File size: 14,016 Bytes
7cec401 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 | OFFICES = [
('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)
]
ROOMS = [
('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)
]
ASSETS = [
(('fridge', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_inside'], []),
(('dishwasher', 1), ('kitchen', 1), ['closed', 'off', 'clear'], ['open', 'close', 'turn_on', 'turn_off', 'put_on', 'put_inside'], []),
(('coffee_machine', 1), ('kitchen', 1), ['off', 'clear'], ['turn_on', 'turn_off', 'put_inside'], []),
(('microwave', 1), ('kitchen', 1), ['off', 'clear', 'closed'], ['open', 'close', 'turn_on', 'turn_off', 'put_on', 'put_inside'], []),
(('kitchen_bench', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('desk', 2), ('peters_office', 1), ['clear'], ['put_on'], []),
(('cabinet', 2), ('peters_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('desk', 35), ('postdoc_bay', 3), ['clear'], ['put_on'], []),
(('desk', 36), ('postdoc_bay', 3), ['clear'], ['put_on'], []),
(('table', 2), ('meeting_room', 4), ['clear'], ['put_on'], []),
(('table', 5), ('meeting_room', 1), ['clear'], ['put_on'], []),
(('table', 6), ('meeting_room', 3), ['clear'], ['put_on'], []),
(('table', 1), ('meeting_room', 3), ['clear'], ['put_on'], []),
(('chair', 3), ('meeting_room', 1), ['clear'], ['put_on'], []),
(('chair', 4), ('meeting_room', 1), ['clear'], ['put_on'], []),
(('chair', 5), ('meeting_room', 1), ['clear'], ['put_on'], []),
(('chair', 2), ('meeting_room', 2), ['clear'], ['put_on'], []),
(('desk', 32), ('postdoc_bay', 1), ['clear'], ['put_on'], []),
(('desk', 38), ('tobis_office', 1), ['clear'], ['put_on'], []),
(('printer', 2), ('printing_zone', 2), ['off', 'clear'], ['turn_on', 'turn_off'], []),
(('desk', 1), ('nikos_office', 1), ['clear'], ['put_on'], []),
(('chair', 1), ('nikos_office', 1), ['clear'], ['put_on'], []),
(('cabinet', 1), ('nikos_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('desk', 11), ('phd_bay', 1), ['clear'], ['put_on'], []),
(('desk', 8), ('phd_bay', 1), ['clear'], ['put_on'], []),
(('desk', 9), ('phd_bay', 1), ['clear'], ['put_on'], []),
(('desk', 10), ('phd_bay', 1), ['clear'], ['put_on'], []),
(('desk', 12), ('phd_bay', 1), ['clear'], ['put_on'], []),
(('desk', 7), ('phd_bay', 1), ['clear'], ['put_on'], []),
(('desk', 6), ('michaels_office', 1), ['clear'], ['put_on'], []),
(('wall', 1), ('michaels_office', 1), ['clear'], ['attach_to'], []),
(('cabinet', 6), ('michaels_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('table', 4), ('mobile_robotics_lab', 1), ['clear'], ['put_on'], []),
(('table', 3), ('manipulation_lab', 1), ['clear'], ['put_on'], []),
(('toolbox', 1), ('robot_lounge', 2), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('desk', 37), ('filipes_office', 1), ['clear'], ['put_on'], []),
(('desk', 4), ('wills_office', 1), ['clear'], ['put_on'], []),
(('cabinet', 4), ('wills_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('desk', 19), ('phd_bay', 3), ['clear'], ['put_on'], []),
(('desk', 20), ('phd_bay', 3), ['clear'], ['put_on'], []),
(('desk', 21), ('phd_bay', 3), ['clear'], ['put_on'], []),
(('desk', 22), ('phd_bay', 3), ['clear'], ['put_on'], []),
(('desk', 23), ('phd_bay', 3), ['clear'], ['put_on'], []),
(('desk', 24), ('phd_bay', 3), ['clear'], ['put_on'], []),
(('desk', 33), ('postdoc_bay', 2), ['clear'], ['put_on'], []),
(('desk', 34), ('postdoc_bay', 2), ['clear'], ['put_on'], []),
(('desk', 5), ('jasons_office', 1), ['clear'], ['put_on'], []),
(('desk', 3), ('dimitys_office', 1), ['clear'], ['put_on'], []),
(('K31X', 1), ('dimitys_office', 1), ['clear'], [], []),
(('desk', 13), ('phd_bay', 2), ['clear'], ['put_on'], []),
(('desk', 14), ('phd_bay', 2), ['clear'], ['put_on'], []),
(('desk', 15), ('phd_bay', 2), ['clear'], ['put_on'], []),
(('desk', 16), ('phd_bay', 2), ['clear'], ['put_on'], []),
(('desk', 17), ('phd_bay', 2), ['clear'], ['put_on'], []),
(('desk', 18), ('phd_bay', 2), ['clear'], ['put_on'], []),
(('desk', 25), ('phd_bay', 4), ['clear'], ['put_on'], []),
(('desk', 26), ('phd_bay', 4), ['clear'], ['put_on'], []),
(('desk', 27), ('phd_bay', 4), ['clear'], ['put_on'], []),
(('desk', 28), ('phd_bay', 4), ['clear'], ['put_on'], []),
(('desk', 29), ('phd_bay', 4), ['clear'], ['put_on'], []),
(('desk', 30), ('phd_bay', 4), ['clear'], ['put_on'], []),
(('cabinet', 3), ('dimitys_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('cabinet', 5), ('jasons_office', 1), ['open', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('shelf', 1), ('admin', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('produce_container', 1), ('agriculture_lab', 1), ['clear'], ['put_on', 'put_inside'], []),
(('lunch_table', 1), ('cafeteria', 1), ['clear'], ['put_on'], []),
(('drawer', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('recycling_bin', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('rubbish_bin', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
(('cupboard', 1), ('supplies_station', 1), ['closed', 'clear'], ['open', 'close','put_on', 'put_inside'], []),
(('cupboard', 2), ('supplies_station', 1), ['closed', 'clear'], ['open', 'close','put_on','put_inside'], []),
(('floor', 1), ('lobby', 1), ['clear'], ['put_on'], []),
(('shelf', 2), ('lobby', 1), ['clear'], ['put_on'], [])
]
# Objects (name, relation, related, [states], [affordances], [properties] )
OBJECTS = [
(('bowl', 1), 'inside_of', ('dishwasher', 1), ['clear'], ['pick_up'], ['blue']),
(('banana', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('J64M', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('chicken_kebab', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('noodles', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('salmon_bagel', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('greek_salad', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('tomato', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('cheese', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('carrot', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('bag', 1), 'ontop_of', ('floor',1), ['clear'], ['pick_up'], []),
(('cup', 1), 'inside_of', ('dishwasher', 1), ['clear'], ['pick_up'], []),
(('milk', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('coffee_beans', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
(('knife', 1), 'ontop_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
(('fork', 1), 'ontop_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
(('fork', 2), 'ontop_of', ('lunch_table',1), ['clear'], ['pick_up'], []),
(('knife', 2), 'ontop_of', ('lunch_table',1), ['clear'], ['pick_up'], []),
(('banana', 2), 'ontop_of', ('lunch_table',1), ['clear', 'ripe'], ['pick_up'], []),
(('plate', 1), 'ontop_of', ('lunch_table',1), ['dirty'], ['pick_up'], []),
(('shovel', 1), 'ontop_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
(('phone', 1), 'ontop_of', ('desk', 2), ['clear'], ['pick_up'], []),
(('stapler', 1), 'inside_of', ('cabinet', 2), ['clear'], ['pick_up'], []),
(('pencil', 1), 'inside_of', ('cabinet', 2), ['clear'], ['pick_up'], []),
(('apple', 3), 'inside_of', ('cabinet', 2), ['clear'], ['pick_up'], []),
(('apple', 2), 'inside_of', ('cabinet', 3), ['clear', 'rot'], ['pick_up'], []),
(('doritos', 1), 'ontop_of', ('desk', 35), ['clear'], ['pick_up'], []),
(('marker', 1), 'ontop_of', ('desk', 36), ['clear'], ['pick_up'], []),
(('jenga', 1), 'ontop_of', ('table', 2), ['clear'], ['pick_up'], []),
(('risk', 1), 'ontop_of', ('table', 2), ['clear'], ['pick_up'], []),
(('monopoly', 1), 'ontop_of', ('table', 2), ['clear'], ['pick_up'], []),
(('fire_extinguisher', 1), 'ontop_of', ('floor', 1), ['clear'], ['pick_up'], []),
(('frame', 1), 'ontop_of', ('desk', 32), ['clear'], ['pick_up'], []),
(('frame', 2), 'ontop_of', ('desk', 32), ['clear'], ['pick_up'], []),
(('complimentary_tshirt', 7), 'ontop_of', ('desk', 32), ['clear'], ['pick_up'], ['purple']),
(('complimentary_tshirt', 8), 'ontop_of', ('desk', 32), ['clear'], ['pick_up'], []),
(('complimentary_tshirt', 1), 'ontop_of', ('desk', 9), ['clear'], ['pick_up'], []),
(('complimentary_tshirt', 2), 'ontop_of', ('desk', 10), ['clear'], ['pick_up'], []),
(('complimentary_tshirt', 3), 'ontop_of', ('desk', 15), ['clear'], ['pick_up'], []),
(('complimentary_tshirt', 4), 'ontop_of', ('desk', 18), ['clear'], ['pick_up'], []),
(('complimentary_tshirt', 5), 'ontop_of', ('desk', 25), ['clear'], ['pick_up'], []),
(('complimentary_tshirt', 6), 'ontop_of', ('desk', 18), ['clear'], ['pick_up'], []),
(('pepsi', 1), 'ontop_of', ('desk', 38), ['clear'], ['pick_up'], []),
(('document', 1), 'ontop_of', ('printer', 2), ['clear'], ['pick_up'], []),
(('coffee_mug', 1), 'ontop_of', ('desk', 1), ['clear'], ['pick_up'], []),
(('scissors', 1), 'ontop_of', ('desk', 6), ['clear'], ['pick_up'], []),
(('stapler', 3), 'inside_of', ('cabinet', 6), ['clear'], ['pick_up'], []),
(('terminator_poster', 1), 'attached_to', ('wall', 1), ['clear'], ['pick_up'], []),
(('book', 2), 'ontop_of', ('table', 4), ['clear'], ['pick_up'], []),
(('book', 1), 'ontop_of', ('table', 3), ['clear'], ['pick_up'], []),
(('gripper', 1), 'ontop_of', ('table', 3), ['clear'], ['pick_up'], []),
(('screwdriver', 1), 'inside_of', ('toolbox',1), ['clear'], ['pick_up'], []),
(('stapler', 2), 'inside_of', ('desk', 37), ['clear'], ['pick_up'], []),
(('drone', 2), 'inside_of', ('cabinet', 4), ['clear'], ['pick_up'], []),
(('undergrad_thesis', 1), 'inside_of', ('cabinet', 4), ['clear'], ['pick_up'], []),
(('apple', 1), 'inside_of', ('cabinet', 4), ['clear'], ['pick_up'], []),
(('drone', 1), 'ontop_of', ('desk', 21), ['clear'], ['pick_up'], []),
(('frame', 3), 'ontop_of', ('desk', 33), ['clear'], ['pick_up'], []),
(('monitor', 1), 'ontop_of', ('desk', 5), ['clear'], ['pick_up'], []),
(('parcel', 1), 'ontop_of', ('floor',1), ['clear'], ['pick_up'], []),
(('fire_extinguisher', 2), 'ontop_of', ('shelf',1), ['clear'], ['pick_up'], []),
(('monopoly', 2), 'ontop_of', ('table',2), ['clear'], ['pick_up'], []),
(('risk', 2), 'ontop_of', ('table',2), ['clear'], ['pick_up'], []),
(('jenga', 2), 'ontop_of', ('table',2), ['clear'], ['pick_up'], []),
(('buzzer', 1), 'ontop_of', ('desk', 3), ['clear'], ['pick_up'], []),
(('printer_paper', 1), 'inside_of', ('cupboard', 1), ['clear'], ['pick_up'], []),
(('paper_towel', 1), 'inside_of', ('cupboard', 1), ['clear'], ['pick_up'], []),
(('vodka', 1), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
(('orange_juice', 1), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
(('biscuits', 1), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
(('bottled_water', 1), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
(('bottled_water', 2), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
(('bottled_water', 3), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
(('bottled_water', 4), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
(('bottled_water', 5), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
(('kale_leaves', 1), 'inside_of', ('produce_container', 1), ['clear'], ['pick_up'], []),
(('kale_leaves', 2), 'inside_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
(('chips', 1), 'inside_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
(('butter', 1), 'inside_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
(('bread', 1), 'inside_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
(('orange', 1), 'ontop_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
(('plate', 2), 'inside_of', ('dishwasher', 1), ['clear'], ['pick_up'], []),
(('spoon', 1), 'inside_of', ('dishwasher', 1), ['clear'], ['pick_up'], []),
(('milk_carton', 1), 'inside_of', ('recycling_bin',1), ['clear'], ['pick_up'], []),
(('orange_peel', 1), 'inside_of', ('recycling_bin',1), ['clear'], ['pick_up'], []),
(('apple_core', 1), 'inside_of', ('recycling_bin',1), ['clear'], ['pick_up'], []),
(('banana_peel', 1), 'inside_of', ('rubbish_bin',1), ['clear'], ['pick_up'], []),
(('plastic_bottle', 1), 'inside_of', ('rubbish_bin',1), ['clear'], ['pick_up'], []),
(('headphones', 1), 'ontop_of', ('table',1), ['clear'], ['pick_up'], []),
] |