id int64 1 29 | name stringlengths 21 174 | task stringlengths 21 174 | init_description stringclasses 3
values | important_nodes listlengths 1 7 | goal_description stringlengths 8.16k 8.2k | init_graph stringclasses 3
values | goal_graph stringlengths 39.7k 39.8k | num_nodes int64 201 201 | num_important_nodes int64 1 7 | actions stringlengths 60 1.01k |
|---|---|---|---|---|---|---|---|---|---|---|
1 | Close Jasons cabinet. | Close Jasons cabinet. | Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office-1, aarons_office-1, jasons_office-1, filipes_office-1, luis_office-1, wills_office-1, ajays_office-1, chris_office-1, lauriannes_office-1, dimitys_office-1, phd_bay-1, phd_bay-2, phd_bay-3, phd_bay-4, meeting_room-1, meeting_room-2, meeting_room-3, meeting_room-4, postdoc_bay-1, postdoc_bay-2, postdoc_bay-3, printing_zone-1, printing_zone-2, admin-1, lobby-1, kitchen-1, cafeteria-1, presentation_lounge-1, mobile_robotics_lab-1, manipulation_lab-1, agriculture_lab-1, supplies_station-1, robot_lounge-1, robot_lounge-2
Agent is located in mobile_robotics_lab-1 and holding nothing.
In peters_office-1:
Assets: desk-2 in states clear, cabinet-2 in states closed clear
Objects:
phone-1 ontop desk-2 in states clear
stapler-1 inside cabinet-2 in states clear
pencil-1 inside cabinet-2 in states clear
apple-3 inside cabinet-2 in states clear
In tobis_office-1:
Assets: desk-38 in states clear
Objects:
pepsi-1 ontop desk-38 in states clear
In nikos_office-1:
Assets: desk-1 in states clear, chair-1 in states clear, cabinet-1 in states closed clear
Objects:
coffee_mug-1 ontop desk-1 in states clear
In michaels_office-1:
Assets: desk-6 in states clear, wall-1 in states clear, cabinet-6 in states closed clear
Objects:
scissors-1 ontop desk-6 in states clear
stapler-3 inside cabinet-6 in states clear
terminator_poster-1 attached_to wall-1 in states clear
In jasons_office-1:
Assets: desk-5 in states clear, cabinet-5 in states open clear
Objects:
monitor-1 ontop desk-5 in states clear
In filipes_office-1:
Assets: desk-37 in states clear
Objects:
stapler-2 inside desk-37 in states clear
In wills_office-1:
Assets: desk-4 in states clear, cabinet-4 in states closed clear
Objects:
drone-2 inside cabinet-4 in states clear
undergrad_thesis-1 inside cabinet-4 in states clear
apple-1 inside cabinet-4 in states clear
In dimitys_office-1:
Assets: desk-3 in states clear, K31X-1 in states clear, cabinet-3 in states closed clear
Objects:
apple-2 inside cabinet-3 in states clear rot
buzzer-1 ontop desk-3 in states clear
In phd_bay-1:
Assets: desk-11 in states clear, desk-8 in states clear, desk-9 in states clear, desk-10 in states clear, desk-12 in states clear, desk-7 in states clear
Objects:
complimentary_tshirt-1 ontop desk-9 in states clear
complimentary_tshirt-2 ontop desk-10 in states clear
In phd_bay-2:
Assets: desk-13 in states clear, desk-14 in states clear, desk-15 in states clear, desk-16 in states clear, desk-17 in states clear, desk-18 in states clear
Objects:
complimentary_tshirt-3 ontop desk-15 in states clear
complimentary_tshirt-4 ontop desk-18 in states clear
complimentary_tshirt-6 ontop desk-18 in states clear
In phd_bay-3:
Assets: desk-19 in states clear, desk-20 in states clear, desk-21 in states clear, desk-22 in states clear, desk-23 in states clear, desk-24 in states clear
Objects:
drone-1 ontop desk-21 in states clear
In phd_bay-4:
Assets: desk-25 in states clear, desk-26 in states clear, desk-27 in states clear, desk-28 in states clear, desk-29 in states clear, desk-30 in states clear
Objects:
complimentary_tshirt-5 ontop desk-25 in states clear
In meeting_room-1:
Assets: table-5 in states clear, chair-3 in states clear, chair-4 in states clear, chair-5 in states clear
In meeting_room-2:
Assets: chair-2 in states clear
In meeting_room-3:
Assets: table-6 in states clear, table-1 in states clear
Objects:
headphones-1 ontop table-1 in states clear
In meeting_room-4:
Assets: table-2 in states clear
Objects:
jenga-1 ontop table-2 in states clear
risk-1 ontop table-2 in states clear
monopoly-1 ontop table-2 in states clear
monopoly-2 ontop table-2 in states clear
risk-2 ontop table-2 in states clear
jenga-2 ontop table-2 in states clear
In postdoc_bay-1:
Assets: desk-32 in states clear
Objects:
frame-1 ontop desk-32 in states clear
frame-2 ontop desk-32 in states clear
complimentary_tshirt-7 ontop desk-32 in states clear
complimentary_tshirt-8 ontop desk-32 in states clear
In postdoc_bay-2:
Assets: desk-33 in states clear, desk-34 in states clear
Objects:
frame-3 ontop desk-33 in states clear
In postdoc_bay-3:
Assets: desk-35 in states clear, desk-36 in states clear
Objects:
doritos-1 ontop desk-35 in states clear
marker-1 ontop desk-36 in states clear
In printing_zone-2:
Assets: printer-2 in states off clear
Objects:
document-1 ontop printer-2 in states clear
In admin-1:
Assets: shelf-1 in states closed clear
Objects:
fire_extinguisher-2 ontop shelf-1 in states clear
In lobby-1:
Assets: floor-1 in states clear, shelf-2 in states clear
Objects:
bag-1 ontop floor-1 in states clear
fire_extinguisher-1 ontop floor-1 in states clear
parcel-1 ontop floor-1 in states clear
In kitchen-1:
Assets: fridge-1 in states closed clear, dishwasher-1 in states closed off clear, coffee_machine-1 in states off clear, microwave-1 in states off clear closed, kitchen_bench-1 in states closed clear, drawer-1 in states closed clear, recycling_bin-1 in states closed clear, rubbish_bin-1 in states closed clear
Objects:
bowl-1 inside dishwasher-1 in states clear
banana-1 inside fridge-1 in states clear
J64M-1 inside fridge-1 in states clear
chicken_kebab-1 inside fridge-1 in states clear
noodles-1 inside fridge-1 in states clear
salmon_bagel-1 inside fridge-1 in states clear
greek_salad-1 inside fridge-1 in states clear
tomato-1 inside fridge-1 in states clear
cheese-1 inside fridge-1 in states clear
carrot-1 inside fridge-1 in states clear
cup-1 inside dishwasher-1 in states clear
milk-1 inside fridge-1 in states clear
coffee_beans-1 inside fridge-1 in states clear
knife-1 ontop kitchen_bench-1 in states clear
fork-1 ontop kitchen_bench-1 in states clear
shovel-1 ontop kitchen_bench-1 in states clear
kale_leaves-2 inside kitchen_bench-1 in states clear
chips-1 inside kitchen_bench-1 in states clear
butter-1 inside kitchen_bench-1 in states clear
bread-1 inside kitchen_bench-1 in states clear
orange-1 ontop kitchen_bench-1 in states clear
plate-2 inside dishwasher-1 in states clear
spoon-1 inside dishwasher-1 in states clear
milk_carton-1 inside recycling_bin-1 in states clear
orange_peel-1 inside recycling_bin-1 in states clear
apple_core-1 inside recycling_bin-1 in states clear
banana_peel-1 inside rubbish_bin-1 in states clear
plastic_bottle-1 inside rubbish_bin-1 in states clear
In cafeteria-1:
Assets: lunch_table-1 in states clear
Objects:
fork-2 ontop lunch_table-1 in states clear
knife-2 ontop lunch_table-1 in states clear
banana-2 ontop lunch_table-1 in states clear ripe
plate-1 ontop lunch_table-1 in states dirty
In mobile_robotics_lab-1:
Assets: table-4 in states clear
Objects:
book-2 ontop table-4 in states clear
In manipulation_lab-1:
Assets: table-3 in states clear
Objects:
book-1 ontop table-3 in states clear
gripper-1 ontop table-3 in states clear
In agriculture_lab-1:
Assets: produce_container-1 in states clear
Objects:
kale_leaves-1 inside produce_container-1 in states clear
In supplies_station-1:
Assets: cupboard-1 in states closed clear, cupboard-2 in states closed clear
Objects:
printer_paper-1 inside cupboard-1 in states clear
paper_towel-1 inside cupboard-1 in states clear
vodka-1 inside cupboard-2 in states clear
orange_juice-1 inside cupboard-2 in states clear
biscuits-1 inside cupboard-2 in states clear
bottled_water-1 inside cupboard-2 in states clear
bottled_water-2 inside cupboard-2 in states clear
bottled_water-3 inside cupboard-2 in states clear
bottled_water-4 inside cupboard-2 in states clear
bottled_water-5 inside cupboard-2 in states clear
In robot_lounge-2:
Assets: toolbox-1 in states closed clear
Objects:
screwdriver-1 inside toolbox-1 in states clear | [
"cabinet-5"
] | Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office-1, aarons_office-1, jasons_office-1, filipes_office-1, luis_office-1, wills_office-1, ajays_office-1, chris_office-1, lauriannes_office-1, dimitys_office-1, phd_bay-1, phd_bay-2, phd_bay-3, phd_bay-4, meeting_room-1, meeting_room-2, meeting_room-3, meeting_room-4, postdoc_bay-1, postdoc_bay-2, postdoc_bay-3, printing_zone-1, printing_zone-2, admin-1, lobby-1, kitchen-1, cafeteria-1, presentation_lounge-1, mobile_robotics_lab-1, manipulation_lab-1, agriculture_lab-1, supplies_station-1, robot_lounge-1, robot_lounge-2
Agent is located in mobile_robotics_lab-1 and holding nothing.
In peters_office-1:
Assets: desk-2 in states clear, cabinet-2 in states closed clear
Objects:
phone-1 ontop desk-2 in states clear
stapler-1 inside cabinet-2 in states clear
pencil-1 inside cabinet-2 in states clear
apple-3 inside cabinet-2 in states clear
In tobis_office-1:
Assets: desk-38 in states clear
Objects:
pepsi-1 ontop desk-38 in states clear
In nikos_office-1:
Assets: desk-1 in states clear, chair-1 in states clear, cabinet-1 in states closed clear
Objects:
coffee_mug-1 ontop desk-1 in states clear
In michaels_office-1:
Assets: desk-6 in states clear, wall-1 in states clear, cabinet-6 in states closed clear
Objects:
scissors-1 ontop desk-6 in states clear
stapler-3 inside cabinet-6 in states clear
terminator_poster-1 attached_to wall-1 in states clear
In jasons_office-1:
Assets: desk-5 in states clear, cabinet-5 in states clear closed
Objects:
monitor-1 ontop desk-5 in states clear
In filipes_office-1:
Assets: desk-37 in states clear
Objects:
stapler-2 inside desk-37 in states clear
In wills_office-1:
Assets: desk-4 in states clear, cabinet-4 in states closed clear
Objects:
drone-2 inside cabinet-4 in states clear
undergrad_thesis-1 inside cabinet-4 in states clear
apple-1 inside cabinet-4 in states clear
In dimitys_office-1:
Assets: desk-3 in states clear, K31X-1 in states clear, cabinet-3 in states closed clear
Objects:
apple-2 inside cabinet-3 in states clear rot
buzzer-1 ontop desk-3 in states clear
In phd_bay-1:
Assets: desk-11 in states clear, desk-8 in states clear, desk-9 in states clear, desk-10 in states clear, desk-12 in states clear, desk-7 in states clear
Objects:
complimentary_tshirt-1 ontop desk-9 in states clear
complimentary_tshirt-2 ontop desk-10 in states clear
In phd_bay-2:
Assets: desk-13 in states clear, desk-14 in states clear, desk-15 in states clear, desk-16 in states clear, desk-17 in states clear, desk-18 in states clear
Objects:
complimentary_tshirt-3 ontop desk-15 in states clear
complimentary_tshirt-4 ontop desk-18 in states clear
complimentary_tshirt-6 ontop desk-18 in states clear
In phd_bay-3:
Assets: desk-19 in states clear, desk-20 in states clear, desk-21 in states clear, desk-22 in states clear, desk-23 in states clear, desk-24 in states clear
Objects:
drone-1 ontop desk-21 in states clear
In phd_bay-4:
Assets: desk-25 in states clear, desk-26 in states clear, desk-27 in states clear, desk-28 in states clear, desk-29 in states clear, desk-30 in states clear
Objects:
complimentary_tshirt-5 ontop desk-25 in states clear
In meeting_room-1:
Assets: table-5 in states clear, chair-3 in states clear, chair-4 in states clear, chair-5 in states clear
In meeting_room-2:
Assets: chair-2 in states clear
In meeting_room-3:
Assets: table-6 in states clear, table-1 in states clear
Objects:
headphones-1 ontop table-1 in states clear
In meeting_room-4:
Assets: table-2 in states clear
Objects:
jenga-1 ontop table-2 in states clear
risk-1 ontop table-2 in states clear
monopoly-1 ontop table-2 in states clear
monopoly-2 ontop table-2 in states clear
risk-2 ontop table-2 in states clear
jenga-2 ontop table-2 in states clear
In postdoc_bay-1:
Assets: desk-32 in states clear
Objects:
frame-1 ontop desk-32 in states clear
frame-2 ontop desk-32 in states clear
complimentary_tshirt-7 ontop desk-32 in states clear
complimentary_tshirt-8 ontop desk-32 in states clear
In postdoc_bay-2:
Assets: desk-33 in states clear, desk-34 in states clear
Objects:
frame-3 ontop desk-33 in states clear
In postdoc_bay-3:
Assets: desk-35 in states clear, desk-36 in states clear
Objects:
doritos-1 ontop desk-35 in states clear
marker-1 ontop desk-36 in states clear
In printing_zone-2:
Assets: printer-2 in states off clear
Objects:
document-1 ontop printer-2 in states clear
In admin-1:
Assets: shelf-1 in states closed clear
Objects:
fire_extinguisher-2 ontop shelf-1 in states clear
In lobby-1:
Assets: floor-1 in states clear, shelf-2 in states clear
Objects:
bag-1 ontop floor-1 in states clear
fire_extinguisher-1 ontop floor-1 in states clear
parcel-1 ontop floor-1 in states clear
In kitchen-1:
Assets: fridge-1 in states closed clear, dishwasher-1 in states closed off clear, coffee_machine-1 in states off clear, microwave-1 in states off clear closed, kitchen_bench-1 in states closed clear, drawer-1 in states closed clear, recycling_bin-1 in states closed clear, rubbish_bin-1 in states closed clear
Objects:
bowl-1 inside dishwasher-1 in states clear
banana-1 inside fridge-1 in states clear
J64M-1 inside fridge-1 in states clear
chicken_kebab-1 inside fridge-1 in states clear
noodles-1 inside fridge-1 in states clear
salmon_bagel-1 inside fridge-1 in states clear
greek_salad-1 inside fridge-1 in states clear
tomato-1 inside fridge-1 in states clear
cheese-1 inside fridge-1 in states clear
carrot-1 inside fridge-1 in states clear
cup-1 inside dishwasher-1 in states clear
milk-1 inside fridge-1 in states clear
coffee_beans-1 inside fridge-1 in states clear
knife-1 ontop kitchen_bench-1 in states clear
fork-1 ontop kitchen_bench-1 in states clear
shovel-1 ontop kitchen_bench-1 in states clear
kale_leaves-2 inside kitchen_bench-1 in states clear
chips-1 inside kitchen_bench-1 in states clear
butter-1 inside kitchen_bench-1 in states clear
bread-1 inside kitchen_bench-1 in states clear
orange-1 ontop kitchen_bench-1 in states clear
plate-2 inside dishwasher-1 in states clear
spoon-1 inside dishwasher-1 in states clear
milk_carton-1 inside recycling_bin-1 in states clear
orange_peel-1 inside recycling_bin-1 in states clear
apple_core-1 inside recycling_bin-1 in states clear
banana_peel-1 inside rubbish_bin-1 in states clear
plastic_bottle-1 inside rubbish_bin-1 in states clear
In cafeteria-1:
Assets: lunch_table-1 in states clear
Objects:
fork-2 ontop lunch_table-1 in states clear
knife-2 ontop lunch_table-1 in states clear
banana-2 ontop lunch_table-1 in states clear ripe
plate-1 ontop lunch_table-1 in states dirty
In mobile_robotics_lab-1:
Assets: table-4 in states clear
Objects:
book-2 ontop table-4 in states clear
In manipulation_lab-1:
Assets: table-3 in states clear
Objects:
book-1 ontop table-3 in states clear
gripper-1 ontop table-3 in states clear
In agriculture_lab-1:
Assets: produce_container-1 in states clear
Objects:
kale_leaves-1 inside produce_container-1 in states clear
In supplies_station-1:
Assets: cupboard-1 in states closed clear, cupboard-2 in states closed clear
Objects:
printer_paper-1 inside cupboard-1 in states clear
paper_towel-1 inside cupboard-1 in states clear
vodka-1 inside cupboard-2 in states clear
orange_juice-1 inside cupboard-2 in states clear
biscuits-1 inside cupboard-2 in states clear
bottled_water-1 inside cupboard-2 in states clear
bottled_water-2 inside cupboard-2 in states clear
bottled_water-3 inside cupboard-2 in states clear
bottled_water-4 inside cupboard-2 in states clear
bottled_water-5 inside cupboard-2 in states clear
In robot_lounge-2:
Assets: toolbox-1 in states closed clear
Objects:
screwdriver-1 inside toolbox-1 in states clear | {"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "SayPlan Office", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('peters_office', 1)"}, {"type": "place", "id": "('tobis_office', 1)"}, {"type": "place", "id": "('nikos_office', 1)"}, {"type": "place", "id": "('michaels_office', 1)"}, {"type": "place", "id": "('aarons_office', 1)"}, {"type": "place", "id": "('jasons_office', 1)"}, {"type": "place", "id": "('filipes_office', 1)"}, {"type": "place", "id": "('luis_office', 1)"}, {"type": "place", "id": "('wills_office', 1)"}, {"type": "place", "id": "('ajays_office', 1)"}, {"type": "place", "id": "('chris_office', 1)"}, {"type": "place", "id": "('lauriannes_office', 1)"}, {"type": "place", "id": "('dimitys_office', 1)"}, {"type": "place", "id": "('phd_bay', 1)"}, {"type": "place", "id": "('phd_bay', 2)"}, {"type": "place", "id": "('phd_bay', 3)"}, {"type": "place", "id": "('phd_bay', 4)"}, {"type": "place", "id": "('meeting_room', 1)"}, {"type": "place", "id": "('meeting_room', 2)"}, {"type": "place", "id": "('meeting_room', 3)"}, {"type": "place", "id": "('meeting_room', 4)"}, {"type": "place", "id": "('postdoc_bay', 1)"}, {"type": "place", "id": "('postdoc_bay', 2)"}, {"type": "place", "id": "('postdoc_bay', 3)"}, {"type": "place", "id": "('printing_zone', 1)"}, {"type": "place", "id": "('printing_zone', 2)"}, {"type": "place", "id": "('admin', 1)"}, {"type": "place", "id": "('lobby', 1)"}, {"type": "place", "id": "('kitchen', 1)"}, {"type": "place", "id": "('cafeteria', 1)"}, {"type": "place", "id": "('presentation_lounge', 1)"}, {"type": "place", "id": "('mobile_robotics_lab', 1)"}, {"type": "place", "id": "('manipulation_lab', 1)"}, {"type": "place", "id": "('agriculture_lab', 1)"}, {"type": "place", "id": "('supplies_station', 1)"}, {"type": "place", "id": "('robot_lounge', 1)"}, {"type": "place", "id": "('robot_lounge', 2)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "asset", "id": "('fridge', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "off", "clear"], "affordances": ["open", "close", "turn_on", "turn_off", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('dishwasher', 1)"}, {"place": ["kitchen", 1], "states": ["off", "clear"], "affordances": ["turn_on", "turn_off", "put_inside"], "properties": [], "type": "asset", "id": "('coffee_machine', 1)"}, {"place": ["kitchen", 1], "states": ["off", "clear", "closed"], "affordances": ["open", "close", "turn_on", "turn_off", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('microwave', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('kitchen_bench', 1)"}, {"place": ["peters_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 2)"}, {"place": ["peters_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 2)"}, {"place": ["postdoc_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 35)"}, {"place": ["postdoc_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 36)"}, {"place": ["meeting_room", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 2)"}, {"place": ["meeting_room", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 5)"}, {"place": ["meeting_room", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 6)"}, {"place": ["meeting_room", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 1)"}, {"place": ["meeting_room", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 3)"}, {"place": ["meeting_room", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 4)"}, {"place": ["meeting_room", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 5)"}, {"place": ["meeting_room", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 2)"}, {"place": ["postdoc_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 32)"}, {"place": ["tobis_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 38)"}, {"place": ["printing_zone", 2], "states": ["off", "clear"], "affordances": ["turn_on", "turn_off"], "properties": [], "type": "asset", "id": "('printer', 2)"}, {"place": ["nikos_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 1)"}, {"place": ["nikos_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 1)"}, {"place": ["nikos_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 1)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 11)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 8)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 9)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 10)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 12)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 7)"}, {"place": ["michaels_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 6)"}, {"place": ["michaels_office", 1], "states": ["clear"], "affordances": ["attach_to"], "properties": [], "type": "asset", "id": "('wall', 1)"}, {"place": ["michaels_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 6)"}, {"place": ["mobile_robotics_lab", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 4)"}, {"place": ["manipulation_lab", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 3)"}, {"place": ["robot_lounge", 2], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('toolbox', 1)"}, {"place": ["filipes_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 37)"}, {"place": ["wills_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 4)"}, {"place": ["wills_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 4)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 19)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 20)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 21)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 22)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 23)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 24)"}, {"place": ["postdoc_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 33)"}, {"place": ["postdoc_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 34)"}, {"place": ["jasons_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 5)"}, {"place": ["dimitys_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 3)"}, {"place": ["dimitys_office", 1], "states": ["clear"], "affordances": [], "properties": [], "type": "asset", "id": "('K31X', 1)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 13)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 14)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 15)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 16)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 17)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 18)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 25)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 26)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 27)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 28)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 29)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 30)"}, {"place": ["dimitys_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 3)"}, {"place": ["jasons_office", 1], "states": ["open", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 5)"}, {"place": ["admin", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["agriculture_lab", 1], "states": ["clear"], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('produce_container', 1)"}, {"place": ["cafeteria", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('lunch_table', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('drawer', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('recycling_bin', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('rubbish_bin', 1)"}, {"place": ["supplies_station", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cupboard', 1)"}, {"place": ["supplies_station", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cupboard', 2)"}, {"place": ["lobby", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["lobby", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"relation": "inside_of", "related_to": ["dishwasher", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": ["blue"], "type": "object", "id": "('bowl', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('banana', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('J64M', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('chicken_kebab', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('noodles', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('salmon_bagel', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('greek_salad', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('tomato', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('cheese', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('carrot', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bag', 1)"}, {"relation": "inside_of", "related_to": ["dishwasher", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('cup', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('milk', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('coffee_beans', 1)"}, {"relation": "ontop_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('knife', 1)"}, {"relation": "ontop_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('fork', 1)"}, {"relation": "ontop_of", "related_to": ["lunch_table", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('fork', 2)"}, {"relation": "ontop_of", "related_to": ["lunch_table", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('knife', 2)"}, {"relation": "ontop_of", "related_to": ["lunch_table", 1], "states": ["clear", "ripe"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('banana', 2)"}, {"relation": "ontop_of", "related_to": ["lunch_table", 1], "states": ["dirty"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('plate', 1)"}, {"relation": "ontop_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('shovel', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('phone', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('stapler', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('pencil', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple', 3)"}, {"relation": "inside_of", "related_to": ["cabinet", 3], "states": ["clear", "rot"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple', 2)"}, {"relation": "ontop_of", "related_to": ["desk", 35], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('doritos', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 36], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('marker', 1)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('jenga', 1)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('risk', 1)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('monopoly', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('fire_extinguisher', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 32], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('frame', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 32], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('frame', 2)"}, {"relation": "ontop_of", "related_to": ["desk", 32], "states": ["clear"], "affordances": ["pick_up"], "properties": ["purple"], "type": "object", "id": "('complimentary_tshirt', 7)"}, {"relation": "ontop_of", "related_to": ["desk", 32], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 8)"}, {"relation": "ontop_of", "related_to": ["desk", 9], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 10], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 2)"}, {"relation": "ontop_of", "related_to": ["desk", 15], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 3)"}, {"relation": "ontop_of", "related_to": ["desk", 18], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 4)"}, {"relation": "ontop_of", "related_to": ["desk", 25], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 5)"}, {"relation": "ontop_of", "related_to": ["desk", 18], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 6)"}, {"relation": "ontop_of", "related_to": ["desk", 38], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('pepsi', 1)"}, {"relation": "ontop_of", "related_to": ["printer", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('document', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('coffee_mug', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 6], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('scissors', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 6], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('stapler', 3)"}, {"relation": "attached_to", "related_to": ["wall", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('terminator_poster', 1)"}, {"relation": "ontop_of", "related_to": ["table", 4], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('book', 2)"}, {"relation": "ontop_of", "related_to": ["table", 3], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('book', 1)"}, {"relation": "ontop_of", "related_to": ["table", 3], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('gripper', 1)"}, {"relation": "inside_of", "related_to": ["toolbox", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('screwdriver', 1)"}, {"relation": "inside_of", "related_to": ["desk", 37], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('stapler', 2)"}, {"relation": "inside_of", "related_to": ["cabinet", 4], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('drone', 2)"}, {"relation": "inside_of", "related_to": ["cabinet", 4], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('undergrad_thesis', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 4], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 21], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('drone', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 33], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('frame', 3)"}, {"relation": "ontop_of", "related_to": ["desk", 5], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('monitor', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('parcel', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('fire_extinguisher', 2)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('monopoly', 2)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('risk', 2)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('jenga', 2)"}, {"relation": "ontop_of", "related_to": ["desk", 3], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('buzzer', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('printer_paper', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('paper_towel', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('vodka', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('orange_juice', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('biscuits', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 2)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 3)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 4)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 5)"}, {"relation": "inside_of", "related_to": ["produce_container", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('kale_leaves', 1)"}, {"relation": "inside_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('kale_leaves', 2)"}, {"relation": "inside_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('chips', 1)"}, {"relation": "inside_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter', 1)"}, {"relation": "inside_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bread', 1)"}, {"relation": "ontop_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('orange', 1)"}, {"relation": "inside_of", "related_to": ["dishwasher", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('plate', 2)"}, {"relation": "inside_of", "related_to": ["dishwasher", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('spoon', 1)"}, {"relation": "inside_of", "related_to": ["recycling_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('milk_carton', 1)"}, {"relation": "inside_of", "related_to": ["recycling_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('orange_peel', 1)"}, {"relation": "inside_of", "related_to": ["recycling_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple_core', 1)"}, {"relation": "inside_of", "related_to": ["rubbish_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('banana_peel', 1)"}, {"relation": "inside_of", "related_to": ["rubbish_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('plastic_bottle', 1)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('headphones', 1)"}, {"location": ["mobile_robotics_lab", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('peters_office', 1)"}, {"source": "('scene', 1)", "target": "('tobis_office', 1)"}, {"source": "('scene', 1)", "target": "('nikos_office', 1)"}, {"source": "('scene', 1)", "target": "('michaels_office', 1)"}, {"source": "('scene', 1)", "target": "('aarons_office', 1)"}, {"source": "('scene', 1)", "target": "('jasons_office', 1)"}, {"source": "('scene', 1)", "target": "('filipes_office', 1)"}, {"source": "('scene', 1)", "target": "('luis_office', 1)"}, {"source": "('scene', 1)", "target": "('wills_office', 1)"}, {"source": "('scene', 1)", "target": "('ajays_office', 1)"}, {"source": "('scene', 1)", "target": "('chris_office', 1)"}, {"source": "('scene', 1)", "target": "('lauriannes_office', 1)"}, {"source": "('scene', 1)", "target": "('dimitys_office', 1)"}, {"source": "('scene', 1)", "target": "('phd_bay', 1)"}, {"source": "('scene', 1)", "target": "('phd_bay', 2)"}, {"source": "('scene', 1)", "target": "('phd_bay', 3)"}, {"source": "('scene', 1)", "target": "('phd_bay', 4)"}, {"source": "('scene', 1)", "target": "('meeting_room', 1)"}, {"source": "('scene', 1)", "target": "('meeting_room', 2)"}, {"source": "('scene', 1)", "target": "('meeting_room', 3)"}, {"source": "('scene', 1)", "target": "('meeting_room', 4)"}, {"source": "('scene', 1)", "target": "('postdoc_bay', 1)"}, {"source": "('scene', 1)", "target": "('postdoc_bay', 2)"}, {"source": "('scene', 1)", "target": "('postdoc_bay', 3)"}, {"source": "('scene', 1)", "target": "('printing_zone', 1)"}, {"source": "('scene', 1)", "target": "('printing_zone', 2)"}, {"source": "('scene', 1)", "target": "('admin', 1)"}, {"source": "('scene', 1)", "target": "('lobby', 1)"}, {"source": "('scene', 1)", "target": "('kitchen', 1)"}, {"source": "('scene', 1)", "target": "('cafeteria', 1)"}, {"source": "('scene', 1)", "target": "('presentation_lounge', 1)"}, {"source": "('scene', 1)", "target": "('mobile_robotics_lab', 1)"}, {"source": "('scene', 1)", "target": "('manipulation_lab', 1)"}, {"source": "('scene', 1)", "target": "('agriculture_lab', 1)"}, {"source": "('scene', 1)", "target": "('supplies_station', 1)"}, {"source": "('scene', 1)", "target": "('robot_lounge', 1)"}, {"source": "('scene', 1)", "target": "('robot_lounge', 2)"}, {"source": "('peters_office', 1)", "target": "('desk', 2)"}, {"source": "('peters_office', 1)", "target": "('cabinet', 2)"}, {"source": "('tobis_office', 1)", "target": "('desk', 38)"}, {"source": "('nikos_office', 1)", "target": "('desk', 1)"}, {"source": "('nikos_office', 1)", "target": "('chair', 1)"}, {"source": "('nikos_office', 1)", "target": "('cabinet', 1)"}, {"source": "('michaels_office', 1)", "target": "('desk', 6)"}, {"source": "('michaels_office', 1)", "target": "('wall', 1)"}, {"source": "('michaels_office', 1)", "target": "('cabinet', 6)"}, {"source": "('jasons_office', 1)", "target": "('desk', 5)"}, {"source": "('jasons_office', 1)", "target": "('cabinet', 5)"}, {"source": "('filipes_office', 1)", "target": "('desk', 37)"}, {"source": "('wills_office', 1)", "target": "('desk', 4)"}, {"source": "('wills_office', 1)", "target": "('cabinet', 4)"}, {"source": "('dimitys_office', 1)", "target": "('desk', 3)"}, {"source": "('dimitys_office', 1)", "target": "('K31X', 1)"}, {"source": "('dimitys_office', 1)", "target": "('cabinet', 3)"}, {"source": "('phd_bay', 1)", "target": "('desk', 11)"}, {"source": "('phd_bay', 1)", "target": "('desk', 8)"}, {"source": "('phd_bay', 1)", "target": "('desk', 9)"}, {"source": "('phd_bay', 1)", "target": "('desk', 10)"}, {"source": "('phd_bay', 1)", "target": "('desk', 12)"}, {"source": "('phd_bay', 1)", "target": "('desk', 7)"}, {"source": "('phd_bay', 2)", "target": "('desk', 13)"}, {"source": "('phd_bay', 2)", "target": "('desk', 14)"}, {"source": "('phd_bay', 2)", "target": "('desk', 15)"}, {"source": "('phd_bay', 2)", "target": "('desk', 16)"}, {"source": "('phd_bay', 2)", "target": "('desk', 17)"}, {"source": "('phd_bay', 2)", "target": "('desk', 18)"}, {"source": "('phd_bay', 3)", "target": "('desk', 19)"}, {"source": "('phd_bay', 3)", "target": "('desk', 20)"}, {"source": "('phd_bay', 3)", "target": "('desk', 21)"}, {"source": "('phd_bay', 3)", "target": "('desk', 22)"}, {"source": "('phd_bay', 3)", "target": "('desk', 23)"}, {"source": "('phd_bay', 3)", "target": "('desk', 24)"}, {"source": "('phd_bay', 4)", "target": "('desk', 25)"}, {"source": "('phd_bay', 4)", "target": "('desk', 26)"}, {"source": "('phd_bay', 4)", "target": "('desk', 27)"}, {"source": "('phd_bay', 4)", "target": "('desk', 28)"}, {"source": "('phd_bay', 4)", "target": "('desk', 29)"}, {"source": "('phd_bay', 4)", "target": "('desk', 30)"}, {"source": "('meeting_room', 1)", "target": "('table', 5)"}, {"source": "('meeting_room', 1)", "target": "('chair', 3)"}, {"source": "('meeting_room', 1)", "target": "('chair', 4)"}, {"source": "('meeting_room', 1)", "target": "('chair', 5)"}, {"source": "('meeting_room', 2)", "target": "('chair', 2)"}, {"source": "('meeting_room', 3)", "target": "('table', 6)"}, {"source": "('meeting_room', 3)", "target": "('table', 1)"}, {"source": "('meeting_room', 4)", "target": "('table', 2)"}, {"source": "('postdoc_bay', 1)", "target": "('desk', 32)"}, {"source": "('postdoc_bay', 2)", "target": "('desk', 33)"}, {"source": "('postdoc_bay', 2)", "target": "('desk', 34)"}, {"source": "('postdoc_bay', 3)", "target": "('desk', 35)"}, {"source": "('postdoc_bay', 3)", "target": "('desk', 36)"}, {"source": "('printing_zone', 2)", "target": "('printer', 2)"}, {"source": "('admin', 1)", "target": "('shelf', 1)"}, {"source": "('lobby', 1)", "target": "('floor', 1)"}, {"source": "('lobby', 1)", "target": "('shelf', 2)"}, {"source": "('kitchen', 1)", "target": "('fridge', 1)"}, {"source": "('kitchen', 1)", "target": "('dishwasher', 1)"}, {"source": "('kitchen', 1)", "target": "('coffee_machine', 1)"}, {"source": "('kitchen', 1)", "target": "('microwave', 1)"}, {"source": "('kitchen', 1)", "target": "('kitchen_bench', 1)"}, {"source": "('kitchen', 1)", "target": "('drawer', 1)"}, {"source": "('kitchen', 1)", "target": "('recycling_bin', 1)"}, {"source": "('kitchen', 1)", "target": "('rubbish_bin', 1)"}, {"source": "('cafeteria', 1)", "target": "('lunch_table', 1)"}, {"source": "('mobile_robotics_lab', 1)", "target": "('table', 4)"}, {"source": "('mobile_robotics_lab', 1)", "target": "('agent', 1)"}, {"source": "('manipulation_lab', 1)", "target": "('table', 3)"}, {"source": "('agriculture_lab', 1)", "target": "('produce_container', 1)"}, {"source": "('supplies_station', 1)", "target": "('cupboard', 1)"}, {"source": "('supplies_station', 1)", "target": "('cupboard', 2)"}, {"source": "('robot_lounge', 2)", "target": "('toolbox', 1)"}, {"source": "('fridge', 1)", "target": "('banana', 1)"}, {"source": "('fridge', 1)", "target": "('J64M', 1)"}, {"source": "('fridge', 1)", "target": "('chicken_kebab', 1)"}, {"source": "('fridge', 1)", "target": "('noodles', 1)"}, {"source": "('fridge', 1)", "target": "('salmon_bagel', 1)"}, {"source": "('fridge', 1)", "target": "('greek_salad', 1)"}, {"source": "('fridge', 1)", "target": "('tomato', 1)"}, {"source": "('fridge', 1)", "target": "('cheese', 1)"}, {"source": "('fridge', 1)", "target": "('carrot', 1)"}, {"source": "('fridge', 1)", "target": "('milk', 1)"}, {"source": "('fridge', 1)", "target": "('coffee_beans', 1)"}, {"source": "('dishwasher', 1)", "target": "('bowl', 1)"}, {"source": "('dishwasher', 1)", "target": "('cup', 1)"}, {"source": "('dishwasher', 1)", "target": "('plate', 2)"}, {"source": "('dishwasher', 1)", "target": "('spoon', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('knife', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('fork', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('shovel', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('kale_leaves', 2)"}, {"source": "('kitchen_bench', 1)", "target": "('chips', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('butter', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('bread', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('orange', 1)"}, {"source": "('desk', 2)", "target": "('phone', 1)"}, {"source": "('cabinet', 2)", "target": "('stapler', 1)"}, {"source": "('cabinet', 2)", "target": "('pencil', 1)"}, {"source": "('cabinet', 2)", "target": "('apple', 3)"}, {"source": "('desk', 35)", "target": "('doritos', 1)"}, {"source": "('desk', 36)", "target": "('marker', 1)"}, {"source": "('table', 2)", "target": "('jenga', 1)"}, {"source": "('table', 2)", "target": "('risk', 1)"}, {"source": "('table', 2)", "target": "('monopoly', 1)"}, {"source": "('table', 2)", "target": "('monopoly', 2)"}, {"source": "('table', 2)", "target": "('risk', 2)"}, {"source": "('table', 2)", "target": "('jenga', 2)"}, {"source": "('table', 1)", "target": "('headphones', 1)"}, {"source": "('desk', 32)", "target": "('frame', 1)"}, {"source": "('desk', 32)", "target": "('frame', 2)"}, {"source": "('desk', 32)", "target": "('complimentary_tshirt', 7)"}, {"source": "('desk', 32)", "target": "('complimentary_tshirt', 8)"}, {"source": "('desk', 38)", "target": "('pepsi', 1)"}, {"source": "('printer', 2)", "target": "('document', 1)"}, {"source": "('desk', 1)", "target": "('coffee_mug', 1)"}, {"source": "('desk', 9)", "target": "('complimentary_tshirt', 1)"}, {"source": "('desk', 10)", "target": "('complimentary_tshirt', 2)"}, {"source": "('desk', 6)", "target": "('scissors', 1)"}, {"source": "('wall', 1)", "target": "('terminator_poster', 1)"}, {"source": "('cabinet', 6)", "target": "('stapler', 3)"}, {"source": "('table', 4)", "target": "('book', 2)"}, {"source": "('table', 3)", "target": "('book', 1)"}, {"source": "('table', 3)", "target": "('gripper', 1)"}, {"source": "('toolbox', 1)", "target": "('screwdriver', 1)"}, {"source": "('desk', 37)", "target": "('stapler', 2)"}, {"source": "('cabinet', 4)", "target": "('drone', 2)"}, {"source": "('cabinet', 4)", "target": "('undergrad_thesis', 1)"}, {"source": "('cabinet', 4)", "target": "('apple', 1)"}, {"source": "('desk', 21)", "target": "('drone', 1)"}, {"source": "('desk', 33)", "target": "('frame', 3)"}, {"source": "('desk', 5)", "target": "('monitor', 1)"}, {"source": "('desk', 3)", "target": "('buzzer', 1)"}, {"source": "('desk', 15)", "target": "('complimentary_tshirt', 3)"}, {"source": "('desk', 18)", "target": "('complimentary_tshirt', 4)"}, {"source": "('desk', 18)", "target": "('complimentary_tshirt', 6)"}, {"source": "('desk', 25)", "target": "('complimentary_tshirt', 5)"}, {"source": "('cabinet', 3)", "target": "('apple', 2)"}, {"source": "('shelf', 1)", "target": "('fire_extinguisher', 2)"}, {"source": "('produce_container', 1)", "target": "('kale_leaves', 1)"}, {"source": "('lunch_table', 1)", "target": "('fork', 2)"}, {"source": "('lunch_table', 1)", "target": "('knife', 2)"}, {"source": "('lunch_table', 1)", "target": "('banana', 2)"}, {"source": "('lunch_table', 1)", "target": "('plate', 1)"}, {"source": "('recycling_bin', 1)", "target": "('milk_carton', 1)"}, {"source": "('recycling_bin', 1)", "target": "('orange_peel', 1)"}, {"source": "('recycling_bin', 1)", "target": "('apple_core', 1)"}, {"source": "('rubbish_bin', 1)", "target": "('banana_peel', 1)"}, {"source": "('rubbish_bin', 1)", "target": "('plastic_bottle', 1)"}, {"source": "('cupboard', 1)", "target": "('printer_paper', 1)"}, {"source": "('cupboard', 1)", "target": "('paper_towel', 1)"}, {"source": "('cupboard', 2)", "target": "('vodka', 1)"}, {"source": "('cupboard', 2)", "target": "('orange_juice', 1)"}, {"source": "('cupboard', 2)", "target": "('biscuits', 1)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 1)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 2)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 3)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 4)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 5)"}, {"source": "('floor', 1)", "target": "('bag', 1)"}, {"source": "('floor', 1)", "target": "('fire_extinguisher', 1)"}, {"source": "('floor', 1)", "target": "('parcel', 1)"}]} | {"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "SayPlan Office", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('peters_office', 1)"}, {"type": "place", "id": "('tobis_office', 1)"}, {"type": "place", "id": "('nikos_office', 1)"}, {"type": "place", "id": "('michaels_office', 1)"}, {"type": "place", "id": "('aarons_office', 1)"}, {"type": "place", "id": "('jasons_office', 1)"}, {"type": "place", "id": "('filipes_office', 1)"}, {"type": "place", "id": "('luis_office', 1)"}, {"type": "place", "id": "('wills_office', 1)"}, {"type": "place", "id": "('ajays_office', 1)"}, {"type": "place", "id": "('chris_office', 1)"}, {"type": "place", "id": "('lauriannes_office', 1)"}, {"type": "place", "id": "('dimitys_office', 1)"}, {"type": "place", "id": "('phd_bay', 1)"}, {"type": "place", "id": "('phd_bay', 2)"}, {"type": "place", "id": "('phd_bay', 3)"}, {"type": "place", "id": "('phd_bay', 4)"}, {"type": "place", "id": "('meeting_room', 1)"}, {"type": "place", "id": "('meeting_room', 2)"}, {"type": "place", "id": "('meeting_room', 3)"}, {"type": "place", "id": "('meeting_room', 4)"}, {"type": "place", "id": "('postdoc_bay', 1)"}, {"type": "place", "id": "('postdoc_bay', 2)"}, {"type": "place", "id": "('postdoc_bay', 3)"}, {"type": "place", "id": "('printing_zone', 1)"}, {"type": "place", "id": "('printing_zone', 2)"}, {"type": "place", "id": "('admin', 1)"}, {"type": "place", "id": "('lobby', 1)"}, {"type": "place", "id": "('kitchen', 1)"}, {"type": "place", "id": "('cafeteria', 1)"}, {"type": "place", "id": "('presentation_lounge', 1)"}, {"type": "place", "id": "('mobile_robotics_lab', 1)"}, {"type": "place", "id": "('manipulation_lab', 1)"}, {"type": "place", "id": "('agriculture_lab', 1)"}, {"type": "place", "id": "('supplies_station', 1)"}, {"type": "place", "id": "('robot_lounge', 1)"}, {"type": "place", "id": "('robot_lounge', 2)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "asset", "id": "('fridge', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "off", "clear"], "affordances": ["open", "close", "turn_on", "turn_off", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('dishwasher', 1)"}, {"place": ["kitchen", 1], "states": ["off", "clear"], "affordances": ["turn_on", "turn_off", "put_inside"], "properties": [], "type": "asset", "id": "('coffee_machine', 1)"}, {"place": ["kitchen", 1], "states": ["off", "clear", "closed"], "affordances": ["open", "close", "turn_on", "turn_off", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('microwave', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('kitchen_bench', 1)"}, {"place": ["peters_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 2)"}, {"place": ["peters_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 2)"}, {"place": ["postdoc_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 35)"}, {"place": ["postdoc_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 36)"}, {"place": ["meeting_room", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 2)"}, {"place": ["meeting_room", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 5)"}, {"place": ["meeting_room", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 6)"}, {"place": ["meeting_room", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 1)"}, {"place": ["meeting_room", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 3)"}, {"place": ["meeting_room", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 4)"}, {"place": ["meeting_room", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 5)"}, {"place": ["meeting_room", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 2)"}, {"place": ["postdoc_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 32)"}, {"place": ["tobis_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 38)"}, {"place": ["printing_zone", 2], "states": ["off", "clear"], "affordances": ["turn_on", "turn_off"], "properties": [], "type": "asset", "id": "('printer', 2)"}, {"place": ["nikos_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 1)"}, {"place": ["nikos_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('chair', 1)"}, {"place": ["nikos_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 1)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 11)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 8)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 9)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 10)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 12)"}, {"place": ["phd_bay", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 7)"}, {"place": ["michaels_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 6)"}, {"place": ["michaels_office", 1], "states": ["clear"], "affordances": ["attach_to"], "properties": [], "type": "asset", "id": "('wall', 1)"}, {"place": ["michaels_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 6)"}, {"place": ["mobile_robotics_lab", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 4)"}, {"place": ["manipulation_lab", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 3)"}, {"place": ["robot_lounge", 2], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('toolbox', 1)"}, {"place": ["filipes_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 37)"}, {"place": ["wills_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 4)"}, {"place": ["wills_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 4)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 19)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 20)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 21)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 22)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 23)"}, {"place": ["phd_bay", 3], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 24)"}, {"place": ["postdoc_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 33)"}, {"place": ["postdoc_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 34)"}, {"place": ["jasons_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 5)"}, {"place": ["dimitys_office", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 3)"}, {"place": ["dimitys_office", 1], "states": ["clear"], "affordances": [], "properties": [], "type": "asset", "id": "('K31X', 1)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 13)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 14)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 15)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 16)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 17)"}, {"place": ["phd_bay", 2], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 18)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 25)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 26)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 27)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 28)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 29)"}, {"place": ["phd_bay", 4], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('desk', 30)"}, {"place": ["dimitys_office", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 3)"}, {"place": ["jasons_office", 1], "states": ["clear", "closed"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cabinet', 5)"}, {"place": ["admin", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["agriculture_lab", 1], "states": ["clear"], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('produce_container', 1)"}, {"place": ["cafeteria", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('lunch_table', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('drawer', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('recycling_bin', 1)"}, {"place": ["kitchen", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('rubbish_bin', 1)"}, {"place": ["supplies_station", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cupboard', 1)"}, {"place": ["supplies_station", 1], "states": ["closed", "clear"], "affordances": ["open", "close", "put_on", "put_inside"], "properties": [], "type": "asset", "id": "('cupboard', 2)"}, {"place": ["lobby", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["lobby", 1], "states": ["clear"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"relation": "inside_of", "related_to": ["dishwasher", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": ["blue"], "type": "object", "id": "('bowl', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('banana', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('J64M', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('chicken_kebab', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('noodles', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('salmon_bagel', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('greek_salad', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('tomato', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('cheese', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('carrot', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bag', 1)"}, {"relation": "inside_of", "related_to": ["dishwasher", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('cup', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('milk', 1)"}, {"relation": "inside_of", "related_to": ["fridge", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('coffee_beans', 1)"}, {"relation": "ontop_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('knife', 1)"}, {"relation": "ontop_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('fork', 1)"}, {"relation": "ontop_of", "related_to": ["lunch_table", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('fork', 2)"}, {"relation": "ontop_of", "related_to": ["lunch_table", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('knife', 2)"}, {"relation": "ontop_of", "related_to": ["lunch_table", 1], "states": ["clear", "ripe"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('banana', 2)"}, {"relation": "ontop_of", "related_to": ["lunch_table", 1], "states": ["dirty"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('plate', 1)"}, {"relation": "ontop_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('shovel', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('phone', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('stapler', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('pencil', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple', 3)"}, {"relation": "inside_of", "related_to": ["cabinet", 3], "states": ["clear", "rot"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple', 2)"}, {"relation": "ontop_of", "related_to": ["desk", 35], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('doritos', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 36], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('marker', 1)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('jenga', 1)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('risk', 1)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('monopoly', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('fire_extinguisher', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 32], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('frame', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 32], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('frame', 2)"}, {"relation": "ontop_of", "related_to": ["desk", 32], "states": ["clear"], "affordances": ["pick_up"], "properties": ["purple"], "type": "object", "id": "('complimentary_tshirt', 7)"}, {"relation": "ontop_of", "related_to": ["desk", 32], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 8)"}, {"relation": "ontop_of", "related_to": ["desk", 9], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 10], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 2)"}, {"relation": "ontop_of", "related_to": ["desk", 15], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 3)"}, {"relation": "ontop_of", "related_to": ["desk", 18], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 4)"}, {"relation": "ontop_of", "related_to": ["desk", 25], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 5)"}, {"relation": "ontop_of", "related_to": ["desk", 18], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('complimentary_tshirt', 6)"}, {"relation": "ontop_of", "related_to": ["desk", 38], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('pepsi', 1)"}, {"relation": "ontop_of", "related_to": ["printer", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('document', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('coffee_mug', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 6], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('scissors', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 6], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('stapler', 3)"}, {"relation": "attached_to", "related_to": ["wall", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('terminator_poster', 1)"}, {"relation": "ontop_of", "related_to": ["table", 4], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('book', 2)"}, {"relation": "ontop_of", "related_to": ["table", 3], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('book', 1)"}, {"relation": "ontop_of", "related_to": ["table", 3], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('gripper', 1)"}, {"relation": "inside_of", "related_to": ["toolbox", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('screwdriver', 1)"}, {"relation": "inside_of", "related_to": ["desk", 37], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('stapler', 2)"}, {"relation": "inside_of", "related_to": ["cabinet", 4], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('drone', 2)"}, {"relation": "inside_of", "related_to": ["cabinet", 4], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('undergrad_thesis', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 4], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 21], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('drone', 1)"}, {"relation": "ontop_of", "related_to": ["desk", 33], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('frame', 3)"}, {"relation": "ontop_of", "related_to": ["desk", 5], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('monitor', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('parcel', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('fire_extinguisher', 2)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('monopoly', 2)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('risk', 2)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('jenga', 2)"}, {"relation": "ontop_of", "related_to": ["desk", 3], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('buzzer', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('printer_paper', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('paper_towel', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('vodka', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('orange_juice', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('biscuits', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 1)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 2)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 3)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 4)"}, {"relation": "inside_of", "related_to": ["cupboard", 2], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 5)"}, {"relation": "inside_of", "related_to": ["produce_container", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('kale_leaves', 1)"}, {"relation": "inside_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('kale_leaves', 2)"}, {"relation": "inside_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('chips', 1)"}, {"relation": "inside_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter', 1)"}, {"relation": "inside_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bread', 1)"}, {"relation": "ontop_of", "related_to": ["kitchen_bench", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('orange', 1)"}, {"relation": "inside_of", "related_to": ["dishwasher", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('plate', 2)"}, {"relation": "inside_of", "related_to": ["dishwasher", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('spoon', 1)"}, {"relation": "inside_of", "related_to": ["recycling_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('milk_carton', 1)"}, {"relation": "inside_of", "related_to": ["recycling_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('orange_peel', 1)"}, {"relation": "inside_of", "related_to": ["recycling_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple_core', 1)"}, {"relation": "inside_of", "related_to": ["rubbish_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('banana_peel', 1)"}, {"relation": "inside_of", "related_to": ["rubbish_bin", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('plastic_bottle', 1)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('headphones', 1)"}, {"location": ["mobile_robotics_lab", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('peters_office', 1)"}, {"source": "('scene', 1)", "target": "('tobis_office', 1)"}, {"source": "('scene', 1)", "target": "('nikos_office', 1)"}, {"source": "('scene', 1)", "target": "('michaels_office', 1)"}, {"source": "('scene', 1)", "target": "('aarons_office', 1)"}, {"source": "('scene', 1)", "target": "('jasons_office', 1)"}, {"source": "('scene', 1)", "target": "('filipes_office', 1)"}, {"source": "('scene', 1)", "target": "('luis_office', 1)"}, {"source": "('scene', 1)", "target": "('wills_office', 1)"}, {"source": "('scene', 1)", "target": "('ajays_office', 1)"}, {"source": "('scene', 1)", "target": "('chris_office', 1)"}, {"source": "('scene', 1)", "target": "('lauriannes_office', 1)"}, {"source": "('scene', 1)", "target": "('dimitys_office', 1)"}, {"source": "('scene', 1)", "target": "('phd_bay', 1)"}, {"source": "('scene', 1)", "target": "('phd_bay', 2)"}, {"source": "('scene', 1)", "target": "('phd_bay', 3)"}, {"source": "('scene', 1)", "target": "('phd_bay', 4)"}, {"source": "('scene', 1)", "target": "('meeting_room', 1)"}, {"source": "('scene', 1)", "target": "('meeting_room', 2)"}, {"source": "('scene', 1)", "target": "('meeting_room', 3)"}, {"source": "('scene', 1)", "target": "('meeting_room', 4)"}, {"source": "('scene', 1)", "target": "('postdoc_bay', 1)"}, {"source": "('scene', 1)", "target": "('postdoc_bay', 2)"}, {"source": "('scene', 1)", "target": "('postdoc_bay', 3)"}, {"source": "('scene', 1)", "target": "('printing_zone', 1)"}, {"source": "('scene', 1)", "target": "('printing_zone', 2)"}, {"source": "('scene', 1)", "target": "('admin', 1)"}, {"source": "('scene', 1)", "target": "('lobby', 1)"}, {"source": "('scene', 1)", "target": "('kitchen', 1)"}, {"source": "('scene', 1)", "target": "('cafeteria', 1)"}, {"source": "('scene', 1)", "target": "('presentation_lounge', 1)"}, {"source": "('scene', 1)", "target": "('mobile_robotics_lab', 1)"}, {"source": "('scene', 1)", "target": "('manipulation_lab', 1)"}, {"source": "('scene', 1)", "target": "('agriculture_lab', 1)"}, {"source": "('scene', 1)", "target": "('supplies_station', 1)"}, {"source": "('scene', 1)", "target": "('robot_lounge', 1)"}, {"source": "('scene', 1)", "target": "('robot_lounge', 2)"}, {"source": "('peters_office', 1)", "target": "('desk', 2)"}, {"source": "('peters_office', 1)", "target": "('cabinet', 2)"}, {"source": "('tobis_office', 1)", "target": "('desk', 38)"}, {"source": "('nikos_office', 1)", "target": "('desk', 1)"}, {"source": "('nikos_office', 1)", "target": "('chair', 1)"}, {"source": "('nikos_office', 1)", "target": "('cabinet', 1)"}, {"source": "('michaels_office', 1)", "target": "('desk', 6)"}, {"source": "('michaels_office', 1)", "target": "('wall', 1)"}, {"source": "('michaels_office', 1)", "target": "('cabinet', 6)"}, {"source": "('jasons_office', 1)", "target": "('desk', 5)"}, {"source": "('jasons_office', 1)", "target": "('cabinet', 5)"}, {"source": "('filipes_office', 1)", "target": "('desk', 37)"}, {"source": "('wills_office', 1)", "target": "('desk', 4)"}, {"source": "('wills_office', 1)", "target": "('cabinet', 4)"}, {"source": "('dimitys_office', 1)", "target": "('desk', 3)"}, {"source": "('dimitys_office', 1)", "target": "('K31X', 1)"}, {"source": "('dimitys_office', 1)", "target": "('cabinet', 3)"}, {"source": "('phd_bay', 1)", "target": "('desk', 11)"}, {"source": "('phd_bay', 1)", "target": "('desk', 8)"}, {"source": "('phd_bay', 1)", "target": "('desk', 9)"}, {"source": "('phd_bay', 1)", "target": "('desk', 10)"}, {"source": "('phd_bay', 1)", "target": "('desk', 12)"}, {"source": "('phd_bay', 1)", "target": "('desk', 7)"}, {"source": "('phd_bay', 2)", "target": "('desk', 13)"}, {"source": "('phd_bay', 2)", "target": "('desk', 14)"}, {"source": "('phd_bay', 2)", "target": "('desk', 15)"}, {"source": "('phd_bay', 2)", "target": "('desk', 16)"}, {"source": "('phd_bay', 2)", "target": "('desk', 17)"}, {"source": "('phd_bay', 2)", "target": "('desk', 18)"}, {"source": "('phd_bay', 3)", "target": "('desk', 19)"}, {"source": "('phd_bay', 3)", "target": "('desk', 20)"}, {"source": "('phd_bay', 3)", "target": "('desk', 21)"}, {"source": "('phd_bay', 3)", "target": "('desk', 22)"}, {"source": "('phd_bay', 3)", "target": "('desk', 23)"}, {"source": "('phd_bay', 3)", "target": "('desk', 24)"}, {"source": "('phd_bay', 4)", "target": "('desk', 25)"}, {"source": "('phd_bay', 4)", "target": "('desk', 26)"}, {"source": "('phd_bay', 4)", "target": "('desk', 27)"}, {"source": "('phd_bay', 4)", "target": "('desk', 28)"}, {"source": "('phd_bay', 4)", "target": "('desk', 29)"}, {"source": "('phd_bay', 4)", "target": "('desk', 30)"}, {"source": "('meeting_room', 1)", "target": "('table', 5)"}, {"source": "('meeting_room', 1)", "target": "('chair', 3)"}, {"source": "('meeting_room', 1)", "target": "('chair', 4)"}, {"source": "('meeting_room', 1)", "target": "('chair', 5)"}, {"source": "('meeting_room', 2)", "target": "('chair', 2)"}, {"source": "('meeting_room', 3)", "target": "('table', 6)"}, {"source": "('meeting_room', 3)", "target": "('table', 1)"}, {"source": "('meeting_room', 4)", "target": "('table', 2)"}, {"source": "('postdoc_bay', 1)", "target": "('desk', 32)"}, {"source": "('postdoc_bay', 2)", "target": "('desk', 33)"}, {"source": "('postdoc_bay', 2)", "target": "('desk', 34)"}, {"source": "('postdoc_bay', 3)", "target": "('desk', 35)"}, {"source": "('postdoc_bay', 3)", "target": "('desk', 36)"}, {"source": "('printing_zone', 2)", "target": "('printer', 2)"}, {"source": "('admin', 1)", "target": "('shelf', 1)"}, {"source": "('lobby', 1)", "target": "('floor', 1)"}, {"source": "('lobby', 1)", "target": "('shelf', 2)"}, {"source": "('kitchen', 1)", "target": "('fridge', 1)"}, {"source": "('kitchen', 1)", "target": "('dishwasher', 1)"}, {"source": "('kitchen', 1)", "target": "('coffee_machine', 1)"}, {"source": "('kitchen', 1)", "target": "('microwave', 1)"}, {"source": "('kitchen', 1)", "target": "('kitchen_bench', 1)"}, {"source": "('kitchen', 1)", "target": "('drawer', 1)"}, {"source": "('kitchen', 1)", "target": "('recycling_bin', 1)"}, {"source": "('kitchen', 1)", "target": "('rubbish_bin', 1)"}, {"source": "('cafeteria', 1)", "target": "('lunch_table', 1)"}, {"source": "('mobile_robotics_lab', 1)", "target": "('table', 4)"}, {"source": "('mobile_robotics_lab', 1)", "target": "('agent', 1)"}, {"source": "('manipulation_lab', 1)", "target": "('table', 3)"}, {"source": "('agriculture_lab', 1)", "target": "('produce_container', 1)"}, {"source": "('supplies_station', 1)", "target": "('cupboard', 1)"}, {"source": "('supplies_station', 1)", "target": "('cupboard', 2)"}, {"source": "('robot_lounge', 2)", "target": "('toolbox', 1)"}, {"source": "('fridge', 1)", "target": "('banana', 1)"}, {"source": "('fridge', 1)", "target": "('J64M', 1)"}, {"source": "('fridge', 1)", "target": "('chicken_kebab', 1)"}, {"source": "('fridge', 1)", "target": "('noodles', 1)"}, {"source": "('fridge', 1)", "target": "('salmon_bagel', 1)"}, {"source": "('fridge', 1)", "target": "('greek_salad', 1)"}, {"source": "('fridge', 1)", "target": "('tomato', 1)"}, {"source": "('fridge', 1)", "target": "('cheese', 1)"}, {"source": "('fridge', 1)", "target": "('carrot', 1)"}, {"source": "('fridge', 1)", "target": "('milk', 1)"}, {"source": "('fridge', 1)", "target": "('coffee_beans', 1)"}, {"source": "('dishwasher', 1)", "target": "('bowl', 1)"}, {"source": "('dishwasher', 1)", "target": "('cup', 1)"}, {"source": "('dishwasher', 1)", "target": "('plate', 2)"}, {"source": "('dishwasher', 1)", "target": "('spoon', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('knife', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('fork', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('shovel', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('kale_leaves', 2)"}, {"source": "('kitchen_bench', 1)", "target": "('chips', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('butter', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('bread', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('orange', 1)"}, {"source": "('desk', 2)", "target": "('phone', 1)"}, {"source": "('cabinet', 2)", "target": "('stapler', 1)"}, {"source": "('cabinet', 2)", "target": "('pencil', 1)"}, {"source": "('cabinet', 2)", "target": "('apple', 3)"}, {"source": "('desk', 35)", "target": "('doritos', 1)"}, {"source": "('desk', 36)", "target": "('marker', 1)"}, {"source": "('table', 2)", "target": "('jenga', 1)"}, {"source": "('table', 2)", "target": "('risk', 1)"}, {"source": "('table', 2)", "target": "('monopoly', 1)"}, {"source": "('table', 2)", "target": "('monopoly', 2)"}, {"source": "('table', 2)", "target": "('risk', 2)"}, {"source": "('table', 2)", "target": "('jenga', 2)"}, {"source": "('table', 1)", "target": "('headphones', 1)"}, {"source": "('desk', 32)", "target": "('frame', 1)"}, {"source": "('desk', 32)", "target": "('frame', 2)"}, {"source": "('desk', 32)", "target": "('complimentary_tshirt', 7)"}, {"source": "('desk', 32)", "target": "('complimentary_tshirt', 8)"}, {"source": "('desk', 38)", "target": "('pepsi', 1)"}, {"source": "('printer', 2)", "target": "('document', 1)"}, {"source": "('desk', 1)", "target": "('coffee_mug', 1)"}, {"source": "('desk', 9)", "target": "('complimentary_tshirt', 1)"}, {"source": "('desk', 10)", "target": "('complimentary_tshirt', 2)"}, {"source": "('desk', 6)", "target": "('scissors', 1)"}, {"source": "('wall', 1)", "target": "('terminator_poster', 1)"}, {"source": "('cabinet', 6)", "target": "('stapler', 3)"}, {"source": "('table', 4)", "target": "('book', 2)"}, {"source": "('table', 3)", "target": "('book', 1)"}, {"source": "('table', 3)", "target": "('gripper', 1)"}, {"source": "('toolbox', 1)", "target": "('screwdriver', 1)"}, {"source": "('desk', 37)", "target": "('stapler', 2)"}, {"source": "('cabinet', 4)", "target": "('drone', 2)"}, {"source": "('cabinet', 4)", "target": "('undergrad_thesis', 1)"}, {"source": "('cabinet', 4)", "target": "('apple', 1)"}, {"source": "('desk', 21)", "target": "('drone', 1)"}, {"source": "('desk', 33)", "target": "('frame', 3)"}, {"source": "('desk', 5)", "target": "('monitor', 1)"}, {"source": "('desk', 3)", "target": "('buzzer', 1)"}, {"source": "('desk', 15)", "target": "('complimentary_tshirt', 3)"}, {"source": "('desk', 18)", "target": "('complimentary_tshirt', 4)"}, {"source": "('desk', 18)", "target": "('complimentary_tshirt', 6)"}, {"source": "('desk', 25)", "target": "('complimentary_tshirt', 5)"}, {"source": "('cabinet', 3)", "target": "('apple', 2)"}, {"source": "('shelf', 1)", "target": "('fire_extinguisher', 2)"}, {"source": "('produce_container', 1)", "target": "('kale_leaves', 1)"}, {"source": "('lunch_table', 1)", "target": "('fork', 2)"}, {"source": "('lunch_table', 1)", "target": "('knife', 2)"}, {"source": "('lunch_table', 1)", "target": "('banana', 2)"}, {"source": "('lunch_table', 1)", "target": "('plate', 1)"}, {"source": "('recycling_bin', 1)", "target": "('milk_carton', 1)"}, {"source": "('recycling_bin', 1)", "target": "('orange_peel', 1)"}, {"source": "('recycling_bin', 1)", "target": "('apple_core', 1)"}, {"source": "('rubbish_bin', 1)", "target": "('banana_peel', 1)"}, {"source": "('rubbish_bin', 1)", "target": "('plastic_bottle', 1)"}, {"source": "('cupboard', 1)", "target": "('printer_paper', 1)"}, {"source": "('cupboard', 1)", "target": "('paper_towel', 1)"}, {"source": "('cupboard', 2)", "target": "('vodka', 1)"}, {"source": "('cupboard', 2)", "target": "('orange_juice', 1)"}, {"source": "('cupboard', 2)", "target": "('biscuits', 1)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 1)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 2)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 3)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 4)"}, {"source": "('cupboard', 2)", "target": "('bottled_water', 5)"}, {"source": "('floor', 1)", "target": "('bag', 1)"}, {"source": "('floor', 1)", "target": "('fire_extinguisher', 1)"}, {"source": "('floor', 1)", "target": "('parcel', 1)"}]} | 201 | 1 | [["go_to", ["jasons_office", 1]], ["close", ["cabinet", 5]]] |
2 | Refrigerate the orange left on the kitchen bench. | Refrigerate the orange left on the kitchen bench. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"orange-1"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | "[[\"go_to\", [\"kitchen\", 1]], [\"pick_up\", [\"orange\", 1]], [\"open\", [\"fridge\", 1]], [\"put(...TRUNCATED) |
3 | Take care of the dirty plate in the lunchroom. | Take care of the dirty plate in the lunchroom. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"plate-1"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | "[[\"go_to\", [\"cafeteria\", 1]], [\"pick_up\", [\"plate\", 1]], [\"go_to\", [\"kitchen\", 1]], [\"(...TRUNCATED) |
4 | Place the printed document on Wills desk. | Place the printed document on Wills desk. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"document-1"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | "[[\"go_to\", [\"printing_zone\", 2]], [\"pick_up\", [\"document\", 1]], [\"go_to\", [\"wills_office(...TRUNCATED) |
5 | Get Peter a healthy snack from his cabinet. Put it on his desk. | Get Peter a healthy snack from his cabinet. Put it on his desk. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"apple-3"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | "[[\"go_to\", [\"peters_office\", 1]], [\"open\", [\"cabinet\", 2]], [\"pick_up\", [\"apple\", 3]], (...TRUNCATED) |
6 | Hide one of Peters valuable belongings. | Hide one of Peters valuable belongings. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"phone-1"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | "[[\"go_to\", [\"peters_office\", 1]], [\"pick_up\", [\"phone\", 1]], [\"open\", [\"cabinet\", 2]], (...TRUNCATED) |
7 | Bring something to wipe the dusty admin shelf. Put it on shelf. | Bring something to wipe the dusty admin shelf. Put it on shelf. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"paper_towel-1"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | "[[\"go_to\", [\"supplies_station\", 1]], [\"open\", [\"cupboard\", 1]], [\"pick_up\", [\"paper_towe(...TRUNCATED) |
8 | There is coffee dripping on the floor. Stop it. | There is coffee dripping on the floor. Stop it. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"coffee_machine-1"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | [["go_to", ["kitchen", 1]], ["turn_off", ["coffee_machine", 1]]] |
9 | Place Wills drone on his desk. | Place Wills drone on his desk. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"drone-2"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | "[[\"go_to\", [\"wills_office\", 1]], [\"open\", [\"cabinet\", 4]], [\"pick_up\", [\"drone\", 2]], [(...TRUNCATED) |
10 | Move the monitor from Jasons office to Filipes. | Move the monitor from Jasons office to Filipes. | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | [
"monitor-1"
] | "Building has the following places: peters_office-1, tobis_office-1, nikos_office-1, michaels_office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | "{\"directed\": false, \"multigraph\": false, \"graph\": {}, \"nodes\": [{\"name\": \"SayPlan Office(...TRUNCATED) | 201 | 1 | "[[\"go_to\", [\"jasons_office\", 1]], [\"pick_up\", [\"monitor\", 1]], [\"go_to\", [\"filipes_offic(...TRUNCATED) |
End of preview. Expand in Data Studio
GraSIF Repository
This folder contains three graph datasets saved as pickle files, used for the evaluation of methods. Each dataset is a list of dictionaries containing the task name, initial state, and goal state represented as NetworkX graphs. Additionally, each dictionary includes specific information relevant to the dataset.
| Data | Number of Tasks | Mean nodes | Actions |
|---|---|---|---|
| SayPlan Office | 25 | 202.6 | 2.1 |
| Behaviour-1K | 186 | 12.1 | 4.9 |
| VirtualHome | 347 | 195.7 | 1.6 |
Table 1: Dataset comparison. Actions represent the mean number of nodes changed between the initial and goal graph.
To load a dataset, use the following code snippet:
import pickle
with open('./datasets/<name>.pkl', 'rb') as file:
tasks = pickle.load(file)
SayPlan Office
The SayPlan Office dataset represents graphs and tasks defined in SayPlan. Each task consists of a dictionary with the following structure:
name: The name of the task.human: Human-readable task description (same asnamefor SayPlan).detailed: Detailed task description (same asnamefor SayPlan).init: Initial state as a NetworkX graph.goal: Goal state as a NetworkX graph.actions: A list of ground-truth actions to complete the task.
Behaviour-1K
The Behaviour-1K dataset represents tasks defined in Behaviour1K. For each task defined in BDDL, a subgraph was constructed to represent the environment. Using this subgraph, the goal graph was created, and human-readable as well as detailed task descriptions were added.
The dataset contains a total of 186 tasks, each represented by a dictionary with the following structure:
name: The name of the task from Behaviour1K.human: Human-readable task description.detailed: Detailed task description.init: Initial state as a NetworkX graph.goal: Goal state as a NetworkX graph.
VirtualHome RobotHow
The VirtualHome dataset represents tasks from the RobotHow dataset. For each task, the VirtualHome graph was reconstructed into a structure compatible with our methods. This was achieved using the graph_parser.py script available in the utils folder of the repository.
Additionally, an ids dictionary maps nodes from the initial NetworkX graph to VirtualHome IDs. For example, the node ('fridge', 1) in the initial graph corresponds to the fridge node with ID 67 in the VirtualHome backend graph. This mapping is useful when using the dataset with the VirtualHome simulator.
Each task is represented by a dictionary with the following structure:
name: The name of the task from RobotHow.human: Human-readable task description. (Same as name for RobotHow)detailed: Detailed task description.init: Initial state as a NetworkX graph.goal: Goal state as a NetworkX graph.ids: Mapping of nodes to VirtualHome IDs.
- Downloads last month
- 17