[ { "name": "assembling_gift_baskets-0", "scene": "Beechwood_0_garden", "task": "Place one candle, one butter cookie, one piece of Swiss cheese, and one bow into each of the four wicker baskets, ensuring each basket contains one of each item type.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "candle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "candle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "candle", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "candle", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "butter_cookie", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "butter_cookie", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "butter_cookie", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "butter_cookie", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "swiss_cheese", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "swiss_cheese", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "swiss_cheese", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "swiss_cheese", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bow", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bow", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bow", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bow", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "candle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "candle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "candle", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 3 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "candle", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 4 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "butter_cookie", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "butter_cookie", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "butter_cookie", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "butter_cookie", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 4 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "swiss_cheese", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "swiss_cheese", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "swiss_cheese", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "swiss_cheese", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 4 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bow", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bow", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bow", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bow", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 4 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "attach_a_camera_to_a_tripod-0", "scene": "Beechwood_1_int", "task": "Put camera on tripod.", "init": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "digital_camera", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "camera_tripod", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ], "goal": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "digital_camera", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "camera_tripod", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "camera_tripod", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ] }, { "name": "bag_groceries-0", "scene": "grocery_store_asian", "task": "Put the apple and egg in the first sack. Then, place the food and bottle in the second sack.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "canned_food", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "egg", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "apple", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__orange_juice", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "canned_food", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "egg", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "apple", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__orange_juice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "boxing_books_up_for_storage-0", "scene": "Beechwood_0_garden", "task": "Pack all books.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "book", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 7, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "open" ], "affordances": [ "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "book", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 7, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "open" ], "affordances": [ "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "bringing_glass_to_recycling-0", "scene": "Beechwood_0_garden", "task": "Trow glass into recycling bin.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "water_glass", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "recycling_bin", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "water_glass", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "recycling_bin", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "bringing_in_mail-0", "scene": "Beechwood_0_garden", "task": "Your goal is to retrieve the mail from the mailbox in the garden and place it on the coffee table in the living room. Dont forget close mailbox.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "mailbox", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "mail", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mailbox", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "mailbox", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "mail", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "bringing_in_wood-0", "scene": "Beechwood_0_garden", "task": "Bring plywood on floor in the kitchen.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plywood", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plywood", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plywood", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plywood", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plywood", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plywood", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "bringing_newspaper_in-0", "scene": "Beechwood_0_garden", "task": "Bring newspaper from the driveway.Put it on coffee table.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "bringing_water-0", "scene": "Beechwood_0_garden", "task": "Move glasses from the garden into kitchen cabinet. Close cabinet.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "buy_a_air_conditioner-0", "scene": "grocery_store_cafe", "task": "Bring conditioner and money to the checkout.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "air_conditioner", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "air_conditioner", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_a_belt-0", "scene": "grocery_store_asian", "task": "Place the belt and the money on the checkout to purchase the belt.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shopping_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "belt", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shopping_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "belt", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_a_good_avocado-0", "scene": "grocery_store_cafe", "task": "Take the avocado and the money out of the shopping cart, then place them on the checkout counter.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "avocado", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "avocado", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_a_keg-0", "scene": "grocery_store_cafe", "task": "Place the beer and the credit card on the checkout counter.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "beer_barrel", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "credit_card", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "beer_barrel", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "credit_card", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_alcohol-0", "scene": "grocery_store_cafe", "task": "Bring all alcohol drinks and money to checkout.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bottle__of__beer", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up" ] }, { "name": "bottle__of__wine", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up" ] }, { "name": "bottle__of__vodka", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bottle__of__beer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up" ] }, { "name": "bottle__of__wine", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up" ] }, { "name": "bottle__of__vodka", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_basic_garden_tools-0", "scene": "grocery_store_asian", "task": "Take the money out of the backpack and place it on the checkout. Move both the shovel and rake from the shelf to the checkout.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shovel", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "rake", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shovel", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "rake", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_boxes_for_packing-0", "scene": "grocery_store_cafe", "task": "Place the cartons on the checkout counter. Ensure the money is also placed on the checkout to make the payment.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_candle_making_supplies-0", "scene": "grocery_store_cafe", "task": "Your goal is to take the paraffin and both candlesticks from the shelf and place them at the checkout. Don't forget to move the money from the shopping cart to the checkout as well.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "paraffin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "candlestick", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "candlestick", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "paraffin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "candlestick", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "candlestick", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_dog_food-0", "scene": "grocery_store_cafe", "task": "At the checkout, put the can of dog food and the money on the counter to complete the purchase.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "can__of__dog_food", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "can__of__dog_food", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_eggs-0", "scene": "grocery_store_cafe", "task": "Bring tray with eggs to the counter. Place money on the counter.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "egg", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tray", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "egg", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tray", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_food_for_a_party-0", "scene": "grocery_store_cafe", "task": "Bring products on checkout. Put money into cash register and close it.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 3, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "chocolate_cake", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton__of__milk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__apple_juice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 3 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 3 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 3, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "chocolate_cake", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton__of__milk", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__apple_juice", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_good_chocolate-0", "scene": "grocery_store_cafe", "task": "Put chocolates in sack. Put all money into cash register and close it.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "box__of__chocolates", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__cocoa", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "box__of__chocolates", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__cocoa", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_pet_food_for_less-0", "scene": "grocery_store_cafe", "task": "Bring all canned food onto the checkout counter. Then, pick up the money from your shopping cart and transfer it into cash register to pay for the items.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "can__of__dog_food", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__dog_food", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "canned_food", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "can__of__dog_food", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__dog_food", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "canned_food", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_rechargeable_batteries-0", "scene": "grocery_store_cafe", "task": "Place batteries and charger into a sack at the checkout. Use the money inside the shopping cart to pay for the batteries by putting the money into the cash register.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "battery", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "battery", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "charger", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shopping_cart", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "battery", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "battery", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "charger", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_salad_greens-0", "scene": "grocery_store_asian", "task": "Pick up the lettuce and spinach from the shelf and place them inside the sack at the checkout. Then, take the money from the checkout and put it inside the cash register.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "open" ], "affordances": [ "put_on" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "open" ], "affordances": [ "open" ] }, { "name": "lettuce", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "spinach", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "open" ], "affordances": [ "put_on" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "open" ], "affordances": [ "put_inside" ] }, { "name": "lettuce", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "spinach", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buy_school_supplies_for_high_school-0", "scene": "grocery_store_cafe", "task": "Bring school supplies to the checkout. Put money into cash register.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 3, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "laptop", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "calculator", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "notebook", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 3, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "laptop", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "calculator", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "notebook", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buying_cleaning_supplies-0", "scene": "grocery_store_cafe", "task": "Your goal is to move the bottle of liquid soap, the rag, the scrub brush, and the atomizer onto the checkout counter. Place the vacuum in the shopping cart. Pay for the items by placing all the money from your shopping cart into the cash register.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "bottle__of__liquid_soap", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "vacuum", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "rag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "scrub_brush", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "atomizer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "bottle__of__liquid_soap", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "vacuum", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shopping_cart", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "rag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "scrub_brush", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "atomizer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buying_groceries-0", "scene": "grocery_store_cafe", "task": "Buy groceries. Put bottles and milk in first sack and other in second sack. Put all money in cash refister to pay.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 3, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 4, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "prawn", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 4 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__apple_juice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "carton__of__milk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__peanut_butter", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bag__of__brown_rice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "banana", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 3 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 3, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 4, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "prawn", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__apple_juice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "carton__of__milk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__peanut_butter", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bag__of__brown_rice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "banana", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buying_groceries_for_a_feast-0", "scene": "grocery_store_asian", "task": "Put all groceries in cart and all money into cash register.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "grocery", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "put_inside" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "grocery", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "shopping_cart", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "put_inside" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buying_office_supplies-0", "scene": "grocery_store_asian", "task": "Bring office supplies on the checkout.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "open" ], "affordances": [ "put_inside" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tape", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "eraser", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "credit_card", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "open" ], "affordances": [ "put_inside" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tape", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "eraser", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "credit_card", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "buying_postage_stamps-0", "scene": "grocery_store_asian", "task": "Take the money on the checkout and put it inside the cash register to pay for the postage stamps.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "postage", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "postage", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "postage", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "postage", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "postage", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "postage", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "money", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cash_register", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "can_vegetables-0", "scene": "Beechwood_0_garden", "task": "Can aspargus in jars. Dont forget to put lid on jars", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "asparagus", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "asparagus", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "asparagus", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mason_jar", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_inside", "put_on" ] }, { "name": "mason_jar", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_inside", "put_on" ] }, { "name": "mason_jar", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_inside", "put_on" ] }, { "name": "lid", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "lid", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "lid", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carving_knife", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chopping_board", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "asparagus", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mason_jar", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "asparagus", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mason_jar", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "asparagus", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "mason_jar", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mason_jar", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_inside", "put_on" ] }, { "name": "mason_jar", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_inside", "put_on" ] }, { "name": "mason_jar", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_inside", "put_on" ] }, { "name": "lid", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "mason_jar", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "lid", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "mason_jar", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "lid", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "mason_jar", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carving_knife", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chopping_board", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "carrying_in_groceries-0", "scene": "Beechwood_0_garden", "task": "Transfer the groceries from the car to the kitchen. Place the bacon, beefsteak tomato, and carton of milk inside the refrigerator, and put the pack of bread on the countertop.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bacon", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "beefsteak_tomato", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pack__of__bread", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "carton__of__milk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bacon", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "beefsteak_tomato", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pack__of__bread", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "carton__of__milk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "carrying_out_garden_furniture-0", "scene": "Pomaria_0_garden", "task": "Your task is to relocate the lawn chairs and the barrow, which are currently on the bedroom floor, to the lawn area in the garden. Ensure all items are positioned on the lawn as depicted in the goal state.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn_chair", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "lawn_chair", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "barrow", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn_chair", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "lawn_chair", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "barrow", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ] }, { "name": "clean_up_after_a_dinner_party-0", "scene": "Benevolence_1_int", "task": "Open the cabinet in the kitchen. Take the tupperware from the cabinet and place both hamburgers inside one tupperware and both burritos inside the other. Ensure the tupperware are closed. Then, place both closed tupperware and the wine bottle inside the refrigerator. Finally, leave the cabinet open.", "init": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "wine_bottle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "hamburger", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "hamburger", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "burrito", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "burrito", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "tupperware", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "tupperware", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ], "goal": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "wine_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "hamburger", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "hamburger", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "burrito", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "burrito", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "tupperware", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "tupperware", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ] }, { "name": "clean_up_broken_glass-0", "scene": "Beechwood_0_garden", "task": "Put broken glass into bin.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "broken__glass", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "broom", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "dustpan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "open" ], "affordances": [ "pick_up", "put_inside" ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "broken__glass", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "broom", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "dustpan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "open" ], "affordances": [ "pick_up", "put_inside" ] } ] }, { "name": "clean_up_your_desk-0", "scene": "Beechwood_0_garden", "task": "Clean up desk. Put mails in tray and books into shelf. Pens and shears into box.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "desk", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "swivel_chair", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "notebook", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "mail", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "notebook", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "mail", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "folder", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "folder", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "shears", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pen", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "stapler", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "laptop", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "tray", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "paperback_book", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "paperback_book", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "pencil_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "desk", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "swivel_chair", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "notebook", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "mail", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "mail", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "folder", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "folder", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "shears", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pen", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "stapler", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "laptop", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "tray", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "paperback_book", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "paperback_book", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "pencil_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "cleaning_parks-0", "scene": "Beechwood_0_garden", "task": "Your goal is to pick up each of the three water bottles from the lawn and place them inside the recycling bin.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "cleaning_stuff_out_of_car-0", "scene": "Beechwood_0_garden", "task": "Remove objects from the car. Put them on the floor.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "plastic_bag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "dixie_cup", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "dixie_cup", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "box__of__candy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "box__of__candy", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "plastic_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "dixie_cup", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "dixie_cup", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "box__of__candy", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "box__of__candy", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "cleaning_up_branches_and_twigs-0", "scene": "Pomaria_0_garden", "task": "Your task is to collect all the branches from the grill and lawn and place them inside the ashcan in the garden.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "grill", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "branch", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "grill", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "branch", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "branch", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pruner", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "grill", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "branch", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "branch", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "branch", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pruner", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "clearing_table_after_snacks-0", "scene": "Benevolence_1_int", "task": "Your goal is to take the two halves of the apple from the breakfast table and place them inside the compost bin.", "init": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "half__apple", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "half__apple", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "dinner_napkin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "compost_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ], "goal": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "half__apple", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "compost_bin", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "half__apple", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "compost_bin", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "dinner_napkin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "compost_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ] }, { "name": "clearing_the_table_after_dinner-0", "scene": "Beechwood_0_garden", "task": "Your goal is to clear the table by placing all items into the buckets. Put cups in first bucket and other staff in second bucket.", "init": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chair", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "chair", "id": 2, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cup", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "cup", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bucket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bottle__of__catsup", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bucket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ], "goal": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chair", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "chair", "id": 2, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cup", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "cup", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bucket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 2 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 2 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 2 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 2 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bottle__of__catsup", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bucket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ] }, { "name": "collecting_aluminum_cans-0", "scene": "Beechwood_1_int", "task": "Place all six soda cans inside the bucket.", "init": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "bed", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "can__of__soda", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bucket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ], "goal": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "bed", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "can__of__soda", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bucket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ] }, { "name": "collecting_childrens_toys-0", "scene": "Merom_0_garden", "task": "Put all toys on shelf.", "init": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "die", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "die", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "teddy", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "train_set", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "teddy", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "board_game", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "die", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "die", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "teddy", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "train_set", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "teddy", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "board_game", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "collecting_dishes_from_around_house-0", "scene": "Wainscott_0_garden", "task": "Place all dishes in the kitchen sink.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "console_table", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "sink", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "off" ], "affordances": [ "put_inside", "turn_on", "turn_off" ] }, { "name": "mug", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "mug", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bowl", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "console_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "console_table", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "sink", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "off" ], "affordances": [ "put_inside", "turn_on", "turn_off" ] }, { "name": "mug", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sink", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "mug", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sink", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bowl", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sink", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "collecting_mail_from_the_letterbox-0", "scene": "Beechwood_0_garden", "task": "Carry the envelope to the living room and place it on the coffee table.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "mailbox", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "envelope", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mailbox", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "mailbox", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "envelope", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "collecting_wood-0", "scene": "Beechwood_0_garden", "task": "Bring woods into living room.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "log", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "log", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "log", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "log", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "log", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "log", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "log", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "log", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "composting_waste-0", "scene": "Beechwood_0_garden", "task": "Put fruits in compost bin.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "banana", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "apple", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "compost_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "banana", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "compost_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "apple", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "compost_bin", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "compost_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "dispose_of_a_pizza_box-0", "scene": "Beechwood_0_garden", "task": "Pizza is spoiled. Get rid of it and box.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "pizza_box", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pizza", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pizza_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "pizza_box", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pizza", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pizza_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "dispose_of_batteries-0", "scene": "Beechwood_1_int", "task": "Dispose of batteries.", "init": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "battery", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hand_blower", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "battery", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "razor", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ], "goal": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "battery", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hand_blower", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "battery", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "razor", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ] }, { "name": "dispose_of_fireworks-0", "scene": "Beechwood_0_garden", "task": "Your goal is to place all four fireworks into the ashcan.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "firework", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "firework", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "firework", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "firework", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "firework", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "firework", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "firework", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "firework", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "dispose_of_paper-0", "scene": "Beechwood_0_garden", "task": "Your task is to dispose of all the paper items into the recycling bin.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "wrapping_paper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "paper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "paper", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "wrapping_paper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "paper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "paper", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "distributing_event_T_shirts-0", "scene": "Benevolence_0_int", "task": "Remove all eight jerseys from carton and place them on top of the booth.", "init": [ { "name": "empty_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "empty_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "jersey", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 7, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 8, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "booth", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "empty_room", 1 ] } ], "goal": [ { "name": "empty_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "empty_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "jersey", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "booth", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "booth", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "booth", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "booth", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "booth", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "booth", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 7, "type": "object", "relation": "ontop_of", "related_to": [ "booth", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "jersey", "id": 8, "type": "object", "relation": "ontop_of", "related_to": [ "booth", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "booth", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "empty_room", 1 ] } ] }, { "name": "distributing_groceries_at_food_bank-0", "scene": "grocery_store_asian", "task": "Pack all boxes. Every box should contain one pasta, milk, juise and canned food. Extra products stay in shelf.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "packing_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "packing_box", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "packing_box", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "open" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "packing_box", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "carton__of__milk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton__of__milk", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton__of__milk", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton__of__milk", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__apple_juice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__apple_juice", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__apple_juice", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__apple_juice", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__apple_juice", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "packing_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "packing_box", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "packing_box", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "packing_box", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "carton__of__milk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton__of__milk", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton__of__milk", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton__of__milk", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 4 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__apple_juice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__apple_juice", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__apple_juice", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 3 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__apple_juice", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 4 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__apple_juice", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 3 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "canned_food", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 4 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 3 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 4 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pack__of__pasta", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "donating_clothing-0", "scene": "Beechwood_1_int", "task": "Pack clothes and shoes into box.", "init": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "bed", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "closet", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sweater", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "boot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "boot", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sandal", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sandal", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "dress", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "jersey", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ], "goal": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "bed", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "closet", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sweater", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "boot", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "boot", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sandal", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sandal", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "dress", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "jersey", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ] }, { "name": "donating_toys-0", "scene": "Beechwood_0_garden", "task": "Put toys inside box.", "init": [ { "name": "storage_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "storage_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "teddy", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "packing_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "storage_room", 1 ] } ], "goal": [ { "name": "storage_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "storage_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "teddy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "packing_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "storage_room", 1 ] } ] }, { "name": "emptying_trash_cans-0", "scene": "Beechwood_0_garden", "task": "Trasfer items from thrash into sack. Put rags in first sack and other thrash in second.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "ashcan", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "rag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "rag", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "ashcan", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "rag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "rag", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "fold_a_tortilla-0", "scene": "Beechwood_0_garden", "task": "Place tortillas on plate.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tortilla", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "tortilla", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tortilla", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "plate", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "tortilla", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "plate", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "getting_package_from_post_office-0", "scene": "office_cubicles_right", "task": "Bring packages on desk.", "init": [ { "name": "shared_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "shared_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "private_office", "id": 1, "type": "place" }, { "name": "desk", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "shared_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "cabinet", "id": 2, "type": "asset", "place": "shared_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "keyboard", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "turn_on", "turn_off" ] }, { "name": "package", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "package", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "magazine", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "letter", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "postage", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "postage", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mail", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "mail", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "shared_office", 1 ] } ], "goal": [ { "name": "shared_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "shared_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "private_office", "id": 1, "type": "place" }, { "name": "desk", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "shared_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "cabinet", "id": 2, "type": "asset", "place": "shared_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "keyboard", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "turn_on", "turn_off" ] }, { "name": "package", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "package", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "magazine", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "letter", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "postage", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "postage", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mail", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "mail", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "shared_office", 1 ] } ] }, { "name": "hoe_weeds-0", "scene": "Beechwood_0_garden", "task": "Your goal is to remove all five weeds from on top of the lawn and place them inside the ashcan. Ensure the ashcan remains closed and on the lawn. Make sure the hoe stays on the lawn during this task.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "weed", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "weed", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "weed", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "weed", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "weed", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hoe", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "weed", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "weed", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "weed", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "weed", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "weed", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hoe", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ashcan", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "installing_a_fax_machine-0", "scene": "Beechwood_0_garden", "task": "Pick up the fax machine from the floor and place it on top of the table in the private office. Then, turn the facsimile on.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "facsimile", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": ["off"], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "facsimile", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": ["on"], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "installing_a_printer-0", "scene": "Beechwood_0_garden", "task": "Move the printer from the floor to the table. Once placed on the table, ensure the printer is turned on.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "printer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "printer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed", "on" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "installing_alarms-0", "scene": "Beechwood_0_garden", "task": "Ensure both alarms on the table in the living room are turned on.", "init": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "table", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "alarm", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "alarm", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "table", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "alarm", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [ "closed", "on" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "alarm", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [ "closed", "on" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "installing_carpet-0", "scene": "Beechwood_0_garden", "task": "Put the rags on the floor", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "rug", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rug", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rug", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "rug", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rug", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rug", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "laying_clothes_out-0", "scene": "house_single_floor", "task": "Bring jacket and sandls in bedroom. Put jacket on bed.", "init": [ { "name": "closet", "id": 1, "type": "place" }, { "name": "wardrobe", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "bed", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "jacket", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wardrobe", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "sandal", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wardrobe", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "closet", 1 ] } ], "goal": [ { "name": "closet", "id": 1, "type": "place" }, { "name": "wardrobe", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "bed", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "jacket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "sandal", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "closet", 1 ] } ] }, { "name": "laying_out_snacks_at_work-0", "scene": "office_large", "task": "Bring bowls with food on conference table.", "init": [ { "name": "meeting_room", "id": 1, "type": "place" }, { "name": "conference_table", "id": 1, "type": "asset", "place": "meeting_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "meeting_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "meeting_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chip", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tortilla", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bowl", 2 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "meeting_room", 1 ] } ], "goal": [ { "name": "meeting_room", "id": 1, "type": "place" }, { "name": "conference_table", "id": 1, "type": "asset", "place": "meeting_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "meeting_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "meeting_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chip", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tortilla", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bowl", 2 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "conference_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bowl", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "conference_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "meeting_room", 1 ] } ] }, { "name": "laying_tile_floors-0", "scene": "Beechwood_0_garden", "task": "Bring all tiles to bathroom floor.", "init": [ { "name": "corridor", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "corridor", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bathroom", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "bathroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "tile", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tile", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tile", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tile", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "corridor", 1 ] } ], "goal": [ { "name": "corridor", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "corridor", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bathroom", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "bathroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "tile", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tile", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tile", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tile", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "corridor", 1 ] } ] }, { "name": "lighting_fireplace-0", "scene": "house_single_floor", "task": "Prepare everything for the fireplace.Put lighter on fireplace.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "fireplace", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "open" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "firewood", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cigar_lighter", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "fireplace", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "open" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "firewood", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "fireplace", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cigar_lighter", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "fireplace", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "open", "close", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "line_kitchen_shelves-0", "scene": "Beechwood_0_garden", "task": "Your goal is to put lining 1 inside shelf 1 and lining 2 inside shelf 2.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lining", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "put_on" ] }, { "name": "lining", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lining", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "put_on" ] }, { "name": "lining", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [], "affordances": [ "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "loading_shopping_into_car-0", "scene": "Beechwood_0_garden", "task": "Load sacks and wine into car.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "pineapple", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "egg", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bag__of__jerky", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "wine_bottle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "wine_bottle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "pineapple", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "egg", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "egg", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bag__of__jerky", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "wine_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "wine_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "loading_the_car-0", "scene": "Beechwood_0_garden", "task": "Load car with intems from driveway.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "laptop", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "bag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "laptop", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "mailing_letters-0", "scene": "Beechwood_0_garden", "task": "Mail letters.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "sofa", "id": 1, "type": "asset", "place": 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"garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "sofa", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "envelope", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mailbox", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "envelope", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mailbox", 1 ], "states": [ "closed" ], 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"place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "insectifuge__atomizer", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "shears", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "inhaler", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "make_a_military_care_package-0", "scene": "Beechwood_0_garden", "task": "Make a military care package.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bottle__of__vodka", "id": 1, "type": "object", "relation": "ontop_of", 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"type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bottle__of__vodka", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__shampoo", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__liquid_soap", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "flashlight", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "toothbrush", "id": 1, "type": "object", "relation": "inside_of", "related_to": 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"name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "doll", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "doll", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "teddy", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], 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"id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "doll", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "doll", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "teddy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "teddy", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "box__of__chocolates", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "box__of__chocolates", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "box__of__chocolates", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "box__of__chocolates", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "make_gift_bags_for_baby_showers-0", "scene": "Beechwood_0_garden", "task": "Your goal is to prepare three gift bags for a baby 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"id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "doll", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "doll", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "doll", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wafer", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wafer", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wafer", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "make_rose_centerpieces-0", "scene": "Beechwood_0_garden", "task": "Put roses in a vase.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "vase", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "rose", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rose", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rose", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rose", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "vase", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "rose", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "vase", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rose", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "vase", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rose", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "vase", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "rose", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "vase", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "make_the_ultimate_spa_basket-0", "scene": "hotel_gym_spa", "task": "Make spa basket.", "init": [ { "name": "spa", "id": 1, "type": "place" }, { "name": "console_table", "id": 1, "type": "asset", "place": "spa", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "spa", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "console_table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bottle__of__lotion", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "console_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__perfume", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "console_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__essential_oil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "console_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "spa", 1 ] } ], "goal": [ { "name": "spa", "id": 1, "type": "place" }, { "name": "console_table", "id": 1, "type": "asset", "place": "spa", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "spa", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "console_table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bottle__of__lotion", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__perfume", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__essential_oil", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "spa", 1 ] } ] }, { "name": "moving_boxes_to_storage-0", "scene": "Beechwood_0_garden", "task": "Take the boxes away for storage.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "storage_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "storage_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "storage_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "storage_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "storage_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "storage_room", 1 ] } ] }, { "name": "moving_stuff_to_storage-0", "scene": "Beechwood_0_garden", "task": "Put sport inventory in first carton and other into second. Put boxes on floor in storage room.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "storage_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "storage_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "ice_skate", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ice_skate", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bowling_ball", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "textbook", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "textbook", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "painting", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "storage_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "storage_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "ice_skate", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ice_skate", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bowling_ball", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "textbook", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "textbook", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "painting", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "opening_doors-0", "scene": "Beechwood_0_garden", "task": "Your goal is to ensure that both doors, one located in the bathroom and the other in the living room, are open. You are currently in the bathroom, so you need to open the bathroom door first, then proceed to the living room and open that door as well.", "init": [ { "name": "bathroom", "id": 1, "type": "place" }, { "name": "door", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "door", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "bathroom", 1 ] } ], "goal": [ { "name": "bathroom", "id": 1, "type": "place" }, { "name": "door", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [ "open" ], "affordances": [ "open", "close" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "door", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "open" ], "affordances": [ "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "bathroom", 1 ] } ] }, { "name": "opening_windows-0", "scene": "Beechwood_0_garden", "task": "Ensure both windows in the living room are opened. The agent must remain in the living room.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "window", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { "name": "window", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "window", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "open" ], "affordances": [ "open", "close" ] }, { "name": "window", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "open" ], "affordances": [ "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "organizing_art_supplies-0", "scene": "Beechwood_0_garden", "task": "Organize art supplies into bag. Put bag on sofa.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sofa", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "duffel_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "sofa", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "paintbrush", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "sofa", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "marker", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pen", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sofa", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "duffel_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "sofa", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "paintbrush", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "marker", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pen", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "organizing_boxes_in_garage-0", "scene": "Ihlen_0_int", "task": "Put bowling balls in first carton. Place cooking staff in second carton.", "init": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "ball", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ball", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "saucepan", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ], "goal": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "ball", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "ball", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "saucepan", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ] }, { "name": "organizing_file_cabinet-0", "scene": "Beechwood_0_garden", "task": "Put all documents and folders in cabinet and bring marker on table.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chair", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "marker", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "chair", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "document", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "document", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "document", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "document", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "folder", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "folder", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chair", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "marker", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "document", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "document", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "document", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "document", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "folder", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "folder", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "organizing_office_documents-0", "scene": "Beechwood_0_garden", "task": "Put all documents in folder.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "legal_document", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "legal_document", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "folder", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "post-it", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "legal_document", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "folder", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "legal_document", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "folder", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "folder", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "post-it", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "folder", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "outfit_a_basic_toolbox-0", "scene": "Benevolence_0_int", "task": "Put instruments in toolbox.", "init": [ { "name": "empty_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "empty_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "drill", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "pliers", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toolbox", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "flashlight", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "allen_wrench", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "screwdriver", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "empty_room", 1 ] } ], "goal": [ { "name": "empty_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "empty_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "drill", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "pliers", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toolbox", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "flashlight", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "allen_wrench", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "screwdriver", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "empty_room", 1 ] } ] }, { "name": "pack_a_pencil_case-0", "scene": "house_single_floor", "task": "Your task is to open the pencil box and place the pen, pencil, eraser, and shears inside it, then close the pencil box.", "init": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "desk", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pencil_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "eraser", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "shears", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ], "goal": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "desk", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pencil_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "eraser", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "shears", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ] }, { "name": "pack_your_gym_bag-0", "scene": "Beechwood_0_garden", "task": "Pack gym bag.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "muffin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tank_top", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "duffel_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "gym_shoe", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "gym_shoe", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sock", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sock", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "muffin", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tank_top", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "duffel_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "gym_shoe", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "gym_shoe", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sock", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sock", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "duffel_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "packing_art_supplies_into_car-0", "scene": "Beechwood_0_garden", "task": "Pack art supplies in car. Keep all items organized inside the bag.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "marker", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "marker", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "bag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pencil", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "marker", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "marker", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "packing_bags_or_suitcase-0", "scene": "Beechwood_1_int", "task": "Pack backpack.", "init": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "bed", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "door", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { 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"task": "Load items in first bag. 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"affordances": [ "pick_up" ] }, { "name": "toilet_tissue", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "salt__shaker", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 4 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "salt__shaker", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 4 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bap", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bap", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__cold_cream", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__shampoo", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "toilet_tissue", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toilet_tissue", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "salt__shaker", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 4 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "salt__shaker", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 4 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "packing_hiking_equipment_into_car-0", "scene": "Beechwood_0_garden", "task": "Pack backpack. Prepare hiking equipment in car.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "biscuit", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "biscuit", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "tent", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "sleeping_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "biscuit", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "biscuit", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "tent", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "sleeping_bag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "packing_hobby_equipment-0", "scene": "Beechwood_0_garden", "task": "Clean up after party. 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"affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "jigsaw_puzzle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "baseball", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "soccer_ball", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "packing_moving_van-0", "scene": "Merom_0_garden", "task": "Load everything in pickup.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chair", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "chair", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "pickup", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "mattress", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "blanket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chair", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pickup", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "chair", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "pickup", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "pickup", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "mattress", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pickup", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "blanket", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pickup", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pickup", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", 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Put all products in bags. Leave the bottle of water in car.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "hamburger", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "hamburger", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tortilla_chip", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tortilla_chip", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "apple_pie", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "muffin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "crescent_roll", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "crescent_roll", "id": 2, "type": "object", "relation": "ontop_of", 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"turn_on", "turn_off" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "blanket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "beer_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "beer_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "cupcake", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ 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1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "tree", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "tree", "id": 2, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "sock", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sock", "id": 2, "type": "object", "relation": 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"name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "tree", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "tree", "id": 2, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "sock", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sock", "id": 2, "type": "object", 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"grocery_store_asian", "task": "Pay for purchases. 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"ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "picking_up_baggage-0", "scene": "house_single_floor", "task": "Load baggage from home into car.", "init": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ], "goal": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ] }, { "name": "picking_up_books_at_library-0", "scene": "Beechwood_0_garden", "task": "Pack backpack with books.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "desk", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "paperback_book", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "paperback_book", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "book", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "desk", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "paperback_book", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "paperback_book", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "book", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "book", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "picking_up_litter-0", "scene": "Beechwood_0_garden", "task": "Move garbage in bin.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plastic_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "tissue", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tissue", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tissue", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plastic_bag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "tissue", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tissue", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tissue", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "picking_up_prescriptions-0", "scene": "grocery_store_asian", "task": "Collect pills and antihistamines in a sack.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "pill_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pill_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bottle__of__antihistamines", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__antihistamines", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "printer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "desktop_computer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed", "off" ], "affordances": [ "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "sheet", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "printer", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "pill_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pill_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bottle__of__antihistamines", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__antihistamines", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "printer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "desktop_computer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed", "off" ], "affordances": [ "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "sheet", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "printer", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "picking_up_take_out_food-0", "scene": "Beechwood_0_garden", "task": "Bring carton with food on table.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "dining_room", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "sushi", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hamburger", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "dining_room", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "sushi", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hamburger", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "picking_up_toys-0", "scene": "Beechwood_1_int", "task": "Gather all toys in toy box. Tennis ball in basket should be in shelf.", "init": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "window", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "board_game", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "jigsaw_puzzle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tennis_ball", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toy_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "toy_box", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ], "goal": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "window", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "board_game", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toy_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "toy_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "toy_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toy_box", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "jigsaw_puzzle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "toy_box", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tennis_ball", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toy_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "toy_box", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ] }, { "name": "picking_up_trash-0", "scene": "Beechwood_0_garden", "task": "Gather all trash in house into the ashcan.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "ashcan", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": ["closed"], "affordances": [ "open", "close", "put_inside" ] }, { "name": "pad", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "pad", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "pad", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "can__of__soda", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "ashcan", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": ["closed"], "affordances": [ "open", "close", "put_inside" ] }, { "name": "pad", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "pad", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "pad", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "can__of__soda", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can__of__soda", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "ashcan", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "picking_vegetables_in_garden-0", "scene": "Beechwood_0_garden", "task": "Gather all vegetables in first basket.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "rail_fence", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "artichoke", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chard", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "beet", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "rail_fence", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed" ], "affordances": [ "open", "close" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "artichoke", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chard", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "beet", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "place_houseplants_around_your_home-0", "scene": "Beechwood_0_garden", "task": "Move the houseplants to the dining room, placing the pots on the table and the cactuses in the corner on the floor.", "init": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cactus", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cactus", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot_plant", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot_plant", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cactus", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cactus", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot_plant", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot_plant", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "planting_flowers-0", "scene": "Beechwood_0_garden", "task": "Plant all flowers into pots. Placing dahlias in the first four pots", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pottable__dahlia", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__dahlia", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__dahlia", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__dahlia", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 7, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 8, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pottable__dahlia", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pot", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__dahlia", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "pot", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__dahlia", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "pot", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__dahlia", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "pot", 4 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pot", 5 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "pot", 6 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "pot", 7 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "pot", 8 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 7, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "pot", "id": 8, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [ ], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "planting_plants-0", "scene": "Beechwood_0_garden", "task": "Pot plants from lawn into pots. Cactus should be in firts pot.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pottable__cactus", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__daffodil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__daffodil", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "turn_on", "turn_off" ] }, { "name": "pot", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "turn_on", "turn_off" ] }, { "name": "pot", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pottable__cactus", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pot", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__daffodil", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pot", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__daffodil", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "pot", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "turn_on", "turn_off" ] }, { "name": "pot", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "turn_on", "turn_off" ] }, { "name": "pot", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "driveway", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "prepare_a_breakfast_bar-0", "scene": "Benevolence_1_int", "task": "Prepare a breakfast bar. Food should be in platters.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "dining_room", "id": 1, "type": "place" }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "tray", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton__of__orange_juice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "platter", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "platter", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "platter", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "buttermilk_pancake", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 4 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "buttermilk_pancake", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 4 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tray", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "waffle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "waffle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tray", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "scone", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "muffin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toast", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 3 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "danish", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tray", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "dining_room", "id": 1, "type": "place" }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "tray", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton__of__orange_juice", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "platter", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "platter", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "platter", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "buttermilk_pancake", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "platter", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "buttermilk_pancake", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "platter", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tray", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "waffle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "platter", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "waffle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "platter", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tray", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "scone", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "platter", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "muffin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "platter", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toast", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "platter", 3 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "danish", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "platter", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tray", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ] }, { "name": "prepare_a_hanging_basket-0", "scene": "Pomaria_0_garden", "task": "Your goal is to move all three marigold plants into the pot to prepare a hanging basket.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "pottable__marigold", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "turn_on", "turn_off" ] }, { "name": "trowel", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "pottable__marigold", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pot", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "pot", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pottable__marigold", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "pot", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "put_inside", "turn_on", "turn_off" ] }, { "name": "trowel", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "prepare_an_emergency_school_kit-0", "scene": "Beechwood_0_garden", "task": "Pack backpack.", "init": [ { "name": "corridor", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "corridor", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "notebook", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bottle__of__perfume", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "granola_bar", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "wallet", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "tissue", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "box__of__candy", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "corridor", 1 ] } ], "goal": [ { "name": "corridor", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "corridor", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pen", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "notebook", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bottle__of__perfume", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "granola_bar", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "wallet", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "tissue", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "box__of__candy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "corridor", 1 ] } ] }, { "name": "preparing_clothes_for_the_next_day-0", "scene": "house_single_floor", "task": "Prepare all clothes and footwear in the child's room. Place the wallet on the bed as well.", "init": [ { "name": "closet", "id": 1, "type": "place" }, { "name": "wardrobe", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bed", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "coat", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wardrobe", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "boot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "boot", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "trouser", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wardrobe", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wallet", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cedar_chest", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "cedar_chest", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "closet", 1 ] } ], "goal": [ { "name": "closet", "id": 1, "type": "place" }, { "name": "wardrobe", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "closet", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bed", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "coat", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "boot", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "boot", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "trouser", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wallet", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "bed", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "cedar_chest", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "closet", 1 ] } ] }, { "name": "preparing_food_for_a_fundraiser-0", "scene": "Beechwood_0_garden", "task": "Pack the food and sauces in a carton. Place the cheddar with bratwurst and bread in the first and second tupperwares, and the lasagna in the third", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "cabinet", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "bottle__of__hot_sauce", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "cheddar", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cheddar", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "lasagna", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__soup", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bratwurst", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bread_slice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tupperware", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "tupperware", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "tupperware", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "cabinet", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "bottle__of__hot_sauce", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "cheddar", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cheddar", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "lasagna", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__soup", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bratwurst", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bread_slice", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tupperware", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "tupperware", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "tupperware", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "preparing_lunch_box-0", "scene": "Beechwood_0_garden", "task": "Prepare lunch box.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chopping_board", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "packing_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "half__apple", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "half__apple", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "club_sandwich", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "chocolate_chip_cookie", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "chopping_board", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chopping_board", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "packing_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "half__apple", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "half__apple", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "club_sandwich", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "chocolate_chip_cookie", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "put_together_a_scrapping_tool_kit-0", "scene": "Ihlen_0_int", "task": "Put instruments in toolbox.", "init": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "toolbox", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pliers", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wrench", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hammer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "screwdriver", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ], "goal": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "toolbox", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "pliers", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wrench", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hammer", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "screwdriver", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ] }, { "name": "put_togethera_basic_pruning_kit-0", "scene": "Ihlen_0_int", "task": "Put instruments in toolbox.", "init": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pruner", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "shears", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "toolbox", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ], "goal": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "pruner", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "shears", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "toolbox", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ] }, { "name": "putting_away_cleaning_supplies-0", "scene": "Beechwood_0_garden", "task": "Put cleaning supplies in cabinet.", "init": [ { "name": "utility_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "utility_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "utility_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bottle__of__detergent", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__liquid_soap", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "glove", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "glove", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__bleach_agent", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "utility_room", 1 ] } ], "goal": [ { "name": "utility_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "utility_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "utility_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bottle__of__detergent", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__liquid_soap", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "glove", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "glove", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__bleach_agent", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "utility_room", 1 ] } ] }, { "name": "putting_away_games-0", "scene": "house_single_floor", "task": "Place the board games in first carton and jigsaw puzzles second cartons, then put them on the shelves.", "init": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "desk", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "board_game", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "jigsaw_puzzle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "jigsaw_puzzle", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ], "goal": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "shelf", "id": 2, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "desk", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "board_game", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "board_game", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "jigsaw_puzzle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "jigsaw_puzzle", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ] }, { "name": "putting_away_tools-0", "scene": "Ihlen_0_int", "task": "Put instruments in one toolbox.", "init": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "screwdriver", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "screwdriver", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wrench", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wire_cutter", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chisel", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toolbox", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "toolbox", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "wrench", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ], "goal": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "screwdriver", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "screwdriver", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wrench", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "wire_cutter", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chisel", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "toolbox", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "toolbox", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "wrench", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "toolbox", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ] }, { "name": "putting_away_toys-0", "scene": "Beechwood_0_garden", "task": "Put toys in cartons.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "dining_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plaything", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 7, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 8, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "dining_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plaything", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 6, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 7, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plaything", "id": 8, "type": "object", "relation": "inside_of", "related_to": [ "carton", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "putting_backpack_in_car_for_school-0", "scene": "Pomaria_0_garden", "task": "Bring backpack in car.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "book", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pencil_box", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 2, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "backpack", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "book", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pencil_box", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "backpack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ] }, { "name": "putting_dishes_away_after_cleaning-0", "scene": "Beechwood_0_garden", "task": "Move all plates from the countertops into the cabinet.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "countertop", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 6, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 7, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 8, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "countertop", "id": 2, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": 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"affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "recycling_newspapers-0", "scene": "Beechwood_0_garden", "task": "Throw away paper.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chair", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "chair", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "newspaper", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "newspaper", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "chair", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "chair", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "newspaper", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "newspaper", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "recycling_office_papers-0", "scene": "Pomaria_0_garden", "task": "Move all paper in bin.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "legal_document", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "legal_document", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "legal_document", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "recycling_bin", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "legal_document", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "legal_document", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "legal_document", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "recycling_bin", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "remove_sod-0", "scene": "Beechwood_0_garden", "task": "Your goal is to remove the turf pieces from the lawn and place them onto the garden floor.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "turf", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "turf", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "turf", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "turf", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "barrow", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "shovel", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "barrow", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "lawn", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "turf", "id": 1, "type": "object", "relation": null, "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "turf", "id": 2, "type": "object", "relation": null, "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "turf", "id": 3, "type": "object", "relation": null, "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "turf", "id": 4, "type": "object", "relation": null, "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "barrow", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "lawn", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "shovel", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "barrow", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "returning_consumer_goods-0", "scene": "grocery_store_asian", "task": "Retun bottles to checkout. Put money in bag.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "money", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__soda", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__soda", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "shoulder_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "money", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shoulder_bag", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__soda", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__soda", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "shoulder_bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "returning_videotapes_to_store-0", "scene": "grocery_store_asian", "task": "Put videodisks on shelf.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "videodisk", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "videodisk", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "videodisk", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "cash_register", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [ "closed" ], "affordances": [ "open", "close", "put_inside" ] }, { "name": "videodisk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "videodisk", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "videodisk", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "set_up_a_home_office_in_your_garage-0", "scene": "Ihlen_0_int", "task": "Setup home office in garage.", "init": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table_lamp", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "turn_on", "turn_off" ] }, { "name": "computer", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed", "off" ], "affordances": [ "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "router", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "table", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ], "goal": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table_lamp", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "put_on", "turn_on", "turn_off" ] }, { "name": "computer", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed", "off" ], "affordances": [ "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "router", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "off" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "table", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ] }, { "name": "setting_the_table-0", "scene": "Benevolence_1_int", "task": "Prepare the burgers for the meal.", "init": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "hamburger", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "hamburger", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tablefork", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tablefork", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "place_mat", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "place_mat", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ], "goal": [ { "name": "dining_room", "id": 1, "type": "place" }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "dining_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "hamburger", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "plate", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "hamburger", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "plate", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tablefork", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "place_mat", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tablefork", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "place_mat", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "plate", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "place_mat", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "plate", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "place_mat", 2 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "place_mat", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "place_mat", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "dining_room", 1 ] } ] }, { "name": "setting_up_room_for_games-0", "scene": "Merom_0_garden", "task": "Prepare table in living room for games.", "init": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "die", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "board_game", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ], "goal": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "die", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "board_game", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "jigsaw_puzzle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ] }, { "name": "setup_a_baby_crib-0", "scene": "Beechwood_1_int", "task": "Setup a baby crib.", "init": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "teddy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "doll", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "blanket", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "crib", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ], "goal": [ { "name": "childs_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "childs_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "teddy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "crib", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "doll", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "crib", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "blanket", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "crib", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "crib", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "childs_room", 1 ] } ] }, { "name": "shopping_at_warehouse_stores-0", "scene": "grocery_store_cafe", "task": "Unload shopping cart.", "init": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_inside" ] }, { "name": "box__of__corn_flakes", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shopping_cart", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "baguet", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bag__of__cream_cheese", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shopping_cart", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pomegranate", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shopping_cart", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "watermelon", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shopping_cart", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "chicken", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shopping_cart", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ], "goal": [ { "name": "grocery_store", "id": 1, "type": "place" }, { "name": "checkout", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "grocery_store", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shopping_cart", "id": 1, "type": "asset", "place": 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"id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "checkout", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "grocery_store", 1 ] } ] }, { "name": "sorting_art_supplies-0", "scene": "Beechwood_0_garden", "task": "Put art supplies in cabinet. Markers and paintbrushes need to be in pencil boxes.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sheet", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "sheet", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "bottle__of__glue", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ 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[ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sheet", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": 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"pick_up", "put_inside", "open", "close" ] }, { "name": "marker", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "marker", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "sorting_bottles_cans_and_paper-0", "scene": "Beechwood_0_garden", "task": "Sort bottles in the first bucket, cans in the second, and papers in the third.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bucket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bucket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bucket", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "magazine", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bucket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bucket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "bucket", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "water_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "water_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "can", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 3 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "magazine", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "bucket", 3 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "sorting_potatoes-0", "scene": "Beechwood_0_garden", "task": "Sort vegetables. Sack 3 for potatoes, Sack 2 for yam and first sack for everything else.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "potato", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "potato", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "potato", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "potato", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "potato", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bok_choy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bok_choy", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "butternut_squash", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "butternut_squash", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "yam", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "yam", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "yam", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "potato", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "potato", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "potato", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "potato", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "potato", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "sack", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bok_choy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bok_choy", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "butternut_squash", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "butternut_squash", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 2 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "yam", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "yam", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "yam", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sack", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "sorting_vegetables-0", "scene": "Beechwood_0_garden", "task": "Prepare mixing bowles. Each bowl should contain one vegetable of all types.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "mixing_bowl", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "mixing_bowl", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "mixing_bowl", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bok_choy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bok_choy", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bok_choy", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chard", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chard", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chard", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sweet_corn", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sweet_corn", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sweet_corn", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "artichoke", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "artichoke", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "artichoke", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "leek", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "leek", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "leek", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "wicker_basket", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "mixing_bowl", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "mixing_bowl", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "mixing_bowl", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "wicker_basket", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "wicker_basket", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "bok_choy", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bok_choy", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bok_choy", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chard", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chard", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chard", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sweet_corn", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sweet_corn", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sweet_corn", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "artichoke", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "artichoke", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "artichoke", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "leek", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "leek", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 2 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "leek", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 3 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "stock_a_bar-0", "scene": "grocery_store_cafe", "task": "Stock a bar(shelf).", "init": [ { "name": "bar", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "bar", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "bar", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "bottle__of__vodka", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__rum", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__gin", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__vodka", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__rum", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bar", 1 ] } ], "goal": [ { "name": "bar", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "bar", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "bar", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "bottle__of__vodka", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__rum", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__gin", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__vodka", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__rum", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bar", 1 ] } ] }, { "name": "store_an_uncooked_turkey-0", "scene": "Beechwood_0_garden", "task": "Your goal is to place the turkey onto the cookie sheet. Then, place both the cookie sheet and the turkey inside the refrigerator.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "turkey", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cookie_sheet", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "turkey", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "cookie_sheet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cookie_sheet", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "store_batteries-0", "scene": "house_single_floor", "task": "Store batteries in chest.", "init": [ { "name": "bathroom", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "chest_of_drawers", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "battery", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "battery", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "bathroom", 1 ] } ], "goal": [ { "name": "bathroom", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "chest_of_drawers", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bathroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "battery", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "chest_of_drawers", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "battery", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "chest_of_drawers", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "bathroom", 1 ] } ] }, { "name": "store_beer-0", "scene": "Beechwood_0_garden", "task": "Chill the beer.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "beer_bottle", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "beer_bottle", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "beer_bottle", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "beer_bottle", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "beer_bottle", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "beer_bottle", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "beer_bottle", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "beer_bottle", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "store_bobby_pins-0", "scene": "Pomaria_0_garden", "task": "Put all pins in pencil box.", "init": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bobby_pin", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bobby_pin", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bobby_pin", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pencil_box", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ], "goal": [ { "name": "bedroom", "id": 1, "type": "place" }, { "name": "shelf", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "bedroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bobby_pin", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bobby_pin", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bobby_pin", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "pencil_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pencil_box", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "bedroom", 1 ] } ] }, { "name": "store_brownies-0", "scene": "Beechwood_0_garden", "task": "Transfer all the brownies to a Tupperware container and place them in the refrigerator.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "brownie", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "brownie", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "brownie", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "brownie", "id": 4, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "brownie", "id": 5, "type": "object", "relation": "ontop_of", "related_to": [ "tray", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tray", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tupperware", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "brownie", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "brownie", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "brownie", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "brownie", "id": 4, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "brownie", "id": 5, "type": "object", "relation": "inside_of", "related_to": [ "tupperware", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tray", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tupperware", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "store_daffodil_bulbs-0", "scene": "Beechwood_0_garden", "task": "Store daffodil in mixing bowl in cabinet.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "daffodil_bulb", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "daffodil_bulb", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "daffodil_bulb", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mixing_bowl", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "daffodil_bulb", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "daffodil_bulb", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "daffodil_bulb", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "mixing_bowl", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mixing_bowl", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "store_firewood-0", "scene": "Beechwood_0_garden", "task": "Your goal is to place all pieces of firewood onto the table in the living room.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "firewood", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "firewood", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "firewood", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "firewood", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "firewood", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "firewood", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "store_honey-0", "scene": "Beechwood_0_garden", "task": "Store honey in cabinet.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "jar__of__honey", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "jar__of__honey", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "store_nuts-0", "scene": "Beechwood_0_garden", "task": "Store walnuts inside container and put them in cabinet.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "walnut", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "walnut", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "walnut", "id": 3, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mason_jar", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "walnut", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "mason_jar", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "walnut", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "mason_jar", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "walnut", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "mason_jar", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mason_jar", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "store_produce-0", "scene": "Beechwood_0_garden", "task": "Unload the sack.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "mango", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mango", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pomegranate", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pomegranate", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "mango", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "mango", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "pomegranate", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "pomegranate", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "store_silver_coins-0", "scene": "Pomaria_0_garden", "task": "Collect the coins somwhere and put them in the cabinet.", "init": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "silver", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "silver", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hand_towel", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cup", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ], "goal": [ { "name": "private_office", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "breakfast_table", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "private_office", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "silver", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cup", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "silver", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cup", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "hand_towel", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "breakfast_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "cup", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "private_office", 1 ] } ] }, { "name": "store_tulip_bulbs-0", "scene": "Beechwood_0_garden", "task": "Store tulip in box into refrigerator.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "packing_box", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "tulip", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tulip", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "packing_box", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "put_inside", "open", "close" ] }, { "name": "tulip", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "tulip", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "packing_box", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "storing_food-0", "scene": "Beechwood_0_garden", "task": "Store food in cabinet.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "box__of__oatmeal", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "box__of__oatmeal", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "chip", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chip", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__olive_oil", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__olive_oil", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "jar__of__sugar", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "jar__of__sugar", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "countertop", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "countertop", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "box__of__oatmeal", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "box__of__oatmeal", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_on", "open", "close" ] }, { "name": "chip", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "chip", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__olive_oil", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "bottle__of__olive_oil", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "jar__of__sugar", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "jar__of__sugar", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "taking_clothes_out_of_the_dryer-0", "scene": "Beechwood_0_garden", "task": "Unloading the washing machine.", "init": [ { "name": "utility_room", "id": 1, "type": "place" }, { "name": "clothes_dryer", "id": 1, "type": "asset", "place": "utility_room", "place_id": 1, "states": [ "off" ], "affordances": [ "put_inside", "turn_on", "turn_off" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "utility_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "hamper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sheet", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "clothes_dryer", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "sheet", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "clothes_dryer", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "brassiere", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "clothes_dryer", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "brassiere", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "clothes_dryer", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "sweater", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "clothes_dryer", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bath_towel", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "clothes_dryer", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "bath_towel", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "clothes_dryer", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tights", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "clothes_dryer", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "utility_room", 1 ] } ], "goal": [ { "name": "utility_room", "id": 1, "type": "place" }, { "name": "clothes_dryer", "id": 1, "type": "asset", "place": "utility_room", "place_id": 1, "states": [ "off" ], "affordances": [ "put_inside", "turn_on", "turn_off" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "utility_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "hamper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "sheet", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "hamper", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "sheet", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "hamper", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "brassiere", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "hamper", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "brassiere", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "hamper", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "sweater", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "hamper", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bath_towel", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "hamper", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "bath_towel", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "hamper", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "tights", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "hamper", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "utility_room", 1 ] } ] }, { "name": "taking_trash_outside-0", "scene": "Beechwood_0_garden", "task": "Move trash outside.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 2, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "bag__of__rubbish", "id": 1, "type": "object", "relation": "ontop_of", 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"related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "tidying_living_room-0", "scene": "Beechwood_0_garden", "task": "Place the pot plant on the coffee table. Open the shelf and store the newspaper, letter, and book inside of it.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "pot_plant", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "letter", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "book", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "coffee_table", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "pot_plant", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "coffee_table", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "newspaper", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "letter", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "book", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "turn_off_a_normal_school_calculator-0", "scene": "school_geography", "task": "Turn off calculator.", "init": [ { "name": "classroom", "id": 1, "type": "place" }, { "name": "desk", "id": 1, "type": "asset", "place": "classroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "classroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "calculator", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "on" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "classroom", 1 ] } ], "goal": [ { "name": "classroom", "id": 1, "type": "place" }, { "name": "desk", "id": 1, "type": "asset", "place": "classroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "classroom", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "calculator", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "desk", 1 ], "states": [ "on" ], "affordances": [ "pick_up", "turn_on", "turn_off" ] }, { "name": "agent", "type": "agent", "location": [ "classroom", 1 ] } ] }, { "name": "turning_on_radio-0", "scene": "Beechwood_0_garden", "task": "Turn on radio.", "init": [ { "name": "corridor", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": 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1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "on" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "switch", "id": 2, "type": "asset", "place": "bedroom", "place_id": 1, "states": [ "on" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "utility_room", "id": 1, "type": "place" }, { "name": "switch", "id": 3, "type": "asset", "place": "utility_room", "place_id": 1, "states": [ "on" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "dining_room", "id": 1, "type": "place" }, { "name": "switch", "id": 4, "type": "asset", "place": "dining_room", "place_id": 1, "states": [ "on" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "childs_room", "id": 1, "type": "place" }, { "name": "switch", "id": 5, "type": "asset", "place": "childs_room", "place_id": 1, "states": [ "on" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "bathroom", "id": 1, "type": "place" }, { "name": "switch", "id": 6, "type": "asset", "place": "bathroom", "place_id": 1, "states": [ "on" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "corridor", "id": 1, "type": "place" }, { "name": "switch", "id": 7, "type": "asset", "place": "corridor", "place_id": 1, "states": [ "on" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "corridor", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "corridor", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "switch", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "off" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "bedroom", "id": 1, "type": "place" }, { "name": "switch", "id": 2, "type": "asset", "place": "bedroom", "place_id": 1, "states": [ "off" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "utility_room", "id": 1, "type": "place" }, { "name": "switch", "id": 3, "type": "asset", "place": "utility_room", "place_id": 1, "states": [ "off" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "dining_room", "id": 1, "type": "place" }, { "name": "switch", "id": 4, "type": "asset", "place": "dining_room", "place_id": 1, "states": [ "off" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "childs_room", "id": 1, "type": "place" }, { "name": "switch", "id": 5, "type": "asset", "place": "childs_room", "place_id": 1, "states": [ "off" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "bathroom", "id": 1, "type": "place" }, { "name": "switch", "id": 6, "type": "asset", "place": "bathroom", "place_id": 1, "states": [ "off" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "corridor", "id": 1, "type": "place" }, { "name": "switch", "id": 7, "type": "asset", "place": "corridor", "place_id": 1, "states": [ "off" ], "affordances": [ "turn_on", "turn_off" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "corridor", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "agent", "type": "agent", "location": [ "corridor", 1 ] } ] }, { "name": "unloading_groceries-0", "scene": "Beechwood_0_garden", "task": "Unload groceries.", "init": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sour_bread", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "box__of__corn_flakes", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "cup__of__yogurt", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "egg", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "sack", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ], "goal": [ { "name": "kitchen", "id": 1, "type": "place" }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "electric_refrigerator", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_inside", "open", "close" ] }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sour_bread", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "box__of__corn_flakes", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "cup__of__yogurt", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "egg", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "electric_refrigerator", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sack", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_inside" ] }, { "name": "agent", "type": "agent", "location": [ "kitchen", 1 ] } ] }, { "name": "unloading_shopping_from_car-0", "scene": "Beechwood_0_garden", "task": "Unload shoppings from car. Put them in cabinet.", "init": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "grocery", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ], "goal": [ { "name": "garden", "id": 1, "type": "place" }, { "name": "driveway", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "kitchen", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "cabinet", "id": 1, "type": "asset", "place": "kitchen", "place_id": 1, "states": [ "closed" ], "affordances": [ "put_on", "put_inside", "open", "close" ] }, { "name": "car", "id": 1, "type": "asset", "place": "garden", "place_id": 1, "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "grocery", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "grocery", "id": 3, "type": "object", "relation": "inside_of", "related_to": [ "cabinet", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "agent", "type": "agent", "location": [ "garden", 1 ] } ] }, { "name": "unloading_the_car-0", "scene": "Ihlen_0_int", "task": "Get the bags out of the car.", "init": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "bag", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bag", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "car", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ], "goal": [ { "name": "garage", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "garage", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "car", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed", "off" ], "affordances": [ "put_on", "put_inside", "open", "close", "turn_on", "turn_off" ] }, { "name": "bag", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "bag", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "garage", 1 ] } ] }, { "name": "unpacking_hobby_equipment-0", "scene": "Beechwood_0_garden", "task": "Unload carton on shelf.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sofa", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "rug", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "laptop", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "videodisk", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "videodisk", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "battery", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "book", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sofa", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "shelf", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on", "put_inside" ] }, { "name": "rug", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [], "affordances": [ "pick_up", "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "laptop", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed", "off" ], "affordances": [ "pick_up", "put_on", "open", "close", "turn_on", "turn_off" ] }, { "name": "videodisk", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "videodisk", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "videodisk", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "carton", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "battery", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "book", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "shelf", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] }, { "name": "unpacking_suitcase-0", "scene": "Beechwood_0_garden", "task": "Unload carton on sofa.", "init": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sofa", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "sock", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sock", "id": 2, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__perfume", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "toothbrush", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "notebook", "id": 1, "type": "object", "relation": "inside_of", "related_to": [ "carton", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ], "goal": [ { "name": "living_room", "id": 1, "type": "place" }, { "name": "floor", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "sofa", "id": 1, "type": "asset", "place": "living_room", "place_id": 1, "states": [], "affordances": [ "put_on" ] }, { "name": "carton", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "floor", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "sock", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "sofa", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "sock", "id": 2, "type": "object", "relation": "ontop_of", "related_to": [ "sofa", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "bottle__of__perfume", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "sofa", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "open", "close" ] }, { "name": "toothbrush", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "sofa", 1 ], "states": [], "affordances": [ "pick_up" ] }, { "name": "notebook", "id": 1, "type": "object", "relation": "ontop_of", "related_to": [ "sofa", 1 ], "states": [ "closed" ], "affordances": [ "pick_up", "put_inside", "open", "close" ] }, { "name": "agent", "type": "agent", "location": [ "living_room", 1 ] } ] } ]