Load data

Readme.md

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+# Datasets Repository
+
+This folder contains three graph datasets saved as pickle files, used for the evaluation of methods. Each dataset is a list of dictionaries containing the task name, initial state, and goal state represented as NetworkX graphs. Additionally, each dictionary includes specific information relevant to the dataset.
+
+| **Data**           | **Number of Tasks** | **Mean nodes** | **Actions** |
+|---------------------|-----------|-----------|-------------|
+| SayPlan Office      | 25        | 202.6     | 2.1         |
+| Behaviour-1K        | 186       | 12.1      | 4.9         |
+| VirtualHome         | 347       | 195.7     | 1.6         |
+
+**Table 1:** Dataset comparison. *Actions* represent the mean number of nodes changed between the initial and goal graph.
+
+
+To load a dataset, use the following code snippet:
+
+```python
+
+import pickle
+
+with open('./datasets/<name>.pkl', 'rb') as file:
+    tasks = pickle.load(file)
+
+```
+## SayPlan Office
+
+The SayPlan Office dataset represents graphs and tasks defined in [SayPlan](https://sayplan.github.io/). Each task consists of a dictionary with the following structure:
+
+- `name`: The name of the task.
+- `human`: Human-readable task description (same as `name` for SayPlan).
+- `detailed`: Detailed task description (same as `name` for SayPlan).
+- `init`: Initial state as a NetworkX graph.
+- `goal`: Goal state as a NetworkX graph.
+- `actions`: A list of ground-truth actions to complete the task.
+
+## Behaviour-1K
+
+The Behaviour-1K dataset represents tasks defined in [Behaviour1K](https://behavior.stanford.edu/knowledgebase/tasks/index.html). For each task defined in BDDL, a subgraph was constructed to represent the environment. Using this subgraph, the goal graph was created, and human-readable as well as detailed task descriptions were added.
+
+The dataset contains a total of 186 tasks, each represented by a dictionary with the following structure:
+
+- `name`: The name of the task from Behaviour1K.
+- `human`: Human-readable task description.
+- `detailed`: Detailed task description.
+- `init`: Initial state as a NetworkX graph.
+- `goal`: Goal state as a NetworkX graph.
+
+## VirtualHome RobotHow
+
+The VirtualHome dataset represents tasks from the [RobotHow](http://virtual-home.org/tools/explore.html) dataset. For each task, the VirtualHome graph was reconstructed into a structure compatible with our methods. This was achieved using the `graph_parser.py` script available in the `utils` folder of the repository.
+
+Additionally, an `ids` dictionary maps nodes from the initial NetworkX graph to VirtualHome IDs. For example, the node `('fridge', 1)` in the initial graph corresponds to the fridge node with ID 67 in the VirtualHome backend graph. This mapping is useful when using the dataset with the VirtualHome simulator.
+
+Each task is represented by a dictionary with the following structure:
+
+- `name`: The name of the task from RobotHow.
+- `human`: Human-readable task description. (Same as name for RobotHow)
+- `detailed`: Detailed task description.
+- `init`: Initial state as a NetworkX graph.
+- `goal`: Goal state as a NetworkX graph.
+- `ids`: Mapping of nodes to VirtualHome IDs.

__init__.py

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+from .datasets import SayPlanOffice, VirtualHome, Behaviour1K
+from .validator import validate_plan
+
+__all__ = ["SayPlanOffice","VirtualHome","validate_plan", "Behaviour1K"]
+

behaviour1k/behaviour177.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9473e4c1eff393ea6bcbdb7e90e83f0499c50def7a88c792b81670bd8a848f25
+size 445047

behaviour1k/create_pkl.py

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+import json
+import pickle
+import networkx as nx
+import matplotlib.pyplot as plt
+# Define file paths
+JSON = './behaviour177.json'
+PKL = 'behaviour177.pkl'
+
+def add_edges(G):
+  for node_name in G.nodes:
+    node = G.nodes[node_name]
+    match node['type']:
+      case 'place':
+        G.add_edge(node_name,('scene',1))
+      case 'asset':
+        G.add_edge(node_name,node['place'])
+      case 'object':
+        G.add_edge(node_name,node['related_to'])
+      case 'agent':
+        G.add_edge(node_name,node['location'])
+      case 'scene':
+        pass
+      case _:
+        print(f"Unknown node type: {node['type']}")
+
+def parse_json(tasks):
+    graph = nx.Graph()
+    graph.add_node(('scene',1), name =task['name'],  type='scene')
+    for node in tasks:
+        if node['type'] == 'place':
+            graph.add_node((node['name'], node['id']), type='place')
+        if node['type'] == 'asset':
+            graph.add_node((node['name'], node['id']), place=(node['place'],node['place_id']), states=node['states'], affordances =node['affordances'], properties=[], type = 'asset')
+        if node['type'] == 'object':
+            graph.add_node((node['name'], node['id']), relation=node['relation'], related_to=(node['related_to'][0],node['related_to'][1]), states=node['states'], affordances =node['affordances'], properties=[], type = 'object')
+        if node['type'] == 'agent':
+            graph.add_node(('agent',1), location=(node['location'][0],node['location'][1]), holding='', type='agent')
+    add_edges(graph)
+    return graph
+
+if __name__ == "__main__":
+    # Load JSON data
+    with open(JSON, 'r') as json_file:
+        input_data = json.load(json_file)
+
+    output_data = []
+    i=0
+    for task in input_data:
+        i+=1
+        init_graph = parse_json(task['init'])
+        goal_graph = parse_json(task['goal'])
+        entity = {
+            'id' : i,
+            'name':task['name'],
+            'task':task['task'],
+            'init': init_graph,
+            'goal': goal_graph,
+        }
+        output_data.append(entity)
+    # Save data to a pickle file
+    with open(PKL, 'wb') as pkl_file:
+        pickle.dump(output_data, pkl_file)
+
+    print(f"Data from {JSON} has been saved to {PKL}.")

datasets.py

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+import pickle
+import os
+
+class Dataset:
+    def __init__(self, name, path):
+        self.name = name
+        self.path = os.path.abspath(path) 
+        self.tasks = None
+
+    def get_tasks(self):
+        with open(self.path, "rb") as file:
+            self.tasks = pickle.load(file)
+            return self.tasks
+
+current_dir = os.path.dirname(os.path.abspath(__file__))
+
+SayPlanOffice = Dataset("office29", os.path.join(current_dir, "office", "office29.pkl"))
+Behaviour1K = Dataset("behaviour177", os.path.join(current_dir, "behaviour1k", "behaviour177.pkl"))
+VirtualHome = Dataset("virtualhome317", os.path.join(current_dir, "virtualhome", "virtualhome317.pkl"))

office/create_pkl.py

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+'''
+This script processes `office_changes.json` to generate a dataset of office manipulation tasks.
+
+The `CHANGES_DESCRIPTION_FILE` file contains a list of tasks, each with:
+- "name": A natural language description.
+- "init_conditions": An array of conditions to define the starting world state. null if no changes
+- "goal_conditions": An array of conditions that describe the target world state.
+- "actions": A sequence of actions to transition from the initial to the goal state.
+'''
+import json
+import pickle
+from office_graph import office_graph, add_edges
+import copy
+
+CHANGES_DESCRIPTION_FILE = 'office_changes.json'
+OUT_FILENAME = 'office29.pkl'
+
+def change_node(node, condition, graph):
+    if condition.get("holding", False):
+        graph.nodes[node]['holding'] = (condition["holding"]['name'], condition["holding"]['id'])
+
+    if condition["relation"]:
+        graph.nodes[node]['related_to'] = (condition["related_to"]["name"], condition["related_to"]["id"])
+        graph.nodes[node]['relation'] = condition["relation"]
+
+    if condition["states"]:
+        states = condition.get("states", [])
+        for state in states:
+            if state not in graph.nodes[node]['states']:
+                graph.nodes[node]['states'].append(state)
+                if state == 'off':
+                    graph.nodes[node]['states'].remove('on')
+                if state == 'on':
+                    graph.nodes[node]['states'].remove('off')
+                if state == 'closed':
+                    graph.nodes[node]['states'].remove('open')
+                if state == 'open':
+                    graph.nodes[node]['states'].remove('closed')
+
+if __name__ == "__main__":
+    # Load the JSON file
+    with open(CHANGES_DESCRIPTION_FILE, "r") as file:
+        tasks = json.load(file)
+
+    dataset = []
+    i=0
+    for task in tasks:
+        i+=1
+        name = task["name"]
+        init_graph = copy.deepcopy(office_graph)
+        goal_graph = copy.deepcopy(office_graph)
+        # Process initial conditions
+        if task['init_conditions']:
+            for condition in task.get("init_conditions", []):
+                node = (condition["node"]["name"], condition["node"]["id"])
+                change_node(node, condition, init_graph)
+        # Process goal conditions
+        for condition in task.get("goal_conditions", []):
+            node = (condition["node"]["name"], condition["node"]["id"])
+            change_node(node, condition, goal_graph)
+        # Process actions
+        actions = []
+        for action in task.get("actions", []):
+            actions.append((action['action'], (action['node']["name"],action['node']["id"])))
+        # Reset graph edges
+        init_graph.remove_edges_from(list(office_graph.edges))
+        goal_graph.remove_edges_from(list(office_graph.edges))
+        add_edges(init_graph)
+        add_edges(goal_graph)
+
+        entity = {
+            "id": i,
+            "name": name,
+            "task": name,
+            "init": init_graph,
+            "goal": goal_graph,
+            "actions": actions,
+        }
+        dataset.append(entity)
+
+    with open(OUT_FILENAME, "wb") as file:
+        pickle.dump(dataset, file)

office/nodes.py

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+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'], []),
+]

office/office29.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100793847f157b62a172163ef3457653ca7a70d97d463b1b4970d094fa95838d
+size 733282

office/office_changes.json

@@ -0,0 +1,3564 @@
+[
+    {
+        "name": "Close Jasons cabinet.",
+        "important_objects": [
+            {
+                "name": "cabinet",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "cabinet",
+                    "id": 5
+                },
+                "relation": null,
+                "related_to": null,
+                "states": [
+                    "closed"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "jasons_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 5
+                }
+            }
+        ]
+    },
+    {
+        "name": "Refrigerate the orange left on the kitchen bench.",
+        "important_objects": [
+            {
+                "name": "orange",
+                "id": 1
+            },
+            {
+                "name": "fridge",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "orange",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "fridge",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                },
+                "relation": null,
+                "related_to": null,
+                "states": [
+                    "closed"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "orange",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Take care of the dirty plate in the lunchroom.",
+        "important_objects": [
+            {
+                "name": "plate",
+                "id": 1
+            },
+            {
+                "name": "dishwasher",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "plate",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "dishwasher",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "plate",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "dishwasher",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "dishwasher",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "dishwasher",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Place the printed document on Wills desk.",
+        "important_objects": [
+            {
+                "name": "document",
+                "id": 1
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "document",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "printer",
+                    "id": 2
+                },
+                "states": [
+                    "clear"
+                ]
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "document",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "desk",
+                    "id": 4
+                },
+                "states": [
+                    "clear"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "printing_zone",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "document",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "wills_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "desk",
+                    "id": 4
+                }
+            }
+        ]
+    },
+    {
+        "name": "Get Peter a healthy snack from his cabinet. Put it on his desk.",
+        "important_objects": [
+            {
+                "name": "apple",
+                "id": 3
+            },
+            {
+                "name": "cabinet",
+                "id": 2
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "apple",
+                    "id": 3
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "cabinet",
+                    "id": 2
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                },
+                "relation": null,
+                "related_to": null,
+                "states": [
+                    "closed"
+                ]
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "apple",
+                    "id": 3
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "desk",
+                    "id": 2
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "peters_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "apple",
+                    "id": 3
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "desk",
+                    "id": 2
+                }
+            }
+        ]
+    },
+    {
+        "name": "Hide one of Peters valuable belongings.",
+        "important_objects": [
+            {
+                "name": "phone",
+                "id": 1
+            },
+            {
+                "name": "cabinet",
+                "id": 2
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "phone",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "desk",
+                    "id": 2
+                },
+                "states": [
+                    "clear"
+                ]
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "phone",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "cabinet",
+                    "id": 2
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                },
+                "relation": null,
+                "related_to": null,
+                "states": [
+                    "closed"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "peters_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "phone",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                }
+            }
+        ]
+    },
+    {
+        "name": "Bring something to wipe the dusty admin shelf. Put it on shelf.",
+        "important_objects": [
+            {
+                "name": "paper_towel",
+                "id": 1
+            },
+            {
+                "name": "shelf",
+                "id": 1
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "paper_towel",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "cupboard",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "paper_towel",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "shelf",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cupboard",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "paper_towel",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cupboard",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "admin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "shelf",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "There is coffee dripping on the floor. Stop it.",
+        "important_objects": [
+            {
+                "name": "coffee_machine",
+                "id": 1
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "coffee_machine",
+                    "id": 1
+                },
+                "relation": null,
+                "related_to": null,
+                "states": [
+                    "on"
+                ]
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "coffee_machine",
+                    "id": 1
+                },
+                "relation": null,
+                "related_to": null,
+                "states": [
+                    "off"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "turn_off",
+                "node": {
+                    "name": "coffee_machine",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Place Wills drone on his desk.",
+        "important_objects": [
+            {
+                "name": "drone",
+                "id": 2
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "drone",
+                    "id": 2
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "cabinet",
+                    "id": 4
+                },
+                "states": [
+                    "clear"
+                ]
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "drone",
+                    "id": 2
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "desk",
+                    "id": 4
+                },
+                "states": [
+                    "clear"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "wills_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cabinet",
+                    "id": 4
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "drone",
+                    "id": 2
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "desk",
+                    "id": 4
+                }
+            }
+        ]
+    },
+    {
+        "name": "Move the monitor from Jasons office to Filipes.",
+        "important_objects": [
+            {
+                "name": "monitor",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "monitor",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "desk",
+                    "id": 37
+                },
+                "states": [
+                    "clear"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "jasons_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "monitor",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "filipes_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "desk",
+                    "id": 37
+                }
+            }
+        ]
+    },
+    {
+        "name": "My parcel just got delivered! Locate it and place it on the table in the manipulation lab.",
+        "important_objects": [
+            {
+                "name": "parcel",
+                "id": 1
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "parcel",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "floor",
+                    "id": 1
+                },
+                "states": [
+                    "clear"
+                ]
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "parcel",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 3
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "lobby",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "parcel",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "manipulation_lab",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 3
+                }
+            }
+        ]
+    },
+    {
+        "name": "Heat up the chicken kebab. I will turn off microwave when needed.",
+        "important_objects": [
+            {
+                "name": "chicken_kebab",
+                "id": 1
+            },
+            {
+                "name": "microwave",
+                "id": 1
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "chicken_kebab",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "fridge",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "chicken_kebab",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "microwave",
+                    "id": 1
+                },
+                "states": ["hot"]
+            },
+            {
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                },
+                "relation": null,
+                "related_to": null,
+                "states": [
+                    "closed",
+                    "on"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "chicken_kebab",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "turn_on",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Salmon is smelling in the kitchen. Dispose of it.",
+        "important_objects": [
+            {
+                "name": "salmon_bagel",
+                "id": 1
+            },
+            {
+                "name": "rubbish_bin",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "salmon_bagel",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "salmon_bagel",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Throw what the agent is holding in the bin and get back into lab.",
+        "important_objects": [
+            {
+                "name": "rubbish_bin",
+                "id": 1
+            }
+        ],
+        "init_conditions": [
+            {
+                "node": {
+                    "name": "banana_peel",
+                    "id": 1
+                },
+                "relation": "inside_hand",
+                "related_to": {
+                    "name": "agent",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "agent",
+                    "id": 1
+                },
+                "relation": null,
+                "related_to": null,
+                "holding": {
+                    "name": "banana_peel",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "banana_peel",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "mobile_robotics_lab",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Heat up the noodles from fridge, and place it on lunch table.",
+        "important_objects": [
+            {
+                "name": "noodles",
+                "id": 1
+            },
+            {
+                "name": "fridge",
+                "id": 1
+            },
+            {
+                "name": "microwave",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "noodles",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "lunch_table",
+                    "id": 1
+                },
+                "states": [
+                    "hot"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "noodles",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "turn_on",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "turn_off",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "noodles",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "microwave",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "lunch_table",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Throw the rotting fruit in Dimitrys office in the correct bin.",
+        "important_objects": null,
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "apple",
+                    "id": 2
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "dimitys_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cabinet",
+                    "id": 3
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "apple",
+                    "id": 2
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 3
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Clean up lunch table. Place clutery in the drawer. And dirty plate into dishwasher.",
+        "important_objects": [
+            {
+                "name": "plate",
+                "id": 1
+            },
+            {
+                "name": "knife",
+                "id": 2
+            },
+            {
+                "name": "fork",
+                "id": 2
+            },
+            {
+                "name": "dishwasher",
+                "id": 1
+            },
+            {
+                "name": "drawer",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "plate",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "dishwasher",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "knife",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "drawer",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "knife",
+                    "id": 2
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "drawer",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "fork",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "drawer",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "fork",
+                    "id": 2
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "drawer",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "knife",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "fork",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "fork",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "knife",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "plate",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "dishwasher",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "dishwasher",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "dishwasher",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Safely file away the freshly printed document in Wills cabinet, then place the undergraduate thesis on his desk.",
+        "important_objects": [
+            {
+                "name": "document",
+                "id": 1
+            },
+            {
+                "name": "cabinet",
+                "id": 4
+            },
+            {
+                "name": "undergrad_thesis",
+                "id": 1
+            },
+            {
+                "name": "desk",
+                "id": 4
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "document",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "cabinet",
+                    "id": 4
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "cabinet",
+                    "id": 4
+                },
+                "relation": null,
+                "related_to": null,
+                "states": [
+                    "closed"
+                ]
+            },
+            {
+                "node": {
+                    "name": "undergrad_thesis",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "desk",
+                    "id": 4
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "printing_zone",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "document",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "wills_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cabinet",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "cabinet",
+                    "id": 4
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "undergrad_thesis",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "desk",
+                    "id": 4
+                }
+            }
+        ]
+    },
+    {
+        "name": "Make a coffee for Niko in his coffee mug and set the mug on his desk.",
+        "important_objects": [
+            {
+                "name": "coffee_mug",
+                "id": 1
+            },
+            {
+                "name": "coffee_machine",
+                "id": 1
+            },
+            {
+                "name": "desk",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "coffee_mug",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "desk",
+                    "id": 1
+                },
+                "states": [
+                    "filled_coffee"
+                ]
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "nikos_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "coffee_mug",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "coffee_machine",
+                    "id": 1
+                }
+            },
+            {
+                "action": "turn_on",
+                "node": {
+                    "name": "coffee_machine",
+                    "id": 1
+                }
+            },
+            {
+                "action": "turn_off",
+                "node": {
+                    "name": "coffee_machine",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "coffee_mug",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "nikos_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "desk",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Correct the misplaced items in the wrong trash bins.",
+        "important_objects": [
+            {
+                "name": "milk_carton",
+                "id": 1
+            },
+            {
+                "name": "orange_peel",
+                "id": 1
+            },
+            {
+                "name": "apple_core",
+                "id": 1
+            },
+            {
+                "name": "banana_peel",
+                "id": 1
+            },
+            {
+                "name": "plastic_bottle",
+                "id": 1
+            },
+            {
+                "name": "recycling_bin",
+                "id": 1
+            },
+            {
+                "name": "rubbish_bin",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "milk_carton",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "recycling_bin",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "orange_peel",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "apple_core",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "banana_peel",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "plastic_bottle",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "recycling_bin",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "recycling_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "plastic_bottle",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "recycling_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "orange_peel",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "apple_core",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "recycling_bin",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Tobi spilt soda on his desk. Throw away the can and put on his table something to clean with.",
+        "important_objects": [
+            {
+                "name": "pepsi",
+                "id": 1
+            },
+            {
+                "name": "rubbish_bin",
+                "id": 1
+            },
+            {
+                "name": "paper_towel",
+                "id": 1
+            },
+            {
+                "name": "cupboard",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "pepsi",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "paper_towel",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "desk",
+                    "id": 38
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "tobis_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "pepsi",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cupboard",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "paper_towel",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cupboard",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "tobis_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "desk",
+                    "id": 38
+                }
+            }
+        ]
+    },
+    {
+        "name": "I want to make a sandwich with cheese tomato and kale. Place all the ingredients on the lunch table.",
+        "important_objects": [
+            {
+                "name": "bread",
+                "id": 1
+            },
+            {
+                "name": "butter",
+                "id": 1
+            },
+            {
+                "name": "cheese",
+                "id": 1
+            },
+            {
+                "name": "tomato",
+                "id": 1
+            },
+            {
+                "name": "kale_leaves",
+                "id": 2
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "bread",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "lunch_table",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "cheese",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "lunch_table",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "tomato",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "lunch_table",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "kale_leaves",
+                    "id": 2
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "lunch_table",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bread",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "lunch_table",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "tomato",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "lunch_table",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "cheese",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "lunch_table",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "kale_leaves",
+                    "id": 2
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "fridge",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "lunch_table",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Prepare buiscuit water and orange juice on table in meeting room with board games.",
+        "important_objects": [
+            {
+                "name": "bottled_water",
+                "id": 1
+            },
+            {
+                "name": "bottled_water",
+                "id": 2
+            },
+            {
+                "name": "bottled_water",
+                "id": 3
+            },
+            {
+                "name": "bottled_water",
+                "id": 4
+            },
+            {
+                "name": "bottled_water",
+                "id": 5
+            },
+            {
+                "name": "orange_juice",
+                "id": 1
+            },
+            {
+                "name": "biscuits",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "bottled_water",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 2
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "bottled_water",
+                    "id": 2
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 2
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "bottled_water",
+                    "id": 3
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 2
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "bottled_water",
+                    "id": 4
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 2
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "bottled_water",
+                    "id": 5
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 2
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "orange_juice",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 2
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "biscuits",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 2
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cupboard",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cupboard",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "biscuits",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "orange_juice",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bottled_water",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bottled_water",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bottled_water",
+                    "id": 3
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bottled_water",
+                    "id": 4
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bottled_water",
+                    "id": 5
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cupboard",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cupboard",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 4
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 2
+                }
+            }
+        ]
+    },
+    {
+        "name": "Provide each seated attendee in Meeting Room 1 with a single bottle of water. Put water bottles on table.",
+        "important_objects": [
+            {
+                "name": "bottled_water",
+                "id": 1
+            },
+            {
+                "name": "bottled_water",
+                "id": 2
+            },
+            {
+                "name": "bottled_water",
+                "id": 3
+            },
+            {
+                "name": "bottled_water",
+                "id": 4
+            },
+            {
+                "name": "bottled_water",
+                "id": 5
+            },
+            {
+                "name": "chair",
+                "id": 3
+            },
+            {
+                "name": "chair",
+                "id": 4
+            },
+            {
+                "name": "chair",
+                "id": 5
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "bottled_water",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 5
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "bottled_water",
+                    "id": 2
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 5
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "bottled_water",
+                    "id": 3
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "table",
+                    "id": 5
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cupboard",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bottled_water",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 5
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bottled_water",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 5
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "supplies_station",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bottled_water",
+                    "id": 3
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cupboard",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "meeting_room",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "table",
+                    "id": 5
+                }
+            }
+        ]
+    },
+    {
+        "name": "Empty the dishwasher. Place clutery in drawer and other inside bench.",
+        "important_objects": [
+            {
+                "name": "dishwasher",
+                "id": 1
+            },
+            {
+                "name": "plate",
+                "id": 2
+            },
+            {
+                "name": "spoon",
+                "id": 1
+            },
+            {
+                "name": "bowl",
+                "id": 1
+            },
+            {
+                "name": "cup",
+                "id": 1
+            },
+            {
+                "name": "drawer",
+                "id": 1
+            },
+            {
+                "name": "kitchen_bench",
+                "id": 1
+            },
+            {
+                "name": "table",
+                "id": 2
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "plate",
+                    "id": 2
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "spoon",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "drawer",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "cup",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "dishwasher",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "spoon",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "drawer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "bowl",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "cup",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "plate",
+                    "id": 2
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "kitchen_bench",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "dishwasher",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Locate all 6 complimentary t-shirts given to the PhD students and place them on the shelf in admin.",
+        "important_objects": [
+            {
+                "name": "complimentary_tshirt",
+                "id": 1
+            },
+            {
+                "name": "complimentary_tshirt",
+                "id": 2
+            },
+            {
+                "name": "complimentary_tshirt",
+                "id": 3
+            },
+            {
+                "name": "complimentary_tshirt",
+                "id": 4
+            },
+            {
+                "name": "complimentary_tshirt",
+                "id": 5
+            },
+            {
+                "name": "complimentary_tshirt",
+                "id": 6
+            },
+            {
+                "name": "shelf",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "shelf",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 2
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "shelf",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 3
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "shelf",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 4
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "shelf",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 5
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "shelf",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 6
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "shelf",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "phd_bay",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "admin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "shelf",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "phd_bay",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "admin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "shelf",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "phd_bay",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 3
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "admin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "shelf",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "phd_bay",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 4
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "admin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "shelf",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "phd_bay",
+                    "id": 4
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 5
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "admin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "shelf",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "phd_bay",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "complimentary_tshirt",
+                    "id": 6
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "admin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "shelf",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "I am hungry. Bring me an apple from Peter and a pepsi from Tobi. I am at the lunch table.",
+        "important_objects": [
+            {
+                "name": "apple",
+                "id": 3
+            },
+            {
+                "name": "pepsi",
+                "id": 1
+            },
+            {
+                "name": "cabinet",
+                "id": 2
+            },
+            {
+                "name": "desk",
+                "id": 38
+            },
+            {
+                "name": "lunch_table",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "apple",
+                    "id": 3
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "lunch_table",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "pepsi",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "lunch_table",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "peters_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "apple",
+                    "id": 3
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "lunch_table",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "tobis_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "pepsi",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "cafeteria",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "lunch_table",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "Lets play a prank with chair on Niko. Dimity might have something.",
+        "important_objects": [
+            {
+                "name": "buzzer",
+                "id": 1
+            },
+            {
+                "name": "desk",
+                "id": 3
+            },
+            {
+                "name": "cabinet",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "buzzer",
+                    "id": 1
+                },
+                "relation": "ontop_of",
+                "related_to": {
+                    "name": "chair",
+                    "id": 1
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "dimitys_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "buzzer",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "nikos_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_on",
+                "node": {
+                    "name": "chair",
+                    "id": 1
+                }
+            }
+        ]
+    },
+    {
+        "name": "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.",
+        "important_objects": [
+            {
+                "name": "cabinet",
+                "id": 3
+            },
+            {
+                "name": "apple",
+                "id": 2
+            },
+            {
+                "name": "rubbish_bin",
+                "id": 1
+            },
+            {
+                "name": "apple",
+                "id": 1
+            }
+        ],
+        "init_conditions": null,
+        "goal_conditions": [
+            {
+                "node": {
+                    "name": "apple",
+                    "id": 2
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                },
+                "states": null
+            },
+            {
+                "node": {
+                    "name": "apple",
+                    "id": 1
+                },
+                "relation": "inside_of",
+                "related_to": {
+                    "name": "cabinet",
+                    "id": 3
+                },
+                "states": null
+            }
+        ],
+        "actions": [
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "dimitys_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cabinet",
+                    "id": 3
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "apple",
+                    "id": 2
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "kitchen",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "rubbish_bin",
+                    "id": 1
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "wills_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "open",
+                "node": {
+                    "name": "cabinet",
+                    "id": 4
+                }
+            },
+            {
+                "action": "pick_up",
+                "node": {
+                    "name": "apple",
+                    "id": 1
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 4
+                }
+            },
+            {
+                "action": "go_to",
+                "node": {
+                    "name": "dimitys_office",
+                    "id": 1
+                }
+            },
+            {
+                "action": "put_inside",
+                "node": {
+                    "name": "cabinet",
+                    "id": 3
+                }
+            },
+            {
+                "action": "close",
+                "node": {
+                    "name": "cabinet",
+                    "id": 3
+                }
+            }
+        ]
+    }
+]

office/office_graph.py

@@ -0,0 +1,46 @@
+import networkx as nx
+from nodes import ROOMS, OFFICES, ASSETS, OBJECTS
+
+def add_edges(graph):
+  for node_name in graph.nodes:
+    node = graph.nodes[node_name]
+    match node['type']:
+      case 'place':
+        graph.add_edge(node_name,('scene',1))
+      case 'asset':
+        graph.add_edge(node_name,node['place'])
+      case 'object':
+        graph.add_edge(node_name,node['related_to'])
+      case 'agent':
+        graph.add_edge(node_name,node['location'])
+      case 'scene':
+        pass
+      case _:
+        print(f"Unknown node type: {node['type']}")
+
+def create_office_graph():
+    """Initializes and builds the office scene graph."""
+    graph = nx.Graph()
+    graph.add_node(('scene', 1), name='SayPlan Office', type='scene')
+
+    # Add places (offices and rooms) and connect them to the scene
+    for place in (OFFICES + ROOMS):
+        graph.add_node(place, type='place')
+
+    # Add assets and connect them to their places
+    for asset, place, states, affordances, properties in ASSETS:
+        graph.add_node(asset, place=place, states=states, affordances=affordances, properties=properties, type='asset')
+
+    # Add objects and connect them to their related assets/objects
+    for obj, relation, related_to, states, affordances, properties in OBJECTS:
+        graph.add_node(obj, relation=relation, related_to=related_to, states=states, affordances=affordances, properties=properties, type='object')
+
+    # Add the agent and connect it to its location
+    agent_node = ('agent', 1)
+    agent_location = ('mobile_robotics_lab', 1)
+    graph.add_node(agent_node, location=agent_location, holding='', type='agent')
+    add_edges(graph)
+    return graph
+
+# Initialize the graph by calling the function
+office_graph = create_office_graph()

validator.py

@@ -0,0 +1,287 @@
+import networkx as nx
+import copy
+
+MAX_OBJECTS_DEEP = 10
+
+def validate_plan(init_graph, goal_graph, actions, print_results=False):
+    #Find nodes changed betwee initial and goal graph.
+    important_nodes = find_important_nodes(init_graph, goal_graph, add_assets=False)
+    if print_results:
+        print("Important nodes:\n",important_nodes)
+    #Run actions in graph simulation
+    final_graph, errors = simulate_on_graph(init_graph, actions)
+
+    #Classes of important objects
+    important_node_names = []
+    for node in important_nodes:
+        if node[0] not in important_node_names:
+            important_node_names.append(node[0])
+
+    correct_obj, total_obj = validate_objects(final_graph, goal_graph, important_node_names, print_results)
+    correct_assets, total_asets = validate_assets(final_graph, goal_graph, important_nodes)
+
+    object_success_rate = 1.0 if total_obj == 0 else correct_obj / total_obj
+    asset_success_rate = 1.0 if total_asets == 0 else correct_assets / total_asets
+
+    total_count = total_obj + total_asets
+    partial_success = 1.0 if total_count == 0 else (correct_obj + correct_assets) / total_count
+
+    if print_results:
+        print("Object Success Rate:", object_success_rate)
+        print("Asset Success Rate:", asset_success_rate)
+        print("Partial Success:", partial_success)
+        print(errors)
+
+    if len(errors) == 0 and partial_success == 1.0:
+        success = True
+    else:
+        success = False
+
+    return success, partial_success, errors
+
+def simulate_on_graph(init_graph, actions):
+    simulator = ValidatorSceneSimulator(init_graph)
+    errors = []
+    for action in actions:
+        feedback = simulator.action(action[0], action[1])
+        if feedback:
+            errors.append((action, feedback))
+    final_graph = simulator.graph
+    return final_graph, errors
+
+def validate_objects(final_graph, goal_graph, important_node_names, print_results=False):
+    object_count = 0
+    goal_state_counts = {}
+    final_state_counts = {}
+    # Find all objects with same name as relevant node names. (Objects of same class)
+    for node_name in goal_graph:
+        goal_node = goal_graph.nodes[node_name]
+        final_node = final_graph.nodes[node_name]
+        if node_name[0] in important_node_names and goal_node['type'] == 'object':
+            object_count += 1
+            goal_state = (node_name[0], tuple(goal_node['states']), goal_node['relation'], goal_node['related_to'])
+            final_state = (node_name[0], tuple(final_node['states']), final_node['relation'], final_node['related_to'])
+            
+            goal_state_counts[goal_state] = goal_state_counts.get(goal_state, 0) + 1
+            final_state_counts[final_state] = final_state_counts.get(final_state, 0) + 1
+    state_difference = 0
+    # Count objects in correct states
+    for key in goal_state_counts:
+        if key in final_state_counts:
+            goal_state_counts[key] -= final_state_counts[key]
+            if goal_state_counts[key] < 0:
+                goal_state_counts[key] = 0
+        state_difference += goal_state_counts[key]
+    correct_objects = object_count - state_difference
+    if print_results:
+        print("Goal state count:")
+        for goal in goal_state_counts:
+            print(goal, goal_state_counts[goal], sep=': ')
+        print("Final state count:")
+        for goal in final_state_counts:
+            print(goal, final_state_counts[goal], sep=': ')
+
+    return correct_objects,  object_count
+
+def validate_assets(final_graph, goal_graph, important_nodes):
+    # Check Asset states
+    asset_count = 0
+    correct_states = 0
+    for node_name in important_nodes:
+        final_node = final_graph.nodes[node_name]
+        goal_node = goal_graph.nodes[node_name]
+        if final_node['type'] == 'asset':
+            asset_count += 1
+            if set(final_node['states']) == set(goal_node['states']):
+                correct_states += 1
+    return correct_states, asset_count
+
+class ValidatorSceneSimulator():
+    def __init__(self, graph: nx.Graph):
+        self.graph = copy.deepcopy(graph)
+        self._reset_edges()
+
+    def _reset_edges(self):
+        self.graph.remove_edges_from(list(self.graph.edges))
+        for node_name in self.graph.nodes:
+            self._add_edge(node_name)
+
+    def _add_edge(self, node_name):
+        node = self.graph.nodes[node_name]
+        try:
+            match node['type']:
+                case 'place':
+                    self.graph.add_edge(node_name,('scene',1))
+                case 'asset':
+                    self.graph.add_edge(node_name,node['place'])
+                case 'object':
+                    self.graph.add_edge(node_name,node['related_to'])
+                case 'unseen_object':
+                    self.graph.add_edge(node_name,node['related_to'])
+                case 'agent':
+                    self.graph.add_edge(node_name,node['location'])
+                case 'scene':
+                    pass
+                case _:
+                    print(f"Unknown node type: {node['type']}")
+        except:
+            raise ValueError(f"Error during edges resetting with {node_name} {node}. Check relations.")
+
+    def is_accessible(self, node):
+        if node['type'] != 'object':
+            return True, ''
+        for _ in range(MAX_OBJECTS_DEEP):
+            parent_name = node['related_to']
+            parent = self.graph.nodes[parent_name]
+            if parent['type'] == 'agent':
+                return True, ''
+            if 'closed' in parent['states'] and node['relation'] == 'inside_of':
+                return False, parent_name
+            if parent['type'] != 'object':
+                return True, ''
+            node = parent
+        return True, ''
+    
+    def find_place(self, node):
+        for _ in range(MAX_OBJECTS_DEEP+1):
+            if node['type'] == 'asset':
+                return node['place']
+            if node['type'] == 'agent':
+                return node['location']
+            parent_name = node['related_to']
+            node = self.graph.nodes[parent_name]
+
+    def action(self, action, node_name):
+        G = self.graph
+        if action in ['done', 'discover_objects']:
+            return 0
+        if node_name not in G:
+            return f"Node {node_name} not found in the graph. Try look on or inside assets."
+        if action not in ['put_on', 'put_inside', 'pick_up', 'open', 'close', 'turn_on', 'turn_off', 'discover_objects', 'go_to']:
+            return f"Action {action} is wrong. No such action as {action}."
+        
+        node = G.nodes[node_name]
+        agent = G.nodes[('agent',1)]
+        sayplan_name = node_name[0] +'-'+ str(node_name[1])
+
+        if action in ['put_on', 'put_inside', 'pick_up', 'open', 'close', 'turn_on', 'turn_off', 'discover_objects'] and node['type'] not in ['asset', 'object']:
+            return f"Action {action}({sayplan_name}) is wrong. You can interact only with asset and object nodes."
+        
+        accesible, parent_name = self.is_accessible(node)
+        if not accesible:
+            return f"Action {action}({sayplan_name}) is wrong.{sayplan_name} in not accesible because {parent_name} is closed."
+        
+        if node['type'] in ['asset', 'object'] and action not in node['affordances']:
+            return f"Action {action}({sayplan_name}) is wrong. It is not possible to {action} {sayplan_name}"
+        
+        if action not in ['go_to', 'done'] and agent['location'] != self.find_place(node):
+            return f"Action {action}({sayplan_name}) is wrong. Agent not in the same room with node."
+
+        match action:
+            case 'go_to':
+                if node['type'] != 'place':
+                    return f"Action {action}({sayplan_name}) is wrong. {sayplan_name} is not a room to go."
+                agent['location'] = node_name
+
+            case 'pick_up':
+                if agent['holding'] != '':
+                    return f"Action {action}({sayplan_name}) is wrong. Agent can hold only one object. Agent aldeady holding {agent['holding']}"
+                if (node['type'] != 'object'):
+                    return f"Action {action}({sayplan_name}) is wrong. Agent can pick_up only object nodes."
+
+                agent['holding'] = node_name
+                node['relation'] = 'inside_hand'
+                node['related_to'] = ('agent',1)
+            case 'put_on':
+                if agent['holding'] == '':
+                    return f"Action {action}({sayplan_name}) is wrong. Agent don't holding something to put"
+                if 'put_on' not in node['affordances']:
+                    return f"Action {action}({sayplan_name}) is wrong. Agent cant put objects on {sayplan_name}"
+
+                G.nodes[agent['holding']]['relation'] = 'ontop_of'
+                G.nodes[agent['holding']]['related_to'] = node_name
+                agent['holding'] = ''
+
+            case 'put_inside':
+                if agent['holding'] == '':
+                    return f"Action {action}({sayplan_name}) is wrong. Agent don't holding something to put"
+                if agent['holding'] == node:
+                    return f"Action {action}({sayplan_name}) is wrong. An object cannot be placed inside itself."
+                if 'closed' in node['states']:
+                    return f"Action {action}({sayplan_name}) is wrong. Agent cant put objects inside of closed {sayplan_name}"
+
+                G.nodes[agent['holding']]['relation'] = 'inside_of'
+                G.nodes[agent['holding']]['related_to'] = node_name
+                agent['holding'] = ''
+            case 'open':
+                if 'open' in node['states']:
+                    return f"Action {action}({sayplan_name}) is wrong. {sayplan_name} already open"
+
+                node['states'].remove('closed')
+                node['states'].append('open')
+            case 'close':
+                if 'closed' in node['states']:
+                    return f"Action {action}({sayplan_name}) is wrong. {sayplan_name} already closed"
+
+                node['states'].remove('open')
+                node['states'].append('closed')
+            case 'turn_on':
+                if 'on' in node['states']:
+                    return f"Action {action}({sayplan_name}) is wrong. {sayplan_name} already turned on"
+
+                if 'off' in node['states']:
+                    node['states'].remove('off')
+                node['states'].append('on')
+
+                #Adding states for dynamic tasks from SayPlan
+                if node_name[0] in ['microwave'] and 'closed' in node['states']:
+                    for obj, attr in G.nodes(data=True):
+                        if attr['type'] == 'object' and attr['related_to'] == node_name and attr['relation'] == 'inside_of':
+                            attr['states'].append('hot')
+                if node_name[0] in ['coffee_machine']:
+                    for obj, attr in G.nodes(data=True):
+                        if attr['type'] == 'object' and attr['related_to'] == node_name and attr['relation'] == 'inside_of':
+                            attr['states'].append('filled_coffee')
+
+            case 'turn_off':
+                if 'off' in node['states']:
+                    return f"Action {action}({sayplan_name}) is wrong. {sayplan_name} already off"
+                
+                node['states'].remove('on')
+                node['states'].append('off')
+                
+            case 'discover_objects':
+                pass
+            case 'done':
+                pass
+            case _:
+              return f"Action {action} is wrong. No such action as {action}."
+        self._reset_edges()
+        return 0
+
+def find_important_nodes(init_graph, goal_graph, add_assets=False):
+    """
+    Function that return list of objects and assets changed between initial and goal graph.
+    """
+    def add_parent_nodes(node_name, graph):
+        node = graph.nodes[node_name]
+        for _ in range(MAX_OBJECTS_DEEP):
+            parent_name = node.get('related_to')
+            if not parent_name:
+                break
+            parent = graph.nodes[parent_name]
+            important_nodes.add(parent_name)
+            if parent['type'] != 'object':
+                break
+            node = parent
+
+    important_nodes = set()
+    for node_name in init_graph.nodes:
+        if init_graph.nodes[node_name] != goal_graph.nodes[node_name]:
+            important_nodes.add(node_name)
+
+            if init_graph.nodes[node_name]['type'] == 'object' and add_assets:
+                add_parent_nodes(node_name, init_graph)
+                add_parent_nodes(node_name, goal_graph)
+
+    return list(important_nodes)

virtualhome/virtualhome317.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c611683d7115c609fb8b437cde290955694ae7c03a35c9bc5f4a74f6bfecf7f6
+size 7449321