroom.0) and onfloor(shampoo.0, room_floor_bathroom.0) and nextto(soap.0, sink.38) | [{'action': 'RIGHT_GRASP', 'object': 'soap_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_38'}, {'action': 'TOGGLE_ON', 'object': 'sink_38'}, {'action': 'TOGGLE_OFF', 'object': 'sink_38'}, {'action': 'RIGHT_GRASP', 'object': 'dishtowel_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_bathroom_0'}, {'ac... | (define (problem preparing_a_shower_for_child)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 shampoo_n_01_1 - shampoo_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01 towel_n_01_1 - towel_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor shampoo_n_01_1 floor_n_01_1) ... |
default | cleaning_stove_0_Wainscott_0_int_0_2021-09-11_12-51-07 | cleaning_stove | Use the rag and dishtowel to clean the dusty and stained stove, then leave them next to the sink. | (define (problem cleaning_stove_0)
(:domain igibson)
(:objects
stove.n.01_1 - stove.n.01
soap.n.01_1 - soap.n.01
cabinet.n.01_1 - cabinet.n.01
rag.n.01_1 - rag.n.01
sink.n.01_1 - sink.n.01
dishtowel.n.01_1 - dishtowel.n.01
floor.n.01_1 - floor.n.01
agent.n... | not dusty(stove.88) and not stained(stove.88) and nextto(rag.0, sink.82) and nextto(dishtowel.0, sink.82) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_82'}, {'action': 'RIGHT_GRASP', 'object': 'dishtowel_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_82'}, {'action': 'TOGGLE_ON', 'object': 'sink_82'}, {'actio... | (define (problem cleaning_stove)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 dishtowel_n_01_1 - dishtowel_n_01 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 stove_n_01_1 - stove_n_01)
(:init (dusty stove_n_01_1) (inside dishtowel_n_01_1 cabinet_n_01_1) (inside rag_n_01_1 c... |
default | cleaning_carpets_0_Wainscott_1_int_0_2021-09-11_01-12-41 | cleaning_carpets | Clean the stained carpets. | (define (problem cleaning_carpets_0)
(:domain igibson)
(:objects
floor.n.01_1 floor.n.01_2 - floor.n.01
hand_towel.n.01_1 - hand_towel.n.01
shampoo.n.01_1 - shampoo.n.01
cabinet.n.01_1 - cabinet.n.01
washer.n.03_1 - washer.n.03
dryer.n.01_1 - dryer.n.01
door.n.01_1 - door... | not stained(room_floor_corridor.0) | [{'action': 'RIGHT_GRASP', 'object': 'hand_towel_102'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_51'}, {'action': 'TOGGLE_ON', 'object': 'sink_51'}, {'action': 'SOAK', 'object': 'hand_towel_102'}, {'action': 'RIGHT_GRASP', 'object': 'hand_towel_102'}, {'action': 'CLEAN', 'object': 'room_floor_utility_room_0'}, ... | (define (problem cleaning_carpets)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 floor_n_01_2 - floor_n_01 hand_towel_n_01_1 - hand_towel_n_01 sink_n_01_1 - sink_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor hand_towel_n_01_1 floor_n_01_2) (same_obj agent_n_01_1 agent_n_01_1) (sa... |
default | serving_a_meal_0_Merom_1_int_0_2021-10-26_00-34-17 | serving_a_meal | Serve the meal by placing all food and drinks on the table along with the appropriate utensils. | (define (problem serving_a_meal_0)
(:domain igibson)
(:objects
chicken.n.01_1 chicken.n.01_2 - chicken.n.01
knife.n.01_1 knife.n.01_2 - knife.n.01
fork.n.01_1 fork.n.01_2 - fork.n.01
spoon.n.01_1 spoon.n.01_2 - spoon.n.01
plate.n.04_1 plate.n.04_2 - plate.n.04
soup.n.01_1 soup.n.... | forall x0. (not plate_n_04(x0) or ontop(x0, breakfast_table.20)) and forall x0. (not knife_n_01(x0) or ontop(x0, breakfast_table.20)) and forall x0. (not fork_n_01(x0) or ontop(x0, breakfast_table.20)) and forall x0. (not spoon_n_01(x0) or forn 1. x1. (not soup_n_01(x1) or nextto(x0, x1))) and forall x1. (not soup_n_01... | [{'action': 'OPEN', 'object': 'fridge_57'}, {'action': 'OPEN', 'object': 'bottom_cabinet_49'}, {'action': 'OPEN', 'object': 'bottom_cabinet_50'}, {'action': 'RIGHT_GRASP', 'object': 'plate_1'}, {'action': 'LEFT_GRASP', 'object': 'plate_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}, {'action': 'LE... | (define (problem serving_a_meal)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 cake_n_03_2 - cake_n_03 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 fork_n_01_2 - fork_n_01 plate_n_04_2 - plate_n_04 salad_n_01_2 - salad_n_01 soup_n_01_1 soup_n_01_2 - soup_n_01 spoon_... |
default | polishing_shoes_0_Wainscott_0_int_0_2021-06-10_21-28-31 | polishing_shoes | Soak the rag, polish both shoes, and place the rag next to the sink. | (define (problem polishing_shoes_0)
(:domain igibson)
(:objects
shoe.n.01_1 shoe.n.01_2 - shoe.n.01
rag.n.01_1 - rag.n.01
floor.n.01_1 - floor.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(stained shoe.n.01_1)
(stained shoe.n.01_2)
... | nextto(rag.145, sink.67) and soaked(rag.145) and (not stained(sandal.143)) and (not stained(walker.144)) | [{'action': 'RIGHT_GRASP', 'object': 'rag_145'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_67'}, {'action': 'TOGGLE_ON', 'object': 'sink_67'}, {'action': 'SOAK', 'object': 'rag_145'}, {'action': 'TOGGLE_OFF', 'object': 'sink_67'}, {'action': 'RIGHT_GRASP', 'object': 'rag_145'}, {'action': 'CLEAN', 'object': 'wal... | (define (problem polishing_shoes)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 shoe_n_01_1 shoe_n_01_2 - shoe_n_01 sink_n_01_1 - sink_n_01)
(:init (not (soaked rag_n_01_1)) (onfloor rag_n_01_1 floor_n_01_1) (onfloor shoe_n_01_1 floor_n_01_1) (onfloor shoe_... |
default | packing_picnics_0_Wainscott_0_int_0_2021-10-26_11-07-29 | packing_picnics | Pack all chips and sandwiches inside one carton. Pack all fruits inside one carton. Pack all drinks inside one carton. | (define (problem packing_picnics_0)
(:domain igibson)
(:objects
carton.n.02_1 carton.n.02_2 carton.n.02_3 - carton.n.02
floor.n.01_1 floor.n.01_2 - floor.n.01
chip.n.04_1 chip.n.04_2 - chip.n.04
cabinet.n.01_1 - cabinet.n.01
sandwich.n.01_1 sandwich.n.01_2 sandwich.n.01_... | exists x0. (not carton_n_02(x0) or ((forall x1. (not chip_n_04(x1) or inside(x1, x0))) and (forall x1. (not sandwich_n_01(x1) or inside(x1, x0))))) and exists x0. (not carton_n_02(x0) or ((forall x1. (not strawberry_n_01(x1) or inside(x1, x0))) and (forall x1. (not grape_n_01(x1) or inside(x1, x0))) and (forall x1. (no... | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'OPEN', 'object': 'fridge_97'}, {'action': 'RIGHT_GRASP', 'object': 'cantaloup_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'hamburger_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'ac... | (define (problem packing_picnics)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_2 carton_n_02_3 - carton_n_02 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_2 - floor_n_01 grape_n_01_3 - grape_n_01 pop_n_02_2 - pop_n_02 strawberry_n_01_1 strawberry_n_01_4 - strawberry_n_01)
... |
default | moving_boxes_to_storage_0_Merom_0_int_0_2021-06-11_20-04-35 | moving_boxes_to_storage | Move carton1 to floor2 and place carton2 on top of carton1. | (define (problem moving_boxes_to_storage_0)
(:domain igibson)
(:objects
carton.n.02_1 carton.n.02_2 - carton.n.02
floor.n.01_1 floor.n.01_2 - floor.n.01
shelf.n.01_1 - shelf.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor carton.n.02_1 floor.n.01_1)
(onfloo... | onfloor(carton.70, room_floor_storage_room.0) and ontop(carton.71, carton.70) | [{'action': 'RIGHT_GRASP', 'object': 'carton_70'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_storage_room_0'}, {'action': 'RIGHT_GRASP', 'object': 'carton_71'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'carton_70'}] | (define (problem moving_boxes_to_storage)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_1 carton_n_02_2 - carton_n_02 floor_n_01_1 floor_n_01_2 - floor_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_2) (onfloor carton_n_02_1 floor_n_01_1) (onfloor carton_n_02_2 floor_n_01_1) (same_obj agent_n_... |
default | filling_a_Christmas_stocking_0_Rs_int_0_2021-06-04_18-47-42 | filling_a_Christmas_stocking | Fill each stocking with one cube, one candy, and one pen. | (define (problem filling_a_Christmas_stocking_0)
(:domain igibson)
(:objects
cube.n.05_1 cube.n.05_2 cube.n.05_3 cube.n.05_4 - cube.n.05
floor.n.01_1 - floor.n.01
candy.n.01_1 candy.n.01_2 candy.n.01_3 candy.n.01_4 - candy.n.01
cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
pen.n.01_1 p... | forall x0. (not stocking_n_01(x0) or forn 1. x1. (not cube_n_05(x1) or inside(x1, x0))) and forall x1. (not cube_n_05(x1) or forn 1. x0. (not stocking_n_01(x0) or inside(x1, x0))) and forall x0. (not stocking_n_01(x0) or forn 1. x1. (not candy_n_01(x1) or inside(x1, x0))) and forall x1. (not candy_n_01(x1) or forn 1. x... | [{'action': 'RIGHT_GRASP', 'object': 'ice_cube_2'}, {'action': 'LEFT_GRASP', 'object': 'stocking_2'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'stocking_2'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'RIGHT_GRASP', 'object': 'ice_cube_3'}, {'action': 'LEFT_GRASP', 'object': 'sto... | (define (problem filling_a_Christmas_stocking)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 candy_n_01_4 - candy_n_01 cube_n_05_1 cube_n_05_3 - cube_n_05 floor_n_01_1 - floor_n_01 pen_n_01_2 - pen_n_01 stocking_n_01_1 stocking_n_01_2 stocking_n_01_4 - stocking_n_01)
(:init ... |
default | cleaning_a_car_0_Ihlen_0_int_0_2021-09-11_16-37-11 | cleaning_a_car | Use the soap, rag and bucket to clean dust off the car. | (define (problem cleaning_a_car_0)
(:domain igibson)
(:objects
car.n.01_1 - car.n.01
floor.n.01_1 - floor.n.01
rag.n.01_1 - rag.n.01
shelf.n.01_1 - shelf.n.01
soap.n.01_1 - soap.n.01
bucket.n.01_1 - bucket.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
... | not dusty(car.0) and inside(soap.0, bucket.0) and inside(rag.0, bucket.0) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'LEFT_GRASP', 'object': 'soap_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': 'CLEAN', 'object': 'car_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_0'}] | (define (problem cleaning_a_car)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 car_n_01_1 - car_n_01 floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 shelf_n_01_1 - shelf_n_01 soap_n_01_1 - soap_n_01)
(:init (dusty car_n_01_1) (not (soaked rag_n_01_1)) (onfloor bucket_n_01_1 fl... |
default | defrosting_freezer_0_Beechwood_0_int_0_2021-10-25_23-10-43 | defrosting_freezer | Place the receptacle next to the refrigerator, the bucket next to the countertop, the scraper on top of the refrigerator, the towel on the countertop, the soaked rag inside the sink, and all the food inside the bucket. | (define (problem defrosting_freezer_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
sink.n.01_1 - sink.n.01
countertop.n.01_1 - countertop.n.01
receptacle.n.01_1 - receptacle.n.01
bucket.n.01_1 - bucket.n.01
... | nextto(dustpan.0, fridge.57) and nextto(bucket.0, countertop.56) and ontop(scraper.0, fridge.57) and ontop(paper_towel.0, countertop.56) and inside(rag.0, sink.64) and soaked(rag.0) and forall x0. (not food_n_02(x0) or inside(x0, bucket.0)) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_64'}, {'action': 'TOGGLE_ON', 'object': 'sink_64'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_64'}, {'action': 'RIGHT_GRASP', 'object': 'bucket_0'}, {'action': 'OPEN', 'object': 'fridge_... | (define (problem defrosting_freezer)
(:domain igibson)
(:objects agent_n_01_1 - agent bucket_n_01_1 - bucket_n_01 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_1 - floor_n_01 food_n_02_1 food_n_02_2 food_n_02_3 - food_n_02 rag_n_01_1 - rag_n_01 receptac... |
default | packing_lunches_0_Beechwood_0_int_0_2021-10-26_11-03-14 | packing_lunches | Place chips, cookies, salad, juice, sandwich, and pop in separate cartons, ensuring the correct items are inside each carton. Additionally, put either an apple or a banana in each of carton1 and carton2. | (define (problem packing_lunches_0)
(:domain igibson)
(:objects
salad.n.01_1 - salad.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
sandwich.n.01_1 - sandwich.n.01
chip.n.04_1 chip.n.04_2 - chip.n.04
cabinet.n.01_1 - cabinet.n.01
juice.n.01_1 - juice.n.01
tab... | forall x0. (not chip_n_04(x0) or forn 1. x1. (not carton_n_02(x1) or inside(x0, x1))) and forall x1. (not carton_n_02(x1) or forn 1. x0. (not chip_n_04(x0) or inside(x0, x1))) and forall x0. (not cookie_n_01(x0) or forn 1. x1. (not carton_n_02(x1) or inside(x0, x1))) and forall x1. (not carton_n_02(x1) or forn 1. x0. (... | [{'action': 'RIGHT_GRASP', 'object': 'apple_0'}, {'action': 'LEFT_GRASP', 'object': 'banana_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_GRASP', 'object': 'cookie_0'}, {'action': 'LEFT_GRASP', 'object': 'cookie_1'}, {'action': 'RIG... | (define (problem packing_lunches)
(:domain igibson)
(:objects agent_n_01_1 - agent apple_n_01_1 - apple_n_01 carton_n_02_1 carton_n_02_2 - carton_n_02 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_2 - floor_n_01 juice_n_01_1 - juice_n_01 pop_n_02_1 - po... |
default | vacuuming_floors_0_Ihlen_1_int_0_2021-06-08_18-03-55 | vacuuming_floors | Vacuum the dusty floors. | (define (problem vacuuming_floors_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
vacuum.n.04_1 - vacuum.n.04
ashcan.n.01_1 - ashcan.n.01
agent.n.01_1 - agent.n.01
)
(:init
(dusty floor.n.01_1)
(onfloor vacuum.n.04_1 floor.n.01_1)
(onfloo... | not dusty(room_floor_bedroom.0) | [{'action': 'RIGHT_GRASP', 'object': 'vacuum_0'}, {'action': 'CLEAN', 'object': 'room_floor_bedroom_0'}] | (define (problem vacuuming_floors)
(:domain igibson)
(:objects agent_n_01_1 - agent ashcan_n_01_1 - ashcan_n_01 floor_n_01_1 - floor_n_01 vacuum_n_04_1 - vacuum_n_04)
(:init (dusty floor_n_01_1) (onfloor agent_n_01_1 floor_n_01_1) (onfloor ashcan_n_01_1 floor_n_01_1) (onfloor vacuum_n_04_1 floor_n_01_1) (sa... |
default | installing_a_scanner_0_Pomaria_0_int_0_2021-06-08_18-34-59 | installing_a_scanner | Turn on the scanner and place it under the table. | (define (problem installing_a_scanner_0)
(:domain igibson)
(:objects
scanner.n.02_1 - scanner.n.02
table.n.02_1 - table.n.02
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop scanner.n.02_1 table.n.02_1)
(not
(toggled_on scanner... | toggledon(scanner.0) and under(scanner.0, breakfast_table.3) | [{'action': 'RIGHT_GRASP', 'object': 'scanner_0'}, {'action': 'RIGHT_PLACE_UNDER', 'object': 'breakfast_table_3'}, {'action': 'TOGGLE_ON', 'object': 'scanner_0'}] | (define (problem installing_a_scanner)
(:domain igibson)
(:objects agent_n_01_1 - agent scanner_n_02_1 - scanner_n_02 table_n_02_1 - table_n_02)
(:init (not (toggled_on scanner_n_02_1)) (ontop scanner_n_02_1 table_n_02_1) (same_obj scanner_n_02_1 scanner_n_02_1) (same_obj table_n_02_1 table_n_02_1))
(:g... |
default | installing_a_fax_machine_0_Beechwood_0_int_0_2021-10-25_20-22-22 | installing_a_fax_machine | Place the fax machine on the table and turn it on. | (define (problem installing_a_fax_machine_0)
(:domain igibson)
(:objects
facsimile.n.02_1 - facsimile.n.02
floor.n.01_1 - floor.n.01
table.n.02_1 - table.n.02
agent.n.01_1 - agent.n.01
)
(:init
(onfloor facsimile.n.02_1 floor.n.01_1)
(not
(toggle... | ontop(facsimile.0, breakfast_table.37) and toggledon(facsimile.0) | [{'action': 'RIGHT_GRASP', 'object': 'facsimile_0'}, {'action': 'TOGGLE_ON', 'object': 'facsimile_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_37'}] | (define (problem installing_a_fax_machine)
(:domain igibson)
(:objects agent_n_01_1 - agent facsimile_n_02_1 - facsimile_n_02 floor_n_01_1 - floor_n_01 table_n_02_1 - table_n_02)
(:init (not (toggled_on facsimile_n_02_1)) (onfloor facsimile_n_02_1 floor_n_01_1) (same_obj facsimile_n_02_1 facsimile_n_02_1) (... |
default | bringing_in_wood_0_Benevolence_1_int_0_2021-09-15_18-42-25 | bringing_in_wood | Bring all plywood pieces inside and put them down. | (define (problem bringing_in_wood_0)
(:domain igibson)
(:objects
plywood.n.01_1 plywood.n.01_2 plywood.n.01_3 - plywood.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor plywood.n.01_1 floor.n.01_1)
(onfloor plywood.n.... | forall x0. (not plywood_n_01(x0) or onfloor(x0, room_floor_kitchen.0)) | [{'action': 'RIGHT_GRASP', 'object': 'plywood_2'}, {'action': 'LEFT_GRASP', 'object': 'plywood_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_kitchen_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_kitchen_0'}, {'action': 'RIGHT_GRASP', 'object': 'plywood_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'obje... | (define (problem bringing_in_wood)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 floor_n_01_2 - floor_n_01 plywood_n_01_1 plywood_n_01_2 plywood_n_01_3 - plywood_n_01)
(:init (onfloor plywood_n_01_1 floor_n_01_1) (onfloor plywood_n_01_2 floor_n_01_1) (onfloor plywood_n_01_3 floor_n_01_1) (sa... |
default | cleaning_oven_0_Benevolence_1_int_0_2021-09-11_12-20-40 | cleaning_oven | Clean the oven using wet rags and scrub brushes. | (define (problem cleaning_oven_0)
(:domain igibson)
(:objects
receptacle.n.01_1 - receptacle.n.01
floor.n.01_1 - floor.n.01
soap.n.01_1 - soap.n.01
cabinet.n.01_1 - cabinet.n.01
rag.n.01_1 rag.n.01_2 - rag.n.01
newspaper.n.03_1 - newspaper.n.03
sink.n.01_1 - sink.n.01
s... | forall x0. (not rag_n_01(x0) or soaked(x0)) and soaked(scrub_brush.0) and not stained(oven.24) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_15'}, {'action': 'TOGGLE_ON', 'object': 'sink_19'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'SOAK', 'object': 'scrub_brush_0'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_0'}, {'act... | (define (problem cleaning_oven)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 oven_n_01_1 - oven_n_01 rag_n_01_1 rag_n_01_2 - rag_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01)
(:init (inside rag_n_01_1 cabinet_n_01_1) (inside rag_n_01_2 cabinet_n_01_1) ... |
default | cleaning_toilet_0_Merom_0_int_1_2021-06-23_17-35-48 | cleaning_toilet | Use the scrub brush and detergent to clean the stained toilet, and leave them on the floor when finished. | (define (problem cleaning_toilet_0)
(:domain igibson)
(:objects
toilet.n.02_1 - toilet.n.02
scrub_brush.n.01_1 - scrub_brush.n.01
floor.n.01_1 - floor.n.01
detergent.n.02_1 - detergent.n.02
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(stain... | not stained(toilet.45) and onfloor(scrub_brush.70, room_floor_bathroom.0) and onfloor(detergent.71, room_floor_bathroom.0) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_70'}, {'action': 'TOGGLE_ON', 'object': 'sink_48'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_48'}, {'action': 'SOAK', 'object': 'scrub_brush_70'}, {'action': 'TOGGLE_OFF', 'object': 'sink_48'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_70'}, {'action': 'C... | (define (problem cleaning_toilet)
(:domain igibson)
(:objects agent_n_01_1 - agent detergent_n_02_1 - detergent_n_02 floor_n_01_1 - floor_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01 toilet_n_02_1 - toilet_n_02)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor detergent_n_02_1 floor... |
default | unpacking_suitcase_0_Benevolence_1_int_0_2021-06-08_17-58-34 | unpacking_suitcase | Place the carton on the floor, then take everything from the carton and place them on the sofa. | (define (problem unpacking_suitcase_0)
(:domain igibson)
(:objects
sock.n.01_1 sock.n.01_2 - sock.n.01
floor.n.01_1 - floor.n.01
carton.n.02_1 - carton.n.02
perfume.n.02_1 - perfume.n.02
toothbrush.n.01_1 - toothbrush.n.01
notebook.n.01_1 - notebook.n.01
sofa.n.0... | onfloor(carton.0, room_floor_living_room.0) and forall x0. (not sock_n_01(x0) or ontop(x0, sofa.10)) and ontop(cologne.0, sofa.10) and ontop(toothbrush.0, sofa.10) and ontop(notebook.0, sofa.10) | [{'action': 'RIGHT_GRASP', 'object': 'toothbrush_0'}, {'action': 'LEFT_GRASP', 'object': 'notebook_0'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'sofa_10'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'sofa_10'}, {'action': 'RIGHT_GRASP', 'object': 'sock_1'}, {'action': 'LEFT_GRASP', 'object': 'cologne_0'}, {'action': 'L... | (define (problem unpacking_suitcase)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_1 - carton_n_02 floor_n_01_1 - floor_n_01 notebook_n_01_1 - notebook_n_01 perfume_n_02_1 - perfume_n_02 sock_n_01_1 sock_n_01_2 - sock_n_01 sofa_n_01_1 - sofa_n_01 toothbrush_n_01_1 - toothbrush_n_01)
(:init (i... |
default | locking_every_door_0_Merom_1_int_0_2021-10-20_05-53-14 | locking_every_door | Close and lock all the doors. | (define (problem locking_every_door_0)
(:domain igibson)
(:objects
door.n.01_1 door.n.01_2 - door.n.01
bed.n.01_1 - bed.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(open door.n.01_1)
(open door.n.01_2)
(inroom door.n.01_1 bedroo... | not open(door.85) and not open(door.89) | [{'action': 'RIGHT_GRASP', 'object': 'door_89'}, {'action': 'CLOSE', 'object': 'door_89'}, {'action': 'RIGHT_RELEASE', 'object': 'door_89'}, {'action': 'RIGHT_GRASP', 'object': 'door_85'}, {'action': 'CLOSE', 'object': 'door_85'}, {'action': 'RIGHT_RELEASE', 'object': 'door_85'}] | (define (problem locking_every_door)
(:domain igibson)
(:objects agent_n_01_1 - agent door_n_01_1 door_n_01_2 - door_n_01)
(:init (open door_n_01_1) (open door_n_01_2) (same_obj door_n_01_1 door_n_01_1) (same_obj door_n_01_2 door_n_01_2))
(:goal (and (not (open door_n_01_1)) (not (open door_n_01_2))))
) |
default | cleaning_table_after_clearing_0_Merom_1_int_0_2021-06-06_19-48-44 | cleaning_table_after_clearing | Clean the table after clearing it. | (define (problem cleaning_table_after_clearing_0)
(:domain igibson)
(:objects
table.n.02_1 - table.n.02
soap.n.01_1 - soap.n.01
sink.n.01_1 - sink.n.01
floor.n.01_1 - floor.n.01
dishtowel.n.01_1 - dishtowel.n.01
cabinet.n.01_1 - cabinet.n.01
agent.n.01_1... | not stained(breakfast_table.20) | [{'action': 'OPEN', 'object': 'bottom_cabinet_49'}, {'action': 'LEFT_GRASP', 'object': 'dishtowel_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_53'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_53'}, {'action': 'SOAK', 'object': 'dishtowel_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_53'}, {'action': 'LEFT_GRASP', ... | (define (problem cleaning_table_after_clearing)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 dishtowel_n_01_1 - dishtowel_n_01 sink_n_01_1 - sink_n_01 table_n_02_1 - table_n_02)
(:init (inside dishtowel_n_01_1 cabinet_n_01_1) (same_obj cabinet_n_01_1 cabinet_n_01_1) (same_o... |
default | sorting_books_0_Pomaria_1_int_0_2021-10-26_13-27-18 | sorting_books | Place all types of books on the shelf. | (define (problem sorting_books_0)
(:domain igibson)
(:objects
hardback.n.01_1 hardback.n.01_2 - hardback.n.01
table.n.02_1 - table.n.02
floor.n.01_1 - floor.n.01
shelf.n.01_1 - shelf.n.01
book.n.02_1 book.n.02_2 - book.n.02
agent.n.01_1 - agent.n.01
)
(:init
... | forall x0. (not hardback_n_01(x0) or ontop(x0, shelf.15)) and forall x0. (not book_n_02(x0) or ontop(x0, shelf.15)) | [{'action': 'RIGHT_GRASP', 'object': 'notebook_80'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'shelf_15'}, {'action': 'RIGHT_GRASP', 'object': 'hardback_81'}, {'action': 'LEFT_GRASP', 'object': 'hardback_79'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'shelf_15'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'shelf_15'}, ... | (define (problem sorting_books)
(:domain igibson)
(:objects agent_n_01_1 - agent book_n_02_1 book_n_02_2 - book_n_02 floor_n_01_1 - floor_n_01 hardback_n_01_1 hardback_n_01_2 - hardback_n_01 shelf_n_01_1 - shelf_n_01 table_n_02_1 - table_n_02)
(:init (onfloor book_n_02_1 floor_n_01_1) (onfloor hardback_n_01... |
default | cleaning_barbecue_grill_0_Ihlen_0_int_0_2021-09-10_16-02-39 | cleaning_barbecue_grill | Clean stains and dust off of the barbecue grill. | (define (problem cleaning_barbecue_grill_0)
(:domain igibson)
(:objects
grill.n.02_1 - grill.n.02
floor.n.01_1 - floor.n.01
rag.n.01_1 - rag.n.01
bucket.n.01_1 - bucket.n.01
table.n.02_1 - table.n.02
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(... | not stained(grill.50) and not dusty(grill.50) | [{'action': 'RIGHT_GRASP', 'object': 'grill_50'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_garage_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_32'}, {'action': 'RIGHT_GRASP', 'object': 'rag_51'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_32'}, {'action': 'SOAK', 'object': 'rag_51'}, {'action': 'TOGG... | (define (problem cleaning_barbecue_grill)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 grill_n_02_1 - grill_n_02 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 table_n_02_1 - table_n_02)
(:init (dusty grill_n_02_1) (onfloor grill_n_02_1 floor_n_01_1) (ontop rag_n_01_1 table_n_02... |
default | cleaning_the_hot_tub_0_Ihlen_0_int_0_2021-08-24_22-19-07 | cleaning_the_hot_tub | Clean the stained hot tub located on floor1. | (define (problem cleaning_the_hot_tub_0)
(:domain igibson)
(:objects
pool.n.01_1 - pool.n.01
floor.n.01_1 - floor.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor pool.n.01_1 floor.n.01_1)
... | onfloor(pool.50, room_floor_garage.0) and not stained(pool.50) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_51'}, {'action': 'TOGGLE_ON', 'object': 'sink_38'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_38'}, {'action': 'SOAK', 'object': 'scrub_brush_51'}, {'action': 'TOGGLE_OFF', 'object': 'sink_38'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_51'}, {'action': 'C... | (define (problem cleaning_the_hot_tub)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 pool_n_01_1 - pool_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloor pool_n_01_1 floor_n_01_1) (onfloor scrub_brush_n_01_1 f... |
default | serving_hors_d_oeuvres_0_Wainscott_0_int_0_2021-10-26_14-00-22 | serving_hors_d_oeuvres | Place the tray on the table, put the crackers on the table, place the salads next to the crackers, and put the parsley on top of the cheese. | (define (problem serving_hors_d_oeuvres_0)
(:domain igibson)
(:objects
cabinet.n.01_1 - cabinet.n.01
salad.n.01_1 salad.n.01_2 salad.n.01_3 salad.n.01_4 - salad.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
tray.n.01_1 - tray.n.01
parsley.n.02_1 parsley.n.02_2 parsl... | ontop(tray.147, breakfast_table.1) and forall x0. (not cracker_n_01(x0) or ontop(x0, breakfast_table.1)) and forall x0. (not salad_n_01(x0) or forn 1. x1. (not cracker_n_01(x1) or nextto(x0, x1))) and forall x1. (not cracker_n_01(x1) or forn 1. x0. (not salad_n_01(x0) or nextto(x0, x1))) and forall x0. (not cheese_n_01... | [{'action': 'OPEN', 'object': 'fridge_97'}, {'action': 'LEFT_GRASP', 'object': 'salad_143'}, {'action': 'RIGHT_GRASP', 'object': 'salad_144'}, {'action': 'UNFREEZE', 'object': 'salad_143'}, {'action': 'UNFREEZE', 'object': 'salad_144'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'pretzel_153'}, {'action': 'RIGHT_PLACE_N... | (define (problem serving_hors_d_oeuvres)
(:domain igibson)
(:objects agent_n_01_1 - agent cheese_n_01_2 - cheese_n_01 cracker_n_01_1 cracker_n_01_2 cracker_n_01_3 cracker_n_01_4 - cracker_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_1 - floor_n_01 parsley_n_02_3 - parsley_n_02 salad... |
default | packing_adult_s_bags_0_Ihlen_1_int_0_2021-10-26_09-54-15 | packing_adult_s_bags | Pack all jewelry, makeup, toothbrush, and mouse inside the backpack, and place the backpack on the second floor. | (define (problem packing_adult_s_bags_0)
(:domain igibson)
(:objects
backpack.n.01_1 - backpack.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
hanger.n.02_1 - hanger.n.02
bed.n.01_1 - bed.n.01
makeup.n.01_1 makeup.n.01_2 - makeup.n.01
jewelry.n.01_1 jewelry.n.01_2 -... | forall x0. (not jewelry_n_01(x0) or inside(x0, backpack.112)) and forall x0. (not makeup_n_01(x0) or inside(x0, backpack.112)) and inside(toothbrush.118, backpack.112) and inside(mouse.119, backpack.112) and onfloor(backpack.112, room_floor_corridor.0) | [{'action': 'OPEN', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'mouse_119'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'bracelet_116'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_112'}, {'action': 'RIGHT_GRASP', 'object': 'necklace_117'... | (define (problem packing_adult_s_bags)
(:domain igibson)
(:objects agent_n_01_1 - agent backpack_n_01_1 - backpack_n_01 bed_n_01_1 - bed_n_01 floor_n_01_1 - floor_n_01 jewelry_n_01_1 jewelry_n_01_2 - jewelry_n_01 makeup_n_01_1 - makeup_n_01 mouse_n_04_1 - mouse_n_04)
(:init (onfloor backpack_n_01_1 floor_n_... |
default | packing_car_for_trip_0_Ihlen_0_int_0_2021-10-26_10-27-23 | packing_car_for_trip | Pack the briefcase, pencil box, headset, and duffel bag inside the car for the trip. | (define (problem packing_car_for_trip_0)
(:domain igibson)
(:objects
car.n.01_1 - car.n.01
briefcase.n.01_1 - briefcase.n.01
pencil_box.n.01_1 - pencil_box.n.01
headset.n.01_1 - headset.n.01
duffel_bag.n.01_1 - duffel_bag.n.01
table.n.02_1 - table.n.02
f... | inside(briefcase.51, car.50) and inside(pencil_box.52, car.50) and inside(headset.53, car.50) and inside(duffel_bag.54, car.50) | [{'action': 'OPEN', 'object': 'car_50'}, {'action': 'RIGHT_GRASP', 'object': 'briefcase_51'}, {'action': 'LEFT_GRASP', 'object': 'pencil_box_52'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'car_50'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'car_50'}, {'action': 'RIGHT_GRASP', 'object': 'duffel_bag_54'}, {'action': '... | (define (problem packing_car_for_trip)
(:domain igibson)
(:objects agent_n_01_1 - agent briefcase_n_01_1 - briefcase_n_01 car_n_01_1 - car_n_01 duffel_bag_n_01_1 - duffel_bag_n_01 floor_n_01_1 floor_n_01_2 - floor_n_01 headset_n_01_1 - headset_n_01 pencil_box_n_01_1 - pencil_box_n_01 table_n_02_1 - table_n_02)
... |
default | rearranging_furniture_0_Pomaria_2_int_1_2021-06-22_16-39-21 | rearranging_furniture | Place lamp1 next to the door, lamp2 next to the window, have seat1 touching the bed, and place seat2 next to the window. | (define (problem rearranging_furniture_0)
(:domain igibson)
(:objects
lamp.n.02_1 lamp.n.02_2 - lamp.n.02
floor.n.01_1 - floor.n.01
seat.n.03_1 seat.n.03_2 - seat.n.03
bed.n.01_1 - bed.n.01
window.n.01_1 - window.n.01
door.n.01_1 - door.n.01
agent.n.01_1 - agent.n.01
)
... | nextto(table_lamp.0, door.29) and nextto(floor_lamp.1, window.27) and touching(chaise_longue.0, bed.11) and nextto(chaise_longue.1, window.27) | [{'action': 'RIGHT_GRASP', 'object': 'table_lamp_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'door_29'}, {'action': 'RIGHT_GRASP', 'object': 'floor_lamp_1'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'window_27'}, {'action': 'RIGHT_GRASP', 'object': 'chaise_longue_1'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'w... | (define (problem rearranging_furniture)
(:domain igibson)
(:objects agent_n_01_1 - agent bed_n_01_1 - bed_n_01 door_n_01_1 - door_n_01 floor_n_01_1 - floor_n_01 lamp_n_02_1 lamp_n_02_2 - lamp_n_02 seat_n_03_2 - seat_n_03 window_n_01_1 - window_n_01)
(:init (onfloor lamp_n_02_1 floor_n_01_1) (onfloor lamp_n_... |
default | cleaning_bedroom_0_Benevolence_2_int_0_2021-06-06_18-10-59 | cleaning_bedroom | Put clothes inside the cabinets, put jewelry and perfume inside the cabinet, place the sheet on the bed and the painting on top, clean the cabinets of any dust, place the vacuum next to the bed. | (define (problem cleaning_bedroom_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
apparel.n.01_1 apparel.n.01_2 - apparel.n.01
bed.n.01_1 - bed.n.01
jewelry.n.01_1 - jewelry.n.01
perfume.n.02_1 - perfume.n.02
painting.n.01_1 - painting.n.01
vacuu... | forall x0. (not apparel_n_01(x0) or (exists x1. (not cabinet_n_01(x1) or inside(x0, x1)))) and inside(necklace.48, bottom_cabinet.2) and inside(cologne.49, bottom_cabinet.2) and ontop(sheet.53, bed.10) and forall x0. (not cabinet_n_01(x0) or (not dusty(x0))) and nextto(vacuum.51, bed.10) and ontop(painting.50, sheet.53... | [{'action': 'RIGHT_GRASP', 'object': 'hand_towel_52'}, {'action': 'OPEN', 'object': 'bottom_cabinet_2'}, {'action': 'CLEAN', 'object': 'bottom_cabinet_2'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_bedroom_1'}, {'action': 'RIGHT_GRASP', 'object': 'cologne_49'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bo... | (define (problem cleaning_bedroom)
(:domain igibson)
(:objects agent_n_01_1 - agent apparel_n_01_1 apparel_n_01_2 - apparel_n_01 bed_n_01_1 - bed_n_01 cabinet_n_01_1 cabinet_n_01_2 - cabinet_n_01 floor_n_01_1 - floor_n_01 hand_towel_n_01_1 - hand_towel_n_01 painting_n_01_1 - painting_n_01 sheet_n_03_1 - sheet_n... |
default | cleaning_floors_0_Merom_0_int_1_2021-06-23_16-12-28 | cleaning_floors | Clean dust and stains off the floors. | (define (problem cleaning_floors_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
broom.n.01_1 - broom.n.01
dustpan.n.02_1 - dustpan.n.02
cleansing_agent.n.01_1 - cleansing_agent.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
door.n.01_1 - door.n.01
sink.n.01_1 - sink.n.... | not stained(room_floor_bathroom.0) and not dusty(room_floor_bathroom.0) | [{'action': 'TOGGLE_ON', 'object': 'sink_48'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_48'}, {'action': 'SOAK', 'object': 'scrub_brush_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_48'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_0'}, {'action': 'CLEA... | (define (problem cleaning_floors)
(:domain igibson)
(:objects agent_n_01_1 - agent broom_n_01_1 - broom_n_01 dustpan_n_02_1 - dustpan_n_02 floor_n_01_1 - floor_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01)
(:init (dusty floor_n_01_1) (onfloor agent_n_01_1 floor_n_01_1) (onfloor broom_n... |
default | opening_presents_0_Benevolence_2_int_0_2021-10-25_21-10-48 | opening_presents | Open all the gift packages. | (define (problem opening_presents_0)
(:domain igibson)
(:objects
package.n.02_1 package.n.02_2 - package.n.02
floor.n.01_1 - floor.n.01
bed.n.01_1 - bed.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor package.n.02_1 floor.n.01_1)
(onfloor package.n.02_2 floo... | forall x0. (not package_n_02(x0) or open(x0)) | [{'action': 'RIGHT_GRASP', 'object': 'package_0'}, {'action': 'OPEN', 'object': 'package_0'}, {'action': 'RIGHT_RELEASE', 'object': 'package_0'}, {'action': 'RIGHT_GRASP', 'object': 'package_1'}, {'action': 'OPEN', 'object': 'package_1'}, {'action': 'RIGHT_RELEASE', 'object': 'package_1'}] | (define (problem opening_presents)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 package_n_02_1 package_n_02_2 - package_n_02)
(:init (not (open package_n_02_1)) (not (open package_n_02_2)) (onfloor package_n_02_1 floor_n_01_1) (onfloor package_n_02_2 floor_n_01_1) (same_obj flo... |
default | picking_up_take-out_food_0_Ihlen_1_int_0_2021-06-10_22-09-43 | picking_up_take-out_food | Place the sushi and hamburger inside separate cartons that are on the table. | (define (problem picking_up_take-out_food_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
carton.n.02_1 - carton.n.02
table.n.02_1 - table.n.02
sushi.n.01_1 - sushi.n.01
hamburger.n.01_1 - hamburger.n.01
agent.n.01_1 - agent.n.01
)
(:init
(o... | forall x0. (not carton_n_02(x0) or ontop(x0, breakfast_table.19)) and inside(sushi.0, carton.0) and inside(hamburger.0, carton.0) | [{'action': 'RIGHT_GRASP', 'object': 'carton_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_19'}] | (define (problem picking_up_take-out_food)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_1 - carton_n_02 floor_n_01_1 - floor_n_01 hamburger_n_01_1 - hamburger_n_01 sushi_n_01_1 - sushi_n_01 table_n_02_1 - table_n_02)
(:init (inside hamburger_n_01_1 carton_n_02_1) (inside sushi_n_01_1 carton_... |
default | organizing_file_cabinet_0_Pomaria_0_int_0_2021-06-08_15-27-20 | organizing_file_cabinet | Place all documents and folders inside the cabinet, and put the marker on the table. | (define (problem organizing_file_cabinet_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
marker.n.03_1 - marker.n.03
chair.n.01_1 - chair.n.01
document.n.01_1 document.n.01_2 document.n.01_3 document.n.01_4 - document.n.01
table.n.02_1 - table.n.02
cabin... | ontop(highlighter.0, breakfast_table.3) and forall x0. (not document_n_01(x0) or inside(x0, bottom_cabinet_no_top.21)) and forall x0. (not folder_n_02(x0) or inside(x0, bottom_cabinet_no_top.21)) | [{'action': 'RIGHT_GRASP', 'object': 'highlighter_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_3'}, {'action': 'OPEN', 'object': 'bottom_cabinet_no_top_21'}, {'action': 'RIGHT_GRASP', 'object': 'folder_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_no_top_21'}, {'action': 'RIGHT_GRAS... | (define (problem organizing_file_cabinet)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 chair_n_01_1 - chair_n_01 document_n_01_1 document_n_01_2 document_n_01_3 document_n_01_4 - document_n_01 floor_n_01_1 - floor_n_01 folder_n_02_1 folder_n_02_2 - folder_n_02 marker_n_03_1 - m... |
default | laying_tile_floors_0_Beechwood_0_int_0_2021-10-26_17-26-23 | laying_tile_floors | Lay all the tiles on the floor. | (define (problem laying_tile_floors_0)
(:domain igibson)
(:objects
tile.n.01_1 tile.n.01_2 tile.n.01_3 tile.n.01_4 - tile.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor tile.n.01_1 floor.n.01_1)
(onfloor tile.n.01_2... | forall x0. (not tile_n_01(x0) or onfloor(x0, room_floor_bathroom.0)) | [{'action': 'RIGHT_GRASP', 'object': 'tile_3'}, {'action': 'LEFT_GRASP', 'object': 'tile_2'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_bathroom_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_bathroom_0'}, {'action': 'RIGHT_GRASP', 'object': 'tile_1'}, {'action': 'LEFT_GRASP', 'object': 'tile_0'}... | (define (problem laying_tile_floors)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 floor_n_01_2 - floor_n_01 tile_n_01_1 tile_n_01_2 tile_n_01_3 tile_n_01_4 - tile_n_01)
(:init (onfloor tile_n_01_1 floor_n_01_1) (onfloor tile_n_01_2 floor_n_01_1) (onfloor tile_n_01_3 floor_n_01_1) (onfloor t... |
default | throwing_away_leftovers_0_Ihlen_1_int_0_2021-06-04_19-52-40 | throwing_away_leftovers | Throw away all leftover hamburgers into the trash. | (define (problem throwing_away_leftovers_0)
(:domain igibson)
(:objects
plate.n.04_1 plate.n.04_2 plate.n.04_3 plate.n.04_4 - plate.n.04
hamburger.n.01_1 hamburger.n.01_2 hamburger.n.01_3 - hamburger.n.01
countertop.n.01_1 - countertop.n.01
floor.n.01_1 - floor.n.01
ashcan.n.01_1 -... | forall x0. (not hamburger_n_01(x0) or inside(x0, trash_can.119)) | [{'action': 'RIGHT_GRASP', 'object': 'hamburger_116'}, {'action': 'LEFT_GRASP', 'object': 'hamburger_117'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'trash_can_119'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'trash_can_119'}, {'action': 'RIGHT_GRASP', 'object': 'hamburger_118'}, {'action': 'RIGHT_PLACE_INSIDE', 'obj... | (define (problem throwing_away_leftovers)
(:domain igibson)
(:objects agent_n_01_1 - agent ashcan_n_01_1 - ashcan_n_01 floor_n_01_1 - floor_n_01 hamburger_n_01_1 hamburger_n_01_2 hamburger_n_01_3 - hamburger_n_01 plate_n_04_1 plate_n_04_2 plate_n_04_3 - plate_n_04)
(:init (onfloor ashcan_n_01_1 floor_n_01_1... |
default | storing_food_0_Rs_int_0_2021-10-25_21-27-36 | storing_food | Store food into the cabinet. | (define (problem storing_food_0)
(:domain igibson)
(:objects
oatmeal.n.01_1 oatmeal.n.01_2 - oatmeal.n.01
countertop.n.01_1 - countertop.n.01
chip.n.04_1 chip.n.04_2 - chip.n.04
vegetable_oil.n.01_1 vegetable_oil.n.01_2 - vegetable_oil.n.01
sugar.n.01_1 sugar.n.01_2 - sugar.n.01
... | inside(oatmeal.0, bottom_cabinet.41) and inside(oatmeal.1, bottom_cabinet.41) and inside(chip.0, bottom_cabinet.41) and inside(chip.1, bottom_cabinet.41) and inside(olive_oil.0, bottom_cabinet.41) and inside(olive_oil.1, bottom_cabinet.41) and inside(sugar_jar.0, bottom_cabinet.41) and inside(sugar_jar.1, bottom_cabine... | [{'action': 'OPEN', 'object': 'bottom_cabinet_41'}, {'action': 'RIGHT_GRASP', 'object': 'chip_0'}, {'action': 'LEFT_GRASP', 'object': 'chip_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_41'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bottom_cabinet_41'}, {'action': 'RIGHT_GRASP', 'object': 'sugar_jar... | (define (problem storing_food)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 chip_n_04_2 - chip_n_04 countertop_n_01_1 - countertop_n_01 sugar_n_01_1 sugar_n_01_2 - sugar_n_01 vegetable_oil_n_01_2 - vegetable_oil_n_01)
(:init (ontop chip_n_04_2 countertop_n_01_1) (ontop suga... |
default | sorting_groceries_0_Wainscott_0_int_0_2021-10-26_13-36-01 | sorting_groceries | Sort the groceries into the fridge and the cabinet based on your common sense. Place groceries of the same type next to each other. | (define (problem sorting_groceries_0)
(:domain igibson)
(:objects
bread.n.01_1 - bread.n.01
countertop.n.01_1 - countertop.n.01
flour.n.01_1 - flour.n.01
floor.n.01_1 - floor.n.01
milk.n.01_1 - milk.n.01
chair.n.01_1 - chair.n.01
meat.n.01_1 - meat.n.01
table.n.02_1 - t... | inside(pretzel.0, bottom_cabinet_no_top.80) and inside(flour.0, bottom_cabinet_no_top.80) and inside(milk.0, fridge.97) and inside(prosciutto.0, fridge.97) and inside(cheese.0, fridge.97) and inside(yogurt.0, fridge.97) and inside(soup.0, fridge.97) and forall x0. (not carrot_n_03(x0) or (inside(x0, fridge.97) and (nex... | [{'action': 'LEFT_GRASP', 'object': 'orange_2'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'orange_0'}, {'action': 'LEFT_GRASP', 'object': 'orange_1'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'orange_2'}, {'action': 'OPEN', 'object': 'fridge_97'}, {'action': 'LEFT_GRASP', 'object': 'prosciutto_0'}, {'action': 'RIGHT_... | (define (problem sorting_groceries)
(:domain igibson)
(:objects agent_n_01_1 - agent apple_n_01_2 - apple_n_01 cheese_n_01_1 - cheese_n_01 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 meat_n_01_1 - meat_n_01 orange_n_01_1 orange_n_01_3 - orange_n_01 table_n_02_1 ... |
default | cleaning_microwave_oven_0_Benevolence_1_int_0_2021-09-11_01-27-10 | cleaning_microwave_oven | Clean the microwave oven. | (define (problem cleaning_microwave_oven_0)
(:domain igibson)
(:objects
microwave.n.02_1 - microwave.n.02
rag.n.01_1 - rag.n.01
countertop.n.01_1 - countertop.n.01
ashcan.n.01_1 - ashcan.n.01
floor.n.01_1 - floor.n.01
cabinet.n.01_1 - cabinet.n.01
sink.n.01_1 - sink.n.01
... | not dusty(microwave.36) and not stained(microwave.36) | [{'action': 'OPEN', 'object': 'microwave_36'}, {'action': 'LEFT_GRASP', 'object': 'rag_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_19'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_19'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_19'}, {'action': 'LEFT_GRASP', 'object': 'rag_0'... | (define (problem cleaning_microwave_oven)
(:domain igibson)
(:objects agent_n_01_1 - agent countertop_n_01_1 - countertop_n_01 microwave_n_02_1 - microwave_n_02 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01)
(:init (dusty microwave_n_02_1) (ontop rag_n_01_1 countertop_n_01_1) (same_obj countertop_n_01_1 cou... |
default | chopping_vegetables_0_Rs_int_0_2021-05-25_22-01-16 | chopping_vegetables | Slice all the vegetables, and put all sliced vegetable into dishes. | (define (problem chopping_vegetables_0)
(:domain igibson)
(:objects
tomato.n.01_1 tomato.n.01_2 - tomato.n.01
mushroom.n.05_1 mushroom.n.05_2 - mushroom.n.05
chestnut.n.03_1 chestnut.n.03_2 - chestnut.n.03
countertop.n.01_1 - countertop.n.01
vidalia_onion.n.01_1 vidalia_... | forall x0. (not tomato_n_01(x0) or ((exists x1. (not dish_n_01(x1) or inside(x0, x1))) and sliced(x0))) and forall x0. (not mushroom_n_05(x0) or ((exists x1. (not dish_n_01(x1) or inside(x0, x1))) and sliced(x0))) and forall x0. (not chestnut_n_03(x0) or ((exists x1. (not dish_n_01(x1) or inside(x0, x1))) and sliced(x0... | [{'action': 'OPEN', 'object': 'top_cabinet_50'}, {'action': 'LEFT_GRASP', 'object': 'casserole_71'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'countertop_26'}, {'action': 'RIGHT_GRASP', 'object': 'chestnut_66'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'casserole_71'}, {'action': 'RIGHT_GRASP', 'object': 'chestnut_65... | (define (problem chopping_vegetables)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 chestnut_n_03_1 chestnut_n_03_2 - chestnut_n_03 countertop_n_01_1 - countertop_n_01 dish_n_01_2 - dish_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 knife_n_01_1 - knife_n_01 mus... |
default | cleaning_closet_0_Beechwood_1_int_0_2021-10-25_19-50-32 | cleaning_closet | Organize all jewelry inside cabinet3, make sure umbrella1 is not inside cabinet3, place hat1 inside the cabinet or on top of shelf1, place all sandals next to shelf1 and on the floor, clean dust from cabinet3, shelf1, and floor1. | (define (problem cleaning_closet_0)
(:domain igibson)
(:objects
shelf.n.01_1 - shelf.n.01
cabinet.n.01_1 cabinet.n.01_2 cabinet.n.01_3 - cabinet.n.01
jewelry.n.01_1 jewelry.n.01_2 - jewelry.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
hat.n.01_1 - hat.n.01
sandal.n.01_1 sandal.n.0... | forall x0. (not jewelry_n_01(x0) or inside(x0, bottom_cabinet.30)) and not inside(umbrella.0, bottom_cabinet.30) and inside(hat.0, bottom_cabinet.44) or ontop(hat.0, shelf.31) and forall x0. (not sandal_n_01(x0) or (nextto(x0, shelf.31) and onfloor(x0, room_floor_closet.0))) and not dusty(bottom_cabinet.30) and not dus... | [{'action': 'OPEN', 'object': 'bottom_cabinet_44'}, {'action': 'OPEN', 'object': 'bottom_cabinet_30'}, {'action': 'RIGHT_GRASP', 'object': 'paper_towel_0'}, {'action': 'SOAK', 'object': 'paper_towel_0'}, {'action': 'CLEAN', 'object': 'room_floor_closet_0'}, {'action': 'CLEAN', 'object': 'shelf_31'}, {'action': 'CLEAN',... | (define (problem cleaning_closet)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 cabinet_n_01_3 - cabinet_n_01 floor_n_01_1 - floor_n_01 hat_n_01_1 - hat_n_01 jewelry_n_01_1 jewelry_n_01_2 - jewelry_n_01 sandal_n_01_1 sandal_n_01_2 - sandal_n_01 towel_n_01_1 - towel_n_01 umbrella_n_01_1 - umbre... |
default | cleaning_up_the_kitchen_only_0_Pomaria_1_int_0_2021-10-26_00-50-16 | cleaning_up_the_kitchen_only | Use the soap and rags to clean the plates, cabinets and floor, then leave the soap and rags near the sink. Place the blender on the countertop, store vegetable oil in one cabinet and plates in another cabinet, and put the fuits and vegetables in the fridge. | (define (problem cleaning_up_the_kitchen_only_0)
(:domain igibson)
(:objects
bin.n.01_1 - bin.n.01
floor.n.01_1 - floor.n.01
soap.n.01_1 - soap.n.01
cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
rag.n.01_1 ... | ontop(blender.83, countertop.31) and nextto(soap.79, sink.37) and exists x0. (not cabinet_n_01(x0) or (inside(olive_oil.86, x0) and (not inside(plate.85, x0)))) and exists x0. (not cabinet_n_01(x0) or (inside(plate.85, x0) and (not inside(olive_oil.86, x0)))) and (not dusty(top_cabinet.27)) and (not dusty(top_cabinet.2... | [{'action': 'RIGHT_GRASP', 'object': 'broom_82'}, {'action': 'CLEAN', 'object': 'room_floor_kitchen_0'}, {'action': 'RIGHT_RELEASE', 'object': 'broom_82'}, {'action': 'LEFT_GRASP', 'object': 'blender_83'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'countertop_31'}, {'action': 'OPEN', 'object': 'top_cabinet_27'}, {'actio... | (define (problem cleaning_up_the_kitchen_only)
(:domain igibson)
(:objects agent_n_01_1 - agent apple_n_01_1 - apple_n_01 blender_n_01_1 - blender_n_01 cabinet_n_01_1 - cabinet_n_01 casserole_n_02_1 - casserole_n_02 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 fl... |
default | waxing_cars_or_other_vehicles_0_Ihlen_0_int_0_2021-10-25_23-03-46 | waxing_cars_or_other_vehicles | Wax the dust off the vehicle. | (define (problem waxing_cars_or_other_vehicles_0)
(:domain igibson)
(:objects
vehicle.n.01_1 - vehicle.n.01
floor.n.01_1 - floor.n.01
vessel.n.03_1 - vessel.n.03
shelf.n.01_1 - shelf.n.01
rag.n.01_1 - rag.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor vehic... | not dusty(car.50) | [{'action': 'RIGHT_GRASP', 'object': 'rag_52'}, {'action': 'CLEAN', 'object': 'car_50'}] | (define (problem waxing_cars_or_other_vehicles)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 rag_n_01_1 - rag_n_01 shelf_n_01_1 - shelf_n_01 vehicle_n_01_1 - vehicle_n_01)
(:init (dusty vehicle_n_01_1) (inside rag_n_01_1 shelf_n_01_1) (onfloor vehicle_n_01_1 floor_n_01_1) (same... |
default | cleaning_out_drawers_0_Benevolence_1_int_0_2021-10-20_05-03-27 | cleaning_out_drawers | Remove the piece of cloth, two bowls, and two spoons from the drawers and put them near the sink. | (define (problem cleaning_out_drawers_0)
(:domain igibson)
(:objects
bowl.n.01_1 bowl.n.01_2 - bowl.n.01
cabinet.n.01_1 cabinet.n.01_2 - cabinet.n.01
spoon.n.01_1 spoon.n.01_2 - spoon.n.01
piece_of_cloth.n.01_1 - piece_of_cloth.n.01
sink.n.01_1 - sink.n.01
floor.n.01_1 - floor.n.... | nextto(bath_towel.0, sink.19) and nextto(bowl.0, sink.19) and nextto(bowl.1, sink.19) and nextto(spoon.0, sink.19) and nextto(spoon.1, sink.19) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_16'}, {'action': 'OPEN', 'object': 'bottom_cabinet_no_top_15'}, {'action': 'RIGHT_GRASP', 'object': 'bowl_0'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_19'}, {'action': 'RIGHT_GRASP', 'object': 'bowl_1'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_19'},... | (define (problem cleaning_out_drawers)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 bowl_n_01_2 - bowl_n_01 cabinet_n_01_1 cabinet_n_01_2 - cabinet_n_01 piece_of_cloth_n_01_1 - piece_of_cloth_n_01 sink_n_01_1 - sink_n_01 spoon_n_01_1 - spoon_n_01)
(:init (inside bowl_n_01_1 cabinet_n_01_1) (... |
default | putting_dishes_away_after_cleaning_0_Ihlen_1_int_0_2021-10-25_22-54-09 | putting_dishes_away_after_cleaning | Put all plates inside the cabinet after cleaning. | (define (problem putting_dishes_away_after_cleaning_0)
(:domain igibson)
(:objects
plate.n.04_1 plate.n.04_2 plate.n.04_3 plate.n.04_4 plate.n.04_5 plate.n.04_6 plate.n.04_7 plate.n.04_8 - plate.n.04
countertop.n.01_1 countertop.n.01_2 - countertop.n.01
cabinet.n.01_1 - cabinet.n.01
floor.... | exists x0. (not cabinet_n_01(x0) or (forall x1. (not plate_n_04(x1) or inside(x1, top_cabinet.62)))) | [{'action': 'OPEN', 'object': 'top_cabinet_62'}, {'action': 'RIGHT_GRASP', 'object': 'plate_5'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'top_cabinet_62'}, {'action': 'LEFT_GRASP', 'object': 'plate_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'top_cabinet_62'}, {'action': 'RIGHT_GRASP', 'object': 'plate_1'}, {'act... | (define (problem putting_dishes_away_after_cleaning)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 countertop_n_01_1 countertop_n_01_2 - countertop_n_01 plate_n_04_1 plate_n_04_6 plate_n_04_7 plate_n_04_8 - plate_n_04)
(:init (ontop plate_n_04_1 countertop_n_01_1) (ontop pla... |
default | packing_child_s_bag_0_Beechwood_1_int_0_2021-10-26_10-33-11 | packing_child_s_bag | Place the sunglasses, notebook, bracelet, apple, and earphones inside the backpack next to the bed. | (define (problem packing_child_s_bag_0)
(:domain igibson)
(:objects
backpack.n.01_1 - backpack.n.01
notebook.n.01_1 - notebook.n.01
bracelet.n.02_1 - bracelet.n.02
apple.n.01_1 - apple.n.01
floor.n.01_1 - floor.n.01
bed.n.01_1 - bed.n.01
earphone.n.01_1 - earphon... | nextto(backpack.100, bed.43) and inside(sunglass.105, backpack.100) and inside(notebook.101, backpack.100) and inside(bracelet.102, backpack.100) and inside(apple.103, backpack.100) and inside(headset.104, backpack.100) | [{'action': 'OPEN', 'object': 'backpack_100'}, {'action': 'LEFT_GRASP', 'object': 'notebook_101'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'backpack_100'}, {'action': 'LEFT_GRASP', 'object': 'sunglass_105'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'backpack_100'}, {'action': 'LEFT_GRASP', 'object': 'apple_103'}, {'... | (define (problem packing_child_s_bag)
(:domain igibson)
(:objects agent_n_01_1 - agent apple_n_01_1 - apple_n_01 backpack_n_01_1 - backpack_n_01 bed_n_01_1 - bed_n_01 bracelet_n_02_1 - bracelet_n_02 earphone_n_01_1 - earphone_n_01 floor_n_01_1 - floor_n_01 notebook_n_01_1 - notebook_n_01 sunglass_n_01_1 - sungl... |
default | cleaning_windows_0_Wainscott_0_int_0_2021-05-23_23-07-05 | cleaning_windows | Soak the rags and use them to clean the dusty windows. | (define (problem cleaning_windows_0)
(:domain igibson)
(:objects
towel.n.01_1 towel.n.01_2 - towel.n.01
cabinet.n.01_1 - cabinet.n.01
rag.n.01_1 rag.n.01_2 - rag.n.01
cleansing_agent.n.01_1 - cleansing_agent.n.01
window.n.01_1 window.n.01_2 - window.n.01
sink.n.01_1 - sink.n.01
... | soaked(rag.0) and soaked(rag.1) and (not dusty(window.133)) and (not dusty(window.119)) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'LEFT_GRASP', 'object': 'rag_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_82'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'sink_82'}, {'action': 'TOGGLE_ON', 'object': 'sink_82'}, {'action': 'SOA... | (define (problem cleaning_windows)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 rag_n_01_1 rag_n_01_2 - rag_n_01 sink_n_01_1 - sink_n_01 towel_n_01_1 towel_n_01_2 - towel_n_01 window_n_01_1 window_n_01_2 - window_n_01)
(:init (dusty window_n_01_1) (dusty window_n_01_2) (ins... |
default | bottling_fruit_0_Wainscott_0_int_0_2021-05-24_19-46-46 | bottling_fruit | Slice the strawberry and the peach, put the sliced strawberry and peach in separate jars, and close the jars. | (define (problem bottling_fruit_0)
(:domain igibson)
(:objects
strawberry.n.01_1 - strawberry.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
peach.n.03_1 - peach.n.03
countertop.n.01_1 - countertop.n.01
jar.n.01_1 jar.n.01_2 - jar.n.01
carving_knife.n.01_1 - ca... | exists x0. (not jar_n_01(x0) or (inside(strawberry.0, x0) and (not inside(peach.0, x0)))) and exists x0. (not jar_n_01(x0) or (inside(peach.0, x0) and (not inside(strawberry.0, x0)))) and forall x0. (not jar_n_01(x0) or (not open(x0))) and sliced(strawberry.0) and sliced(peach.0) | [{'action': 'OPEN', 'object': 'fridge_97'}, {'action': 'RIGHT_GRASP', 'object': 'strawberry_0'}, {'action': 'LEFT_GRASP', 'object': 'peach_0'}, {'action': 'LEFT_RELEASE', 'object': 'peach_0'}, {'action': 'RIGHT_RELEASE', 'object': 'strawberry_0'}, {'action': 'LEFT_GRASP', 'object': 'carving_knife_0'}, {'action': 'SLICE... | (define (problem bottling_fruit)
(:domain igibson)
(:objects agent_n_01_1 - agent carving_knife_n_01_1 - carving_knife_n_01 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 jar_n_01_1 jar_n_01_2 - jar_n_01 peach_n_03_1 - peach_n_03 strawberry_n_01_1 - strawberry_n_01... |
default | thawing_frozen_food_0_Pomaria_1_int_0_2021-10-26_13-10-33 | thawing_frozen_food | Place the frozen food items next to the sink to thaw. | (define (problem thawing_frozen_food_0)
(:domain igibson)
(:objects
date.n.08_1 - date.n.08
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
olive.n.04_1 - olive.n.04
fish.n.02_1 fish.n.02_2 fish.n.02_3 fish.n.02_4 - fish.n.02
sink.n.01_1 - sink.n.01
floor.n.01_1 - floor... | nextto(container_date.0, fish.0) and nextto(fish.0, sink.37) and nextto(fish.1, sink.37) and nextto(fish.2, sink.37) and nextto(fish.3, sink.37) and nextto(olive.0, sink.37) | [{'action': 'OPEN', 'object': 'fridge_20'}, {'action': 'RIGHT_GRASP', 'object': 'fish_3'}, {'action': 'LEFT_GRASP', 'object': 'fish_2'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'sink_37'}, {'action': 'LEFT_PLACE_NEXTTO', 'object': 'sink_37'}, {'action': 'UNFREEZE', 'object': 'fish_3'}, {'action': 'UNFREEZE', 'object... | (define (problem thawing_frozen_food)
(:domain igibson)
(:objects agent_n_01_1 - agent date_n_08_1 - date_n_08 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 fish_n_02_1 fish_n_02_2 fish_n_02_4 - fish_n_02 olive_n_04_1 - olive_n_04 sink_n_01_1 - sink_n_01)
(:init (frozen date_n_08_1) (frozen fish... |
default | setting_mousetraps_0_Beechwood_1_int_0_2021-10-26_13-53-26 | setting_mousetraps | Place mousetraps 1 and 2 on the floor, and mousetraps 3 and 4 next to the toilet. | (define (problem setting_mousetraps_0)
(:domain igibson)
(:objects
mousetrap.n.01_1 mousetrap.n.01_2 mousetrap.n.01_3 mousetrap.n.01_4 - mousetrap.n.01
sink.n.01_1 - sink.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
toilet.n.02_1 - toilet.n.02
bed.n.01_1 - bed.n.01
agent.n.01_1... | onfloor(mousetrap.100, room_floor_corridor.0) and onfloor(mousetrap.101, room_floor_corridor.0) and nextto(mousetrap.102, toilet.64) and nextto(mousetrap.103, toilet.64) | [{'action': 'RIGHT_GRASP', 'object': 'mousetrap_101'}, {'action': 'LEFT_GRASP', 'object': 'mousetrap_100'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_corridor_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_corridor_0'}, {'action': 'RIGHT_GRASP', 'object': 'mousetrap_103'}, {'action': 'LEFT_GRASP'... | (define (problem setting_mousetraps)
(:domain igibson)
(:objects agent_n_01_1 - agent bed_n_01_1 - bed_n_01 floor_n_01_1 - floor_n_01 mousetrap_n_01_1 mousetrap_n_01_2 mousetrap_n_01_3 mousetrap_n_01_4 - mousetrap_n_01 toilet_n_02_1 - toilet_n_02)
(:init (ontop mousetrap_n_01_1 bed_n_01_1) (ontop mousetrap_... |
default | washing_pots_and_pans_0_Pomaria_1_int_0_2021-10-26_13-06-44 | washing_pots_and_pans | Clean all the stained pans, kettles, and teapots and place them inside a cabinet. | (define (problem washing_pots_and_pans_0)
(:domain igibson)
(:objects
teapot.n.01_1 - teapot.n.01
kettle.n.01_1 - kettle.n.01
pan.n.01_1 pan.n.01_2 pan.n.01_3 - pan.n.01
countertop.n.01_1 countertop.n.01_2 - countertop.n.01
sink.n.01_1 - sink.n.01
scrub_brush.n.01_1 - scrub_br... | forall x0. (not pan_n_01(x0) or ((not stained(x0)) and (exists x1. (not cabinet_n_01(x1) or inside(x0, x1))))) and forall x0. (not kettle_n_01(x0) or ((not stained(x0)) and (exists x1. (not cabinet_n_01(x1) or inside(x0, x1))))) and forall x0. (not teapot_n_01(x0) or ((not stained(x0)) and (exists x1. (not cabinet_n_01... | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_83'}, {'action': 'TOGGLE_ON', 'object': 'sink_37'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_37'}, {'action': 'SOAK', 'object': 'scrub_brush_83'}, {'action': 'TOGGLE_OFF', 'object': 'sink_37'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_83'}, {'action': 'C... | (define (problem washing_pots_and_pans)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 countertop_n_01_1 countertop_n_01_2 - countertop_n_01 pan_n_01_1 pan_n_01_3 - pan_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - soap_n_01 teapot_n_01_1 - teap... |
default | laying_wood_floors_0_Pomaria_1_int_0_2021-10-25_20-46-59 | laying_wood_floors | Lay the plywoods on floor2 right next to each other. | (define (problem laying_wood_floors_0)
(:domain igibson)
(:objects
plywood.n.01_1 plywood.n.01_2 plywood.n.01_3 plywood.n.01_4 - plywood.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
hammer.n.02_1 - hammer.n.02
saw.n.02_1 - saw.n.02
agent.n.01_1 - agent.n.01
)
(:init
... | forall x0. (not plywood_n_01(x0) or onfloor(x0, room_floor_living_room.0)) and forall x0. (not plywood_n_01(x0) or (nextto(x0, plywood.78) or nextto(x0, plywood.79) or nextto(x0, plywood.80) or nextto(x0, plywood.81))) | [{'action': 'RIGHT_GRASP', 'object': 'plywood_81'}, {'action': 'LEFT_GRASP', 'object': 'plywood_80'}, {'action': 'LEFT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'room_floor_living_room_0'}, {'action': 'RIGHT_GRASP', 'object': 'plywood_78'}, {'action': 'LEFT_GRASP', '... | (define (problem laying_wood_floors)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 floor_n_01_2 - floor_n_01 plywood_n_01_1 plywood_n_01_2 plywood_n_01_3 plywood_n_01_4 - plywood_n_01)
(:init (onfloor plywood_n_01_1 floor_n_01_1) (onfloor plywood_n_01_2 floor_n_01_1) (onfloor plywood_n_01_3 ... |
default | putting_away_toys_0_Ihlen_0_int_0_2021-10-25_22-47-44 | putting_away_toys | Put all the toys into cartons. | (define (problem putting_away_toys_0)
(:domain igibson)
(:objects
plaything.n.01_1 plaything.n.01_2 plaything.n.01_3 plaything.n.01_4 plaything.n.01_5 plaything.n.01_6 plaything.n.01_7 plaything.n.01_8 - plaything.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
carton.n.02_1 carton.n.02_2 -... | forall x0. (not plaything_n_01(x0) or (exists x1. (not carton_n_02(x1) or inside(x0, x1)))) | [{'action': 'RIGHT_GRASP', 'object': 'toy_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'LEFT_GRASP', 'object': 'toy_2'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIGHT_GRASP', 'object': 'toy_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'RIG... | (define (problem putting_away_toys)
(:domain igibson)
(:objects agent_n_01_1 - agent carton_n_02_1 - carton_n_02 floor_n_01_1 floor_n_01_2 - floor_n_01 plaything_n_01_2 plaything_n_01_3 plaything_n_01_5 plaything_n_01_6 - plaything_n_01)
(:init (onfloor carton_n_02_1 floor_n_01_1) (onfloor plaything_n_01_2 ... |
default | cleaning_garage_0_Ihlen_0_int_0_2021-08-24_17-40-48 | cleaning_garage | Clean dust and stains off the floor and cabinet, put all newspapers into the bin or on the floor, and put all bottles on the table. | (define (problem cleaning_garage_0)
(:domain igibson)
(:objects
box.n.01_1 - box.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
newspaper.n.03_1 newspaper.n.03_2 - newspaper.n.03
bottle.n.01_1 bottle.n.01_2 - bottle.n.01
cabinet.n.01_1 - cabinet.n.01
broom.n.01_1 - broom.n.01
r... | not dusty(room_floor_garage.0) and not dusty(bottom_cabinet.15) and not stained(bottom_cabinet.15) and forall x0. (not newspaper_n_03(x0) or (inside(x0, trash_can.0) or (not onfloor(x0, room_floor_garage.0)))) and forall x0. (not bottle_n_01(x0) or ontop(x0, breakfast_table.14)) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'TOGGLE_ON', 'object': 'sink_32'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_32'}, {'action': 'SOAK', 'object': 'rag_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_32'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'CLEAN', 'object': 'room_floo... | (define (problem cleaning_garage)
(:domain igibson)
(:objects agent_n_01_1 - agent bin_n_01_1 - bin_n_01 bottle_n_01_1 - bottle_n_01 cabinet_n_01_1 - cabinet_n_01 floor_n_01_1 - floor_n_01 newspaper_n_03_2 - newspaper_n_03 rag_n_01_1 - rag_n_01 sink_n_01_1 - sink_n_01 table_n_02_1 - table_n_02)
(:init (dust... |
default | watering_houseplants_0_Beechwood_0_int_0_2021-10-26_15-20-01 | watering_houseplants | Water each houseplant thoroughly. | (define (problem watering_houseplants_0)
(:domain igibson)
(:objects
pot_plant.n.01_1 pot_plant.n.01_2 pot_plant.n.01_3 - pot_plant.n.01
floor.n.01_1 floor.n.01_2 - floor.n.01
sink.n.01_1 - sink.n.01
table.n.02_1 - table.n.02
countertop.n.01_1 - countertop.n.01
agent.n.01_1 - age... | forall x0. (not pot_plant_n_01(x0) or soaked(x0)) | [{'action': 'RIGHT_GRASP', 'object': 'pot_plant_2'}, {'action': 'TOGGLE_ON', 'object': 'sink_64'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_64'}, {'action': 'SOAK', 'object': 'pot_plant_2'}, {'action': 'RIGHT_RELEASE', 'object': 'pot_plant_2'}, {'action': 'RIGHT_GRASP', 'object': 'pot_plant_1'}, {'action': 'RIG... | (define (problem watering_houseplants)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 floor_n_01_2 - floor_n_01 pot_plant_n_01_1 pot_plant_n_01_2 pot_plant_n_01_3 - pot_plant_n_01 sink_n_01_1 - sink_n_01)
(:init (not (soaked pot_plant_n_01_1)) (not (soaked pot_plant_n_01_2)) (not (soaked pot_... |
default | installing_alarms_0_Merom_1_int_0_2021-05-23_23-02-24 | installing_alarms | Place each alarm on a table and make sure they are turned on. | (define (problem installing_alarms_0)
(:domain igibson)
(:objects
alarm.n.02_1 alarm.n.02_2 - alarm.n.02
table.n.02_1 table.n.02_2 - table.n.02
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(ontop alarm.n.02_1 table.n.02_2)
(ontop alarm.n.02_2 ... | forall x0. (not alarm_n_02(x0) or forn 1. x1. (not table_n_02(x1) or ontop(x0, x1))) and forall x1. (not table_n_02(x1) or forn 1. x0. (not alarm_n_02(x0) or ontop(x0, x1))) and forall x0. (not alarm_n_02(x0) or toggledon(x0)) | [{'action': 'TOGGLE_ON', 'object': 'alarm_0'}, {'action': 'TOGGLE_ON', 'object': 'alarm_1'}, {'action': 'RIGHT_GRASP', 'object': 'alarm_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'coffee_table_27'}, {'action': 'RIGHT_GRASP', 'object': 'alarm_1'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_20'}] | (define (problem installing_alarms)
(:domain igibson)
(:objects agent_n_01_1 - agent alarm_n_02_1 alarm_n_02_2 - alarm_n_02 table_n_02_1 table_n_02_2 - table_n_02)
(:init (not (toggled_on alarm_n_02_1)) (not (toggled_on alarm_n_02_2)) (ontop alarm_n_02_1 table_n_02_2) (ontop alarm_n_02_2 table_n_02_2) (same... |
default | organizing_boxes_in_garage_0_Ihlen_0_int_0_2021-08-24_22-59-54 | organizing_boxes_in_garage | Put all balls and plates inside separate cartons, put the saucepan inside one of the cartons, and place all cartons on the floor. | (define (problem organizing_boxes_in_garage_0)
(:domain igibson)
(:objects
carton.n.02_1 carton.n.02_2 - carton.n.02
floor.n.01_1 - floor.n.01
ball.n.01_1 ball.n.01_2 - ball.n.01
plate.n.04_1 plate.n.04_2 plate.n.04_3 - plate.n.04
cabinet.n.01_1 - cabinet.n.01
saucepan.n.01_1 - s... | exists x0. (not carton_n_02(x0) or ((forall x1. (not ball_n_01(x1) or inside(x1, x0))) and (forall x1. (not plate_n_04(x1) or inside(x1, x0))) and inside(saucepan.0, x0))) and forall x0. (not carton_n_02(x0) or onfloor(x0, room_floor_garage.0)) | [{'action': 'RIGHT_GRASP', 'object': 'ball_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_GRASP', 'object': 'ball_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_1'}, {'action': 'RIGHT_GRASP', 'object': 'saucepan_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_1'}, {'acti... | (define (problem organizing_boxes_in_garage)
(:domain igibson)
(:objects agent_n_01_1 - agent ball_n_01_1 ball_n_01_2 - ball_n_01 carton_n_02_1 carton_n_02_2 - carton_n_02 floor_n_01_1 - floor_n_01 plate_n_04_2 - plate_n_04 saucepan_n_01_1 - saucepan_n_01 shelf_n_01_1 - shelf_n_01)
(:init (inside plate_n_04... |
default | putting_up_Christmas_decorations_inside_0_Ihlen_1_int_0_2021-06-03_14-27-09 | putting_up_Christmas_decorations_inside | Place all wrappings under or next to the Christmas tree, place all candles on the table, place one bow on the table, two bows on the sofa, and place the wreath on the table. | (define (problem putting_up_Christmas_decorations_inside_0)
(:domain igibson)
(:objects
christmas_tree.n.05_1 - christmas_tree.n.05
wreath.n.01_1 - wreath.n.01
bow.n.08_1 bow.n.08_2 bow.n.08_3 - bow.n.08
candle.n.01_1 candle.n.01_2 - candle.n.01
wrapping.n.01_1 wrapping... | forall x0. (not wrapping_n_01(x0) or (nextto(x0, christmas_tree_decorated.112) or under(x0, christmas_tree_decorated.112))) and forall x0. (not candle_n_01(x0) or ontop(x0, breakfast_table.19)) and forn 1. x0. (not bow_n_08(x0) or ontop(x0, breakfast_table.19)) and forn 2. x0. (not bow_n_08(x0) or ontop(x0, sofa.25)) a... | [{'action': 'RIGHT_GRASP', 'object': 'wrapped_gift_120'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'christmas_tree_decorated_112'}, {'action': 'RIGHT_GRASP', 'object': 'wrapped_gift_119'}, {'action': 'RIGHT_PLACE_NEXTTO', 'object': 'christmas_tree_decorated_112'}, {'action': 'RIGHT_GRASP', 'object': 'wrapped_gift_121... | (define (problem putting_up_Christmas_decorations_inside)
(:domain igibson)
(:objects agent_n_01_1 - agent bow_n_08_1 bow_n_08_3 - bow_n_08 candle_n_01_1 - candle_n_01 carton_n_02_1 - carton_n_02 christmas_tree_n_05_1 - christmas_tree_n_05 floor_n_01_1 - floor_n_01 sofa_n_01_1 - sofa_n_01 table_n_02_1 - table_n... |
default | cleaning_bathtub_0_Pomaria_0_int_0_2021-09-10_16-22-10 | cleaning_bathtub | Clean the stained bathtub. | (define (problem cleaning_bathtub_0)
(:domain igibson)
(:objects
sink.n.01_1 - sink.n.01
bathtub.n.01_1 - bathtub.n.01
soap.n.01_1 - soap.n.01
floor.n.01_1 - floor.n.01
bucket.n.01_1 - bucket.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
agent.n.01_1 - agent.n.01
)
... | not stained(bathtub.35) | [{'action': 'TOGGLE_ON', 'object': 'sink_38'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_38'}, {'action': 'SOAK', 'object': 'scrub_brush_0'}, {'action': 'TOGGLE_OFF', 'object': 'sink_38'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_0'}, {'action': 'CLEA... | (define (problem cleaning_bathtub)
(:domain igibson)
(:objects agent_n_01_1 - agent bathtub_n_01_1 - bathtub_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 sink_n_01_1 - sink_n_01)
(:init (inside scrub_brush_n_01_1 bathtub_n_01_1) (same_obj bathtub_n_01_1 bathtub_n_01_1) (same_obj scrub_brush_n_01_1 scrub_brush... |
default | clearing_the_table_after_dinner_0_Ihlen_0_int_0_2021-10-25_23-01-51 | clearing_the_table_after_dinner | Put all cups, bowls, and catsup into buckets. | (define (problem clearing_the_table_after_dinner_0)
(:domain igibson)
(:objects
floor.n.01_1 - floor.n.01
chair.n.01_1 chair.n.01_2 - chair.n.01
table.n.02_1 - table.n.02
cup.n.01_1 cup.n.01_2 - cup.n.01
bucket.n.01_1 bucket.n.01_2 - bucket.n.01
bowl.n.01_1 bowl.n.01_2 bowl.n.01_... | forall x0. (not cup_n_01(x0) or (exists x1. (not bucket_n_01(x1) or inside(x0, x1)))) and forall x0. (not bowl_n_01(x0) or (exists x1. (not bucket_n_01(x1) or inside(x0, x1)))) and exists x0. (not bucket_n_01(x0) or inside(catsup.0, x0)) | [{'action': 'RIGHT_GRASP', 'object': 'cup_1'}, {'action': 'LEFT_GRASP', 'object': 'cup_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': 'RIGHT_GRASP', 'object': 'catsup_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bucket_0'}, {'action': '... | (define (problem clearing_the_table_after_dinner)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 bowl_n_01_2 bowl_n_01_4 - bowl_n_01 bucket_n_01_1 bucket_n_01_2 - bucket_n_01 catsup_n_01_1 - catsup_n_01 floor_n_01_1 - floor_n_01 table_n_02_1 - table_n_02)
(:init (onfloor bucket_n_01_1 floor_n_... |
default | loading_the_dishwasher_0_Benevolence_1_int_0_2021-10-20_06-10-42 | loading_the_dishwasher | Load all plates, bowls, and the mug into the dishwasher. | (define (problem loading_the_dishwasher_0)
(:domain igibson)
(:objects
plate.n.04_1 plate.n.04_2 plate.n.04_3 - plate.n.04
countertop.n.01_1 - countertop.n.01
mug.n.04_1 - mug.n.04
bowl.n.01_1 bowl.n.01_2 - bowl.n.01
dishwasher.n.01_1 - dishwasher.n.01
floor.n.01_... | forall x0. (not plate_n_04(x0) or inside(x0, dishwasher.20)) and forall x0. (not bowl_n_01(x0) or inside(x0, dishwasher.20)) and inside(mug.62, dishwasher.20) | [{'action': 'OPEN', 'object': 'dishwasher_20'}, {'action': 'RIGHT_GRASP', 'object': 'plate_59'}, {'action': 'LEFT_GRASP', 'object': 'plate_61'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'dishwasher_20'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'dishwasher_20'}, {'action': 'RIGHT_GRASP', 'object': 'plate_60'}, {'act... | (define (problem loading_the_dishwasher)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_2 - bowl_n_01 countertop_n_01_1 - countertop_n_01 dishwasher_n_01_1 - dishwasher_n_01 plate_n_04_1 plate_n_04_2 plate_n_04_3 - plate_n_04)
(:init (ontop bowl_n_01_2 countertop_n_01_1) (ontop plate_n_04_1 coun... |
default | filling_an_Easter_basket_0_Benevolence_1_int_1_2021-09-10_00-09-54 | filling_an_Easter_basket | Place eggs, candies, jewelry, balls, bows, and books in the baskets on the countertop. | (define (problem filling_an_Easter_basket_0)
(:domain igibson)
(:objects
basket.n.01_1 basket.n.01_2 - basket.n.01
countertop.n.01_1 - countertop.n.01
ball.n.01_1 - ball.n.01
jewelry.n.01_1 - jewelry.n.01
book.n.02_1 book.n.02_2 - book.n.02
cabinet.n.01_1 cabinet.n.01_2 - cabinet... | forall x0. (not basket_n_01(x0) or ontop(x0, countertop.18)) and forall x0. (not basket_n_01(x0) or forn 1. x1. (not egg_n_02(x1) or inside(x1, x0))) and forall x1. (not egg_n_02(x1) or forn 1. x0. (not basket_n_01(x0) or inside(x1, x0))) and forall x0. (not basket_n_01(x0) or forn 1. x1. (not candy_n_01(x1) or inside(... | [{'action': 'RIGHT_GRASP', 'object': 'ball_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_0'}, {'action': 'RIGHT_GRASP', 'object': 'bracelet_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'basket_0'}, {'action': 'OPEN', 'object': 'bottom_cabinet_no_top_15'}, {'action': 'OPEN', 'object': 'bottom_cabinet_no_top... | (define (problem filling_an_Easter_basket)
(:domain igibson)
(:objects agent_n_01_1 - agent basket_n_01_1 basket_n_01_2 - basket_n_01 bow_n_08_2 - bow_n_08 cabinet_n_01_2 - cabinet_n_01 candy_n_01_1 candy_n_01_2 - candy_n_01 countertop_n_01_1 - countertop_n_01 egg_n_02_1 - egg_n_02 electric_refrigerator_n_01_1 ... |
default | cleaning_the_pool_0_Ihlen_0_int_0_2021-06-01_15-30-31 | cleaning_the_pool | Clean the stained pool on the floor using the scrub brush and the detergent, when you are done leave the brush on top of the shelf, and the detergent on the floor. | (define (problem cleaning_the_pool_0)
(:domain igibson)
(:objects
pool.n.01_1 - pool.n.01
floor.n.01_1 - floor.n.01
scrub_brush.n.01_1 - scrub_brush.n.01
shelf.n.01_1 - shelf.n.01
detergent.n.02_1 - detergent.n.02
sink.n.01_1 - sink.n.01
agent.n.01_1 - agent.n.01
)
... | onfloor(pool.50, room_floor_garage.0) and not stained(pool.50) and ontop(scrub_brush.51, shelf.16) and onfloor(detergent.52, room_floor_garage.0) | [{'action': 'RIGHT_GRASP', 'object': 'scrub_brush_51'}, {'action': 'TOGGLE_ON', 'object': 'sink_32'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_32'}, {'action': 'SOAK', 'object': 'scrub_brush_51'}, {'action': 'TOGGLE_OFF', 'object': 'sink_32'}, {'action': 'RIGHT_GRASP', 'object': 'scrub_brush_51'}, {'action': 'C... | (define (problem cleaning_the_pool)
(:domain igibson)
(:objects agent_n_01_1 - agent detergent_n_02_1 - detergent_n_02 floor_n_01_1 - floor_n_01 pool_n_01_1 - pool_n_01 scrub_brush_n_01_1 - scrub_brush_n_01 shelf_n_01_1 - shelf_n_01 sink_n_01_1 - sink_n_01)
(:init (onfloor agent_n_01_1 floor_n_01_1) (onfloo... |
default | opening_packages_0_Benevolence_2_int_0_2021-10-25_21-06-42 | opening_packages | Open all packages. | (define (problem opening_packages_0)
(:domain igibson)
(:objects
package.n.02_1 package.n.02_2 - package.n.02
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfloor package.n.02_1 floor.n.01_1)
(onfloor package.n.02_2 floor.n.01_1)
(not
... | forall x0. (not package_n_02(x0) or open(x0)) | [{'action': 'RIGHT_GRASP', 'object': 'package_0'}, {'action': 'OPEN', 'object': 'package_0'}, {'action': 'RIGHT_RELEASE', 'object': 'package_0'}, {'action': 'RIGHT_GRASP', 'object': 'package_1'}, {'action': 'OPEN', 'object': 'package_1'}, {'action': 'RIGHT_RELEASE', 'object': 'package_1'}] | (define (problem opening_packages)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 package_n_02_1 package_n_02_2 - package_n_02)
(:init (not (open package_n_02_1)) (not (open package_n_02_2)) (onfloor package_n_02_1 floor_n_01_1) (onfloor package_n_02_2 floor_n_01_1) (same_obj flo... |
default | packing_bags_or_suitcase_0_Merom_1_int_0_2021-10-26_10-04-07 | packing_bags_or_suitcase | Pack the backpack with underwear, toothbrush, shampoo, hardback, and toothpaste. Place the backpack on the bed or on the floor. | (define (problem packing_bags_or_suitcase_0)
(:domain igibson)
(:objects
backpack.n.01_1 - backpack.n.01
floor.n.01_1 - floor.n.01
toothbrush.n.01_1 - toothbrush.n.01
bed.n.01_1 - bed.n.01
shampoo.n.01_1 - shampoo.n.01
hardback.n.01_1 - hardback.n.01
underwear.n.01_1 underwe... | forall x0. (not underwear_n_01(x0) or inside(x0, backpack.97)) and inside(toothbrush.98, backpack.97) and inside(shampoo.99, backpack.97) and inside(hardback.100, backpack.97) and inside(toothpaste.103, backpack.97) and ontop(backpack.97, bed.7) or onfloor(backpack.97, room_floor_bedroom.0) | [{'action': 'OPEN', 'object': 'backpack_97'}, {'action': 'LEFT_GRASP', 'object': 'hardback_100'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'backpack_97'}, {'action': 'LEFT_GRASP', 'object': 'shampoo_99'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'backpack_97'}, {'action': 'LEFT_GRASP', 'object': 'underwear_101'}, {'a... | (define (problem packing_bags_or_suitcase)
(:domain igibson)
(:objects agent_n_01_1 - agent backpack_n_01_1 - backpack_n_01 bed_n_01_1 - bed_n_01 floor_n_01_1 - floor_n_01 hardback_n_01_1 - hardback_n_01 shampoo_n_01_1 - shampoo_n_01 underwear_n_01_1 - underwear_n_01)
(:init (onfloor agent_n_01_1 floor_n_01... |
default | cleaning_up_refrigerator_0_Wainscott_0_int_1_2021-06-23_17-46-01 | cleaning_up_refrigerator | Use the rag and soap to clean the trays, the bowl, and the refrigerator. When you are done, leave the rag and bowl next to the sink, the soap in the sink, and the trays in the refrigerator. | (define (problem cleaning_up_refrigerator_0)
(:domain igibson)
(:objects
rag.n.01_1 rag.n.01_2 - rag.n.01
cabinet.n.01_1 - cabinet.n.01
soap.n.01_1 - soap.n.01
countertop.n.01_1 - countertop.n.01
tray.n.01_1 tray.n.01_2 - tray.n.01
electric_refrigerator.n.01_1 - electric_refriger... | forall x0. (not rag_n_01(x0) or nextto(x0, sink.82)) and inside(soap.0, sink.82) and forall x0. (not tray_n_01(x0) or inside(x0, fridge.97)) and not stained(tray.0) and not stained(tray.1) and nextto(bowl.0, sink.82) and not dusty(bowl.0) and not stained(fridge.97) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'RIGHT_GRASP', 'object': 'soap_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'sink_82'}, {'action': 'TOGGLE_ON', 'object': 'sink_82'}, {'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'LEFT_GRASP', 'object': 'rag_1'}, {'action': 'RIGHT_PLAC... | (define (problem cleaning_up_refrigerator)
(:domain igibson)
(:objects agent_n_01_1 - agent bowl_n_01_1 - bowl_n_01 cabinet_n_01_1 - cabinet_n_01 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 rag_n_01_1 rag_n_01_2 - rag_n_01 sink_n_01_1 - sink_n_01 soap_n_01_1 - s... |
default | making_tea_0_Wainscott_0_int_0_2021-10-26_12-49-48 | making_tea | Slice the lemon, heat the tea on the stove. | (define (problem making_tea_0)
(:domain igibson)
(:objects
teapot.n.01_1 - teapot.n.01
tea_bag.n.01_1 - tea_bag.n.01
lemon.n.01_1 - lemon.n.01
knife.n.01_1 - knife.n.01
cabinet.n.01_1 - cabinet.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
... | sliced(lemon.0) and ontop(teapot.0, stove.88) and inside(tea_bag.0, teapot.0) and soaked(tea_bag.0) and toggledon(stove.88) | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_80'}, {'action': 'RIGHT_GRASP', 'object': 'teapot_0'}, {'action': 'LEFT_GRASP', 'object': 'tea_bag_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'teapot_0'}, {'action': 'SOAK', 'object': 'tea_bag_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'stove_88'}, {'action':... | (define (problem making_tea)
(:domain igibson)
(:objects agent_n_01_1 - agent cabinet_n_01_1 - cabinet_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 knife_n_01_1 - knife_n_01 lemon_n_01_1 - lemon_n_01 stove_n_01_1 - stove_n_01 tea_bag_n_01_1 - tea_bag_n_01 teapot_n_01_1 - teapot_n_01)
(:ini... |
default | picking_up_trash_0_Beechwood_0_int_1_2021-10-26_14-06-49 | picking_up_trash | Pick up all pads and pops and put them inside the ashcan. | (define (problem picking_up_trash_0)
(:domain igibson)
(:objects
ashcan.n.01_1 - ashcan.n.01
pad.n.01_1 pad.n.01_2 pad.n.01_3 - pad.n.01
pop.n.02_1 pop.n.02_2 - pop.n.02
floor.n.01_1 floor.n.01_2 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(onfl... | forall x0. (not pad_n_01(x0) or inside(x0, trash_can.116)) and forall x0. (not pop_n_02(x0) or inside(x0, trash_can.116)) | [{'action': 'RIGHT_GRASP', 'object': 'sticky_note_118'}, {'action': 'LEFT_GRASP', 'object': 'sticky_note_117'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'trash_can_116'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'trash_can_116'}, {'action': 'RIGHT_GRASP', 'object': 'pop_121'}, {'action': 'LEFT_GRASP', 'object': 'sti... | (define (problem picking_up_trash)
(:domain igibson)
(:objects agent_n_01_1 - agent ashcan_n_01_1 - ashcan_n_01 floor_n_01_1 floor_n_01_2 - floor_n_01 pad_n_01_1 pad_n_01_3 - pad_n_01 pop_n_02_1 pop_n_02_2 - pop_n_02)
(:init (onfloor ashcan_n_01_1 floor_n_01_2) (onfloor pad_n_01_1 floor_n_01_2) (onfloor pad... |
default | polishing_furniture_0_Ihlen_0_int_0_2021-10-26_11-35-40 | polishing_furniture | Polish the table and the shelf, and place the rag under the table. | (define (problem polishing_furniture_0)
(:domain igibson)
(:objects
shelf.n.01_1 - shelf.n.01
table.n.02_1 - table.n.02
rag.n.01_1 - rag.n.01
floor.n.01_1 - floor.n.01
agent.n.01_1 - agent.n.01
)
(:init
(dusty shelf.n.01_1)
(dusty table.n.02_1)
... | not dusty(coffee_table.10) and not dusty(shelf.11) and under(rag.0, coffee_table.10) | [{'action': 'RIGHT_GRASP', 'object': 'rag_0'}, {'action': 'CLEAN', 'object': 'coffee_table_10'}, {'action': 'CLEAN', 'object': 'shelf_11'}, {'action': 'RIGHT_PLACE_UNDER', 'object': 'coffee_table_10'}] | (define (problem polishing_furniture)
(:domain igibson)
(:objects agent_n_01_1 - agent rag_n_01_1 - rag_n_01 shelf_n_01_1 - shelf_n_01 table_n_02_1 - table_n_02)
(:init (dusty shelf_n_01_1) (dusty table_n_02_1) (ontop rag_n_01_1 table_n_02_1) (same_obj rag_n_01_1 rag_n_01_1) (same_obj shelf_n_01_1 shelf_n_0... |
default | organizing_school_stuff_0_Wainscott_1_int_0_2021-08-24_22-56-24 | organizing_school_stuff | Place the folder, highlighter, pencil, pen, and calculator into the backpack, then leave the backpack on the bed. | (define (problem organizing_school_stuff_0)
(:domain igibson)
(:objects
highlighter.n.02_1 - highlighter.n.02
bed.n.01_1 - bed.n.01
pencil.n.01_1 - pencil.n.01
pen.n.01_1 - pen.n.01
floor.n.01_1 - floor.n.01
calculator.n.02_1 - calculator.n.02
book.n.02_1 - book.n.02
fo... | nextto(folder.107, hardback.106) and nextto(folder.107, backpack.108) and nextto(hardback.106, backpack.108) and inside(highlighter.102, backpack.108) and inside(pencil.103, backpack.108) and inside(pen.104, backpack.108) and inside(calculator.105, backpack.108) and ontop(backpack.108, bed.58) | [{'action': 'OPEN', 'object': 'backpack_108'}, {'action': 'RIGHT_GRASP', 'object': 'backpack_108'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'bed_58'}, {'action': 'RIGHT_GRASP', 'object': 'pencil_103'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'backpack_108'}, {'action': 'RIGHT_GRASP', 'object': 'pen_104'}, {'action... | (define (problem organizing_school_stuff)
(:domain igibson)
(:objects agent_n_01_1 - agent backpack_n_01_1 - backpack_n_01 bed_n_01_1 - bed_n_01 book_n_02_1 - book_n_02 floor_n_01_1 - floor_n_01 folder_n_02_1 - folder_n_02 highlighter_n_02_1 - highlighter_n_02 pen_n_01_1 - pen_n_01 pencil_n_01_1 - pencil_n_01)
... |
default | cleaning_cupboards_0_Wainscott_1_int_1_2021-08-25_16-40-44 | cleaning_cupboards | Clean dusty cabinets, remove all books from the cabinets, put the screwdriver in the bin, put all markers and pens in the bucket. | (define (problem cleaning_cupboards_0)
(:domain igibson)
(:objects
book.n.02_1 book.n.02_2 book.n.02_3 - book.n.02
cabinet.n.01_1 cabinet.n.01_2 cabinet.n.01_3 - cabinet.n.01
pen.n.01_1 - pen.n.01
marker.n.03_1 marker.n.03_2 - marker.n.03
screwdriver.n.01_1 - screwdriver.n.01
scr... | forall x0. (not cabinet_n_01(x0) or (not dusty(x0))) and forall x0. (not book_n_02(x0) or (forall x1. (not cabinet_n_01(x1) or (not inside(x0, x1))))) and inside(screwdriver.108, trash_can.112) and forall x0. (not marker_n_03(x0) or inside(x0, bucket.113)) and inside(pen.105, bucket.113) | [{'action': 'OPEN', 'object': 'bottom_cabinet_28'}, {'action': 'OPEN', 'object': 'bottom_cabinet_25'}, {'action': 'OPEN', 'object': 'bottom_cabinet_24'}, {'action': 'LEFT_GRASP', 'object': 'pen_105'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bucket_113'}, {'action': 'LEFT_GRASP', 'object': 'highlighter_106'}, {'actio... | (define (problem cleaning_cupboards)
(:domain igibson)
(:objects agent_n_01_1 - agent
bed_n_01_1 - bed_n_01
book_n_02_1 book_n_02_2 - book_n_02
bucket_n_01_1 - bucket_n_01
cabinet_n_01_1 cabinet_n_01_2 cabinet_n_01_3 - cabinet_n_01
pen_n_01_1 - pen_n_01
rag_n_01_1 - rag_n_01
s... |
default | installing_a_printer_0_Pomaria_0_int_0_2021-06-08_18-33-07 | installing_a_printer | Place the printer on the table and turn it on. | (define (problem installing_a_printer_0)
(:domain igibson)
(:objects
printer.n.03_1 - printer.n.03
floor.n.01_1 - floor.n.01
table.n.02_1 - table.n.02
agent.n.01_1 - agent.n.01
)
(:init
(onfloor printer.n.03_1 floor.n.01_1)
(not
(toggled_on pr... | ontop(printer.0, breakfast_table.3) and toggledon(printer.0) | [{'action': 'RIGHT_GRASP', 'object': 'printer_0'}, {'action': 'RIGHT_PLACE_ONTOP', 'object': 'breakfast_table_3'}, {'action': 'TOGGLE_ON', 'object': 'printer_0'}] | (define (problem installing_a_printer)
(:domain igibson)
(:objects agent_n_01_1 - agent floor_n_01_1 - floor_n_01 printer_n_03_1 - printer_n_03 table_n_02_1 - table_n_02)
(:init (not (toggled_on printer_n_03_1)) (onfloor printer_n_03_1 floor_n_01_1) (same_obj floor_n_01_1 floor_n_01_1) (same_obj printer_n_0... |
default | packing_food_for_work_0_Ihlen_1_int_0_2021-06-08_19-36-15 | packing_food_for_work | Pack a sandwich, an apple, a snack food, and a juice into a carton, and place the carton on the floor or on the countertop. | (define (problem packing_food_for_work_0)
(:domain igibson)
(:objects
carton.n.02_1 - carton.n.02
countertop.n.01_1 - countertop.n.01
sandwich.n.01_1 - sandwich.n.01
electric_refrigerator.n.01_1 - electric_refrigerator.n.01
apple.n.01_1 - apple.n.01
snack_food.n.... | inside(hamburger.0, carton.0) and inside(apple.0, carton.0) and inside(hamburger.1, carton.0) and inside(juice.0, carton.0) and onfloor(carton.0, room_floor_kitchen.0) or ontop(carton.0, countertop.81) | [{'action': 'RIGHT_GRASP', 'object': 'apple_0'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'OPEN', 'object': 'fridge_61'}, {'action': 'LEFT_GRASP', 'object': 'hamburger_0'}, {'action': 'UNFREEZE', 'object': 'hamburger_0'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'carton_0'}, {'action': 'OPEN'... | (define (problem packing_food_for_work)
(:domain igibson)
(:objects agent_n_01_1 - agent apple_n_01_1 - apple_n_01 cabinet_n_01_1 - cabinet_n_01 carton_n_02_1 - carton_n_02 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 floor_n_01_1 - floor_n_01 juice_n_01_1 - juic... |
default | storing_the_groceries_0_Beechwood_0_int_0_2021-10-26_13-13-47 | storing_the_groceries | Store the groceries into the fridge and the cabinet based on your common sense. Place groceries of the same type next to each other. | (define (problem storing_the_groceries_0)
(:domain igibson)
(:objects
cereal.n.03_1 cereal.n.03_2 - cereal.n.03
countertop.n.01_1 - countertop.n.01
lettuce.n.03_1 lettuce.n.03_2 - lettuce.n.03
broccoli.n.02_1 broccoli.n.02_2 - broccoli.n.02
raspberry.n.02_1 raspberry.n.02_2 - raspberr... | inside(cereal.0, bottom_cabinet_no_top.54) and inside(cereal.1, bottom_cabinet_no_top.54) and nextto(cereal.0, cereal.1) and inside(lettuce.0, fridge.57) and inside(lettuce.1, fridge.57) and nextto(lettuce.0, lettuce.1) and inside(broccoli.0, fridge.57) and inside(broccoli.1, fridge.57) and nextto(broccoli.0, broccoli.... | [{'action': 'OPEN', 'object': 'bottom_cabinet_no_top_54'}, {'action': 'RIGHT_GRASP', 'object': 'cereal_0'}, {'action': 'LEFT_GRASP', 'object': 'cereal_1'}, {'action': 'RIGHT_PLACE_INSIDE', 'object': 'bottom_cabinet_no_top_54'}, {'action': 'LEFT_PLACE_INSIDE', 'object': 'bottom_cabinet_no_top_54'}, {'action': 'OPEN', 'o... | (define (problem storing_the_groceries)
(:domain igibson)
(:objects agent_n_01_1 - agent broccoli_n_02_1 broccoli_n_02_2 - broccoli_n_02 cabinet_n_01_1 - cabinet_n_01 cereal_n_03_1 - cereal_n_03 countertop_n_01_1 - countertop_n_01 electric_refrigerator_n_01_1 - electric_refrigerator_n_01 lettuce_n_03_1 - lettuc... |
Subsets and Splits
Filtered Task Trajectories
This query filters out entries with empty goals and retrieves specific task details, providing basic filtering of meaningful task data.
Long Action Trajectories
Retrieves 100 samples of actions in the virtual home dataset where the action trajectory length is greater than 10, providing basic filtering.