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": 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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-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 | [
"orange-1"
] | 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 inside fridge-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"], 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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", ["kitchen", 1]], ["pick_up", ["orange", 1]], ["open", ["fridge", 1]], ["put_inside", ["fridge", 1]], ["close", ["fridge", 1]]] |
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-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 | [
"plate-1"
] | 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
plate-1 inside dishwasher-1 in states dirty
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
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:
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"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', 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": "('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", ["cafeteria", 1]], ["pick_up", ["plate", 1]], ["go_to", ["kitchen", 1]], ["open", ["dishwasher", 1]], ["put_inside", ["dishwasher", 1]], ["close", ["dishwasher", 1]]] |
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-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 | [
"document-1"
] | 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:
document-1 ontop desk-4 in states clear
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
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"], 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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": "('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": "('desk', 4)", "target": "('document', 1)"}, {"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", ["printing_zone", 2]], ["pick_up", ["document", 1]], ["go_to", ["wills_office", 1]], ["put_on", ["desk", 4]]] |
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-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 | [
"apple-3"
] | 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 ontop desk-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:
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"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": 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"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": "('desk', 2)", "target": "('apple', 3)"}, {"source": "('cabinet', 2)", "target": "('stapler', 1)"}, {"source": "('cabinet', 2)", "target": "('pencil', 1)"}, {"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", ["peters_office", 1]], ["open", ["cabinet", 2]], ["pick_up", ["apple", 3]], ["close", ["cabinet", 2]], ["put_on", ["desk", 2]]] |
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-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 | [
"phone-1"
] | 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 inside cabinet-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 | {"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)"}, 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"('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": "('cabinet', 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", ["peters_office", 1]], ["pick_up", ["phone", 1]], ["open", ["cabinet", 2]], ["put_inside", ["cabinet", 2]], ["close", ["cabinet", 2]]] |
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-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 | [
"paper_towel-1"
] | 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
paper_towel-1 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
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": 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"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": "ontop_of", "related_to": ["shelf", 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": "('shelf', 1)", "target": "('paper_towel', 1)"}, {"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', 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", ["supplies_station", 1]], ["open", ["cupboard", 1]], ["pick_up", ["paper_towel", 1]], ["close", ["cupboard", 1]], ["go_to", ["admin", 1]], ["put_on", ["shelf", 1]]] |
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-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 clear on, 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 | [
"coffee_machine-1"
] | 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 | {"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": ["clear", "on"], "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"], 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"('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", ["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-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 | [
"drone-2"
] | 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 ontop desk-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"], 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["close", ["cabinet", 4]], ["put_on", ["desk", 4]]] |
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-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 | [
"monitor-1"
] | 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
In filipes_office-1:
Assets: desk-37 in states clear
Objects:
stapler-2 inside desk-37 in states clear
monitor-1 ontop 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": 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"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": "('desk', 37)", "target": "('monitor', 1)"}, {"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', 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]], ["pick_up", ["monitor", 1]], ["go_to", ["filipes_office", 1]], ["put_on", ["desk", 37]]] |
11 | My parcel just got delivered! Locate it and place it on the table in the manipulation lab. | My parcel just got delivered! Locate it and place it on the table in the manipulation lab. | 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 | [
"parcel-1"
] | 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
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
parcel-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": 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"('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": "('table', 3)", "target": "('parcel', 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)"}]} | 201 | 1 | [["go_to", ["lobby", 1]], ["pick_up", ["parcel", 1]], ["go_to", ["manipulation_lab", 1]], ["put_on", ["table", 3]]] |
12 | Heat up the chicken kebab. I will turn off microwave when needed. | Heat up the chicken kebab. I will turn off microwave when needed. | 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 | [
"chicken_kebab-1",
"microwave-1"
] | 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 clear closed on, 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 microwave-1 in states clear hot
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:
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"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": "('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": "('microwave', 1)", "target": "('chicken_kebab', 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 | 2 | [["go_to", ["kitchen", 1]], ["open", ["fridge", 1]], ["pick_up", ["chicken_kebab", 1]], ["close", ["fridge", 1]], ["open", ["microwave", 1]], ["put_inside", ["microwave", 1]], ["close", ["microwave", 1]], ["turn_on", ["microwave", 1]]] |
13 | Salmon is smelling in the kitchen. Dispose of it. | Salmon is smelling in the kitchen. Dispose of it. | 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 | [
"salmon_bagel-1"
] | 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 rubbish_bin-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"], 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"('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": "('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": "('salmon_bagel', 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", ["kitchen", 1]], ["open", ["fridge", 1]], ["pick_up", ["salmon_bagel", 1]], ["open", ["rubbish_bin", 1]], ["put_inside", ["rubbish_bin", 1]], ["close", ["rubbish_bin", 1]], ["close", ["fridge", 1]]] |
14 | Throw what the agent is holding in the bin and get back into lab. | Throw what the agent is holding in the bin and get back into lab. | 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 ('banana_peel', 1).
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
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
banana_peel-1 inside_hand agent-1 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 | [
"agent-1",
"banana_peel-1"
] | 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:
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"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", 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"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": 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"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 | 2 | [["go_to", ["kitchen", 1]], ["open", ["rubbish_bin", 1]], ["put_inside", ["rubbish_bin", 1]], ["close", ["rubbish_bin", 1]], ["go_to", ["mobile_robotics_lab", 1]]] |
15 | Heat up the noodles from fridge, and place it on lunch table. | Heat up the noodles from fridge, and place it on lunch table. | 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 | [
"noodles-1"
] | 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
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:
noodles-1 ontop lunch_table-1 in states clear hot
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)"}, 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"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": "('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": "('noodles', 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", ["kitchen", 1]], ["open", ["fridge", 1]], ["pick_up", ["noodles", 1]], ["close", ["fridge", 1]], ["open", ["microwave", 1]], ["put_inside", ["microwave", 1]], ["close", ["microwave", 1]], ["turn_on", ["microwave", 1]], ["turn_off", ["microwave", 1]], ["open", ["microwave", 1]], ["pick_up", ["noodles", 1]], ["close", ["microwave", 1]], ["go_to", ["cafeteria", 1]], ["put_on", ["lunch_table", 1]]] |
16 | Throw the rotting fruit in Dimitrys office in the correct bin. | Throw the rotting fruit in Dimitrys office in the correct bin. | 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 | [
"apple-2"
] | 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:
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
apple-2 inside rubbish_bin-1 in states clear rot
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"], 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"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", ["dimitys_office", 1]], ["open", ["cabinet", 3]], ["pick_up", ["apple", 2]], ["close", ["cabinet", 3]], ["go_to", ["kitchen", 1]], ["open", ["rubbish_bin", 1]], ["put_inside", ["rubbish_bin", 1]], ["close", ["rubbish_bin", 1]]] |
17 | Clean up lunch table. Place clutery in the drawer. And dirty plate into dishwasher. | Clean up lunch table. Place clutery in the drawer. And dirty plate into dishwasher. | 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 | [
"fork-2",
"knife-1",
"plate-1",
"fork-1",
"knife-2"
] | 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 inside drawer-1 in states clear
fork-1 inside drawer-1 in states clear
fork-2 inside drawer-1 in states clear
knife-2 inside drawer-1 in states clear
plate-1 inside dishwasher-1 in states dirty
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:
banana-2 ontop lunch_table-1 in states clear ripe
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": 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"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', 1)"}, {"source": "('dishwasher', 1)", "target": "('plate', 2)"}, {"source": "('dishwasher', 1)", "target": "('spoon', 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": "('banana', 2)"}, {"source": "('drawer', 1)", "target": "('knife', 1)"}, {"source": "('drawer', 1)", "target": "('fork', 1)"}, {"source": "('drawer', 1)", "target": "('fork', 2)"}, {"source": "('drawer', 1)", "target": "('knife', 2)"}, {"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 | 5 | [["go_to", ["kitchen", 1]], ["open", ["drawer", 1]], ["pick_up", ["knife", 1]], ["put_inside", ["drawer", 1]], ["pick_up", ["fork", 1]], ["put_inside", ["drawer", 1]], ["go_to", ["cafeteria", 1]], ["pick_up", ["fork", 2]], ["go_to", ["kitchen", 1]], ["put_inside", ["drawer", 1]], ["go_to", ["cafeteria", 1]], ["pick_up", ["knife", 2]], ["go_to", ["kitchen", 1]], ["put_inside", ["drawer", 1]], ["close", ["drawer", 1]], ["go_to", ["cafeteria", 1]], ["pick_up", ["plate", 1]], ["go_to", ["kitchen", 1]], ["open", ["dishwasher", 1]], ["put_inside", ["dishwasher", 1]], ["close", ["dishwasher", 1]]] |
18 | Safely file away the freshly printed document in Wills cabinet, then place the undergraduate thesis on his desk. | Safely file away the freshly printed document in Wills cabinet, then place the undergraduate thesis on his desk. | 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 | [
"undergrad_thesis-1",
"document-1"
] | 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:
document-1 inside cabinet-4 in states clear
drone-2 inside cabinet-4 in states clear
undergrad_thesis-1 ontop desk-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
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": 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{"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": "('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": "('desk', 4)", "target": "('undergrad_thesis', 1)"}, {"source": "('cabinet', 4)", "target": "('document', 1)"}, {"source": "('cabinet', 4)", "target": "('drone', 2)"}, {"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 | 2 | [["go_to", ["printing_zone", 2]], ["pick_up", ["document", 1]], ["go_to", ["wills_office", 1]], ["open", ["cabinet", 4]], ["put_inside", ["cabinet", 4]], ["pick_up", ["undergrad_thesis", 1]], ["close", ["cabinet", 4]], ["put_on", ["desk", 4]]] |
19 | Make a coffee for Niko in his coffee mug and set the mug on his desk. | Make a coffee for Niko in his coffee mug and set the mug on his desk. | 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 | [
"coffee_mug-1"
] | 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 filled_coffee
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:
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"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", ["nikos_office", 1]], ["pick_up", ["coffee_mug", 1]], ["go_to", ["kitchen", 1]], ["put_inside", ["coffee_machine", 1]], ["turn_on", ["coffee_machine", 1]], ["turn_off", ["coffee_machine", 1]], ["pick_up", ["coffee_mug", 1]], ["go_to", ["nikos_office", 1]], ["put_on", ["desk", 1]]] |
20 | Correct the misplaced items in the wrong trash bins. | Correct the misplaced items in the wrong trash bins. | 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 | [
"orange_peel-1",
"plastic_bottle-1",
"apple_core-1"
] | 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 rubbish_bin-1 in states clear
apple_core-1 inside rubbish_bin-1 in states clear
banana_peel-1 inside rubbish_bin-1 in states clear
plastic_bottle-1 inside recycling_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)"}, 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"('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": "('plastic_bottle', 1)"}, {"source": "('rubbish_bin', 1)", "target": "('orange_peel', 1)"}, {"source": "('rubbish_bin', 1)", "target": "('apple_core', 1)"}, {"source": "('rubbish_bin', 1)", "target": "('banana_peel', 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 | 3 | [["go_to", ["kitchen", 1]], ["open", ["rubbish_bin", 1]], ["open", ["recycling_bin", 1]], ["pick_up", ["plastic_bottle", 1]], ["put_inside", ["recycling_bin", 1]], ["pick_up", ["orange_peel", 1]], ["put_inside", ["rubbish_bin", 1]], ["pick_up", ["apple_core", 1]], ["put_inside", ["rubbish_bin", 1]], ["close", ["rubbish_bin", 1]], ["close", ["recycling_bin", 1]]] |
21 | Tobi spilt soda on his desk. Throw away the can and put on his table something to clean with. | Tobi spilt soda on his desk. Throw away the can and put on his table something to clean with. | 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 | [
"paper_towel-1",
"pepsi-1"
] | 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:
paper_towel-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
pepsi-1 inside rubbish_bin-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
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": 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["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": "ontop_of", "related_to": ["desk", 38], "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": "('paper_towel', 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": "('pepsi', 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', 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 | 2 | [["go_to", ["tobis_office", 1]], ["pick_up", ["pepsi", 1]], ["go_to", ["kitchen", 1]], ["open", ["rubbish_bin", 1]], ["put_inside", ["rubbish_bin", 1]], ["close", ["rubbish_bin", 1]], ["go_to", ["supplies_station", 1]], ["open", ["cupboard", 1]], ["pick_up", ["paper_towel", 1]], ["close", ["cupboard", 1]], ["go_to", ["tobis_office", 1]], ["put_on", ["desk", 38]]] |
22 | I want to make a sandwich with cheese tomato and kale. Place all the ingredients on the lunch table. | I want to make a sandwich with cheese tomato and kale. Place all the ingredients on the lunch table. | 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 | [
"bread-1",
"tomato-1",
"cheese-1",
"kale_leaves-2"
] | 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
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
chips-1 inside kitchen_bench-1 in states clear
butter-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:
tomato-1 ontop lunch_table-1 in states clear
cheese-1 ontop lunch_table-1 in states clear
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
kale_leaves-2 ontop lunch_table-1 in states clear
bread-1 ontop lunch_table-1 in states clear
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": 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"('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": "('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": "('chips', 1)"}, {"source": "('kitchen_bench', 1)", "target": "('butter', 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": "('tomato', 1)"}, {"source": "('lunch_table', 1)", "target": "('cheese', 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": "('lunch_table', 1)", "target": "('kale_leaves', 2)"}, {"source": "('lunch_table', 1)", "target": "('bread', 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 | 4 | [["go_to", ["kitchen", 1]], ["open", ["kitchen_bench", 1]], ["open", ["fridge", 1]], ["pick_up", ["bread", 1]], ["go_to", ["cafeteria", 1]], ["put_on", ["lunch_table", 1]], ["go_to", ["kitchen", 1]], ["pick_up", ["tomato", 1]], ["go_to", ["cafeteria", 1]], ["put_on", ["lunch_table", 1]], ["go_to", ["kitchen", 1]], ["pick_up", ["cheese", 1]], ["go_to", ["cafeteria", 1]], ["put_on", ["lunch_table", 1]], ["go_to", ["kitchen", 1]], ["pick_up", ["kale_leaves", 2]], ["close", ["kitchen_bench", 1]], ["close", ["fridge", 1]], ["go_to", ["cafeteria", 1]], ["put_on", ["lunch_table", 1]]] |
23 | Prepare buiscuit water and orange juice on table in meeting room with board games. | Prepare buiscuit water and orange juice on table in meeting room with board games. | 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 | [
"orange_juice-1",
"bottled_water-3",
"biscuits-1",
"bottled_water-2",
"bottled_water-5",
"bottled_water-4",
"bottled_water-1"
] | 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
orange_juice-1 ontop table-2 in states clear
biscuits-1 ontop table-2 in states clear
bottled_water-1 ontop table-2 in states clear
bottled_water-2 ontop table-2 in states clear
bottled_water-3 ontop table-2 in states clear
bottled_water-4 ontop table-2 in states clear
bottled_water-5 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
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"], 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"('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": "('floor', 1)", "target": "('bag', 1)"}, {"source": "('floor', 1)", "target": "('fire_extinguisher', 1)"}, {"source": "('floor', 1)", "target": "('parcel', 1)"}]} | 201 | 7 | [["go_to", ["supplies_station", 1]], ["open", ["cupboard", 1]], ["open", ["cupboard", 2]], ["pick_up", ["biscuits", 1]], ["go_to", ["meeting_room", 4]], ["put_on", ["table", 2]], ["go_to", ["supplies_station", 1]], ["pick_up", ["orange_juice", 1]], ["go_to", ["meeting_room", 4]], ["put_on", ["table", 2]], ["go_to", ["supplies_station", 1]], ["pick_up", ["bottled_water", 1]], ["go_to", ["meeting_room", 4]], ["put_on", ["table", 2]], ["go_to", ["supplies_station", 1]], ["pick_up", ["bottled_water", 2]], ["go_to", ["meeting_room", 4]], ["put_on", ["table", 2]], ["go_to", ["supplies_station", 1]], ["pick_up", ["bottled_water", 3]], ["go_to", ["meeting_room", 4]], ["put_on", ["table", 2]], ["go_to", ["supplies_station", 1]], ["pick_up", ["bottled_water", 4]], ["go_to", ["meeting_room", 4]], ["put_on", ["table", 2]], ["go_to", ["supplies_station", 1]], ["pick_up", ["bottled_water", 5]], ["close", ["cupboard", 1]], ["close", ["cupboard", 2]], ["go_to", ["meeting_room", 4]], ["put_on", ["table", 2]]] |
24 | Provide each seated attendee in Meeting Room 1 with a single bottle of water. Put water bottles on table. | Provide each seated attendee in Meeting Room 1 with a single bottle of water. Put water bottles on table. | 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 | [
"bottled_water-2",
"bottled_water-3",
"bottled_water-1"
] | 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
Objects:
bottled_water-1 ontop table-5 in states clear
bottled_water-2 ontop table-5 in states clear
bottled_water-3 ontop table-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-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:
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"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": "ontop_of", "related_to": ["table", 5], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 1)"}, {"relation": "ontop_of", "related_to": ["table", 5], "states": ["clear"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottled_water', 2)"}, {"relation": "ontop_of", "related_to": ["table", 5], "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', 5)", "target": "('bottled_water', 1)"}, {"source": "('table', 5)", "target": "('bottled_water', 2)"}, {"source": "('table', 5)", "target": "('bottled_water', 3)"}, {"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', 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 | 3 | [["go_to", ["supplies_station", 1]], ["open", ["cupboard", 2]], ["pick_up", ["bottled_water", 1]], ["go_to", ["meeting_room", 1]], ["put_on", ["table", 5]], ["go_to", ["supplies_station", 1]], ["pick_up", ["bottled_water", 2]], ["go_to", ["meeting_room", 1]], ["put_on", ["table", 5]], ["go_to", ["supplies_station", 1]], ["pick_up", ["bottled_water", 3]], ["close", ["cupboard", 2]], ["go_to", ["meeting_room", 1]], ["put_on", ["table", 5]]] |
25 | Empty the dishwasher. Place clutery in drawer and other inside bench. | Empty the dishwasher. Place clutery in drawer and other inside bench. | 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 | [
"cup-1",
"spoon-1",
"plate-2"
] | 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 kitchen_bench-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 kitchen_bench-1 in states clear
spoon-1 inside drawer-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)"}, 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"('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": "('kitchen_bench', 1)", "target": "('cup', 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": "('kitchen_bench', 1)", "target": "('plate', 2)"}, {"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": "('drawer', 1)", "target": "('spoon', 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 | 3 | [["go_to", ["kitchen", 1]], ["open", ["dishwasher", 1]], ["pick_up", ["spoon", 1]], ["open", ["drawer", 1]], ["open", ["kitchen_bench", 1]], ["put_inside", ["drawer", 1]], ["close", ["drawer", 1]], ["pick_up", ["bowl", 1]], ["put_on", ["kitchen_bench", 1]], ["pick_up", ["cup", 1]], ["put_inside", ["kitchen_bench", 1]], ["pick_up", ["plate", 2]], ["put_inside", ["kitchen_bench", 1]], ["close", ["kitchen_bench", 1]], ["close", ["dishwasher", 1]]] |
26 | Locate all 6 complimentary t-shirts given to the PhD students and place them on the shelf in admin. | Locate all 6 complimentary t-shirts given to the PhD students and place them on the shelf in admin. | 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 | [
"complimentary_tshirt-4",
"complimentary_tshirt-3",
"complimentary_tshirt-6",
"complimentary_tshirt-5",
"complimentary_tshirt-2",
"complimentary_tshirt-1"
] | 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
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
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
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:
complimentary_tshirt-1 ontop shelf-1 in states clear
complimentary_tshirt-2 ontop shelf-1 in states clear
complimentary_tshirt-3 ontop shelf-1 in states clear
complimentary_tshirt-4 ontop shelf-1 in states clear
complimentary_tshirt-5 ontop shelf-1 in states clear
complimentary_tshirt-6 ontop shelf-1 in states clear
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"], 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"('complimentary_tshirt', 1)"}, {"source": "('shelf', 1)", "target": "('complimentary_tshirt', 2)"}, {"source": "('shelf', 1)", "target": "('complimentary_tshirt', 3)"}, {"source": "('shelf', 1)", "target": "('complimentary_tshirt', 4)"}, {"source": "('shelf', 1)", "target": "('complimentary_tshirt', 5)"}, {"source": "('shelf', 1)", "target": "('complimentary_tshirt', 6)"}, {"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 | 6 | [["go_to", ["phd_bay", 1]], ["pick_up", ["complimentary_tshirt", 1]], ["go_to", ["admin", 1]], ["put_on", ["shelf", 1]], ["go_to", ["phd_bay", 1]], ["pick_up", ["complimentary_tshirt", 2]], ["go_to", ["admin", 1]], ["put_on", ["shelf", 1]], ["go_to", ["phd_bay", 2]], ["pick_up", ["complimentary_tshirt", 3]], ["go_to", ["admin", 1]], ["put_on", ["shelf", 1]], ["go_to", ["phd_bay", 2]], ["pick_up", ["complimentary_tshirt", 4]], ["go_to", ["admin", 1]], ["put_on", ["shelf", 1]], ["go_to", ["phd_bay", 4]], ["pick_up", ["complimentary_tshirt", 5]], ["go_to", ["admin", 1]], ["put_on", ["shelf", 1]], ["go_to", ["phd_bay", 2]], ["pick_up", ["complimentary_tshirt", 6]], ["go_to", ["admin", 1]], ["put_on", ["shelf", 1]]] |
27 | I am hungry. Bring me an apple from Peter and a pepsi from Tobi. I am at the lunch table. | I am hungry. Bring me an apple from Peter and a pepsi from Tobi. I am at the lunch table. | 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 | [
"apple-3",
"pepsi-1"
] | 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
In tobis_office-1:
Assets: 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
apple-3 ontop lunch_table-1 in states clear
pepsi-1 ontop lunch_table-1 in states clear
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", 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"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": "('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": "('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": "('lunch_table', 1)", "target": "('apple', 3)"}, {"source": "('lunch_table', 1)", "target": "('pepsi', 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 | 2 | [["go_to", ["peters_office", 1]], ["open", ["cabinet", 2]], ["pick_up", ["apple", 3]], ["close", ["cabinet", 2]], ["go_to", ["cafeteria", 1]], ["put_on", ["lunch_table", 1]], ["go_to", ["tobis_office", 1]], ["pick_up", ["pepsi", 1]], ["go_to", ["cafeteria", 1]], ["put_on", ["lunch_table", 1]]] |
28 | Lets play a prank with chair on Niko. Dimity might have something. | Lets play a prank with chair on Niko. Dimity might have something. | 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 | [
"buzzer-1"
] | 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
buzzer-1 ontop chair-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
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", 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"('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": "('chair', 1)", "target": "('buzzer', 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', 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", ["dimitys_office", 1]], ["pick_up", ["buzzer", 1]], ["go_to", ["nikos_office", 1]], ["put_on", ["chair", 1]]] |
29 | There is an office which has a cabinet containing a rotten apple. The cabinet name contains an odd number. Locate the office, throw away the fruit and get them a fresh apple. | There is an office which has a cabinet containing a rotten apple. The cabinet name contains an odd number. Locate the office, throw away the fruit and get them a fresh apple. | 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 | [
"apple-1",
"apple-2"
] | 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
In dimitys_office-1:
Assets: desk-3 in states clear, K31X-1 in states clear, cabinet-3 in states closed clear
Objects:
apple-1 inside cabinet-3 in states clear
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
apple-2 inside rubbish_bin-1 in states clear rot
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:
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"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 | 2 | [["go_to", ["dimitys_office", 1]], ["open", ["cabinet", 3]], ["pick_up", ["apple", 2]], ["go_to", ["kitchen", 1]], ["open", ["rubbish_bin", 1]], ["put_inside", ["rubbish_bin", 1]], ["close", ["rubbish_bin", 1]], ["go_to", ["wills_office", 1]], ["open", ["cabinet", 4]], ["pick_up", ["apple", 1]], ["close", ["cabinet", 4]], ["go_to", ["dimitys_office", 1]], ["put_inside", ["cabinet", 3]], ["close", ["cabinet", 3]]] |
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