OFFICES = [
    ('peters_office', 1), ('tobis_office', 1),
    ('nikos_office', 1), ('michaels_office', 1), ('aarons_office', 1), ('jasons_office', 1),
    ('filipes_office', 1), ('luis_office', 1), ('wills_office', 1),
    ('ajays_office', 1), ('chris_office', 1), ('lauriannes_office', 1), ('dimitys_office', 1)
]

ROOMS = [
    ('phd_bay', 1), ('phd_bay', 2), ('phd_bay', 3), ('phd_bay', 4),
    ('meeting_room', 1), ('meeting_room', 2), ('meeting_room', 3), ('meeting_room', 4),
    ('postdoc_bay', 1), ('postdoc_bay', 2), ('postdoc_bay', 3),
    ('printing_zone', 1), ('printing_zone', 2),
    ('admin', 1), ('lobby', 1), ('kitchen', 1), ('cafeteria', 1), ('presentation_lounge', 1),
    ('mobile_robotics_lab', 1), ('manipulation_lab', 1), ('agriculture_lab', 1),
    ('supplies_station', 1), ('robot_lounge', 1), ('robot_lounge', 2)
]

ASSETS = [
    (('fridge', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_inside'], []),
    (('dishwasher', 1), ('kitchen', 1), ['closed', 'off', 'clear'], ['open', 'close', 'turn_on', 'turn_off', 'put_on', 'put_inside'], []),
    (('coffee_machine', 1), ('kitchen', 1), ['off', 'clear'], ['turn_on', 'turn_off', 'put_inside'], []),
    (('microwave', 1), ('kitchen', 1), ['off', 'clear', 'closed'], ['open', 'close', 'turn_on', 'turn_off', 'put_on', 'put_inside'], []),
    (('kitchen_bench', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('desk', 2), ('peters_office', 1), ['clear'], ['put_on'], []),
    (('cabinet', 2), ('peters_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('desk', 35), ('postdoc_bay', 3), ['clear'], ['put_on'], []),
    (('desk', 36), ('postdoc_bay', 3), ['clear'], ['put_on'], []),
    (('table', 2), ('meeting_room', 4), ['clear'], ['put_on'], []),
    (('table', 5), ('meeting_room', 1), ['clear'], ['put_on'], []),
    (('table', 6), ('meeting_room', 3), ['clear'], ['put_on'], []),
    (('table', 1), ('meeting_room', 3), ['clear'], ['put_on'], []),
    (('chair', 3), ('meeting_room', 1), ['clear'], ['put_on'], []),
    (('chair', 4), ('meeting_room', 1), ['clear'], ['put_on'], []),
    (('chair', 5), ('meeting_room', 1), ['clear'], ['put_on'], []),
    (('chair', 2), ('meeting_room', 2), ['clear'], ['put_on'], []),
    (('desk', 32), ('postdoc_bay', 1), ['clear'], ['put_on'], []),
    (('desk', 38), ('tobis_office', 1), ['clear'], ['put_on'], []),
    (('printer', 2), ('printing_zone', 2), ['off', 'clear'], ['turn_on', 'turn_off'], []),
    (('desk', 1), ('nikos_office', 1), ['clear'], ['put_on'], []),
    (('chair', 1), ('nikos_office', 1), ['clear'], ['put_on'], []),
    (('cabinet', 1), ('nikos_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('desk', 11), ('phd_bay', 1), ['clear'], ['put_on'], []),
    (('desk', 8), ('phd_bay', 1), ['clear'], ['put_on'], []),
    (('desk', 9), ('phd_bay', 1), ['clear'], ['put_on'], []),
    (('desk', 10), ('phd_bay', 1), ['clear'], ['put_on'], []),
    (('desk', 12), ('phd_bay', 1), ['clear'], ['put_on'], []),
    (('desk', 7), ('phd_bay', 1), ['clear'], ['put_on'], []),
    (('desk', 6), ('michaels_office', 1), ['clear'], ['put_on'], []),
    (('wall', 1), ('michaels_office', 1), ['clear'], ['attach_to'], []),
    (('cabinet', 6), ('michaels_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('table', 4), ('mobile_robotics_lab', 1), ['clear'], ['put_on'], []),
    (('table', 3), ('manipulation_lab', 1), ['clear'], ['put_on'], []),
    (('toolbox', 1), ('robot_lounge', 2), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('desk', 37), ('filipes_office', 1), ['clear'], ['put_on'], []),
    (('desk', 4), ('wills_office', 1), ['clear'], ['put_on'], []),
    (('cabinet', 4), ('wills_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('desk', 19), ('phd_bay', 3), ['clear'], ['put_on'], []),
    (('desk', 20), ('phd_bay', 3), ['clear'], ['put_on'], []),
    (('desk', 21), ('phd_bay', 3), ['clear'], ['put_on'], []),
    (('desk', 22), ('phd_bay', 3), ['clear'], ['put_on'], []),
    (('desk', 23), ('phd_bay', 3), ['clear'], ['put_on'], []),
    (('desk', 24), ('phd_bay', 3), ['clear'], ['put_on'], []),
    (('desk', 33), ('postdoc_bay', 2), ['clear'], ['put_on'], []),
    (('desk', 34), ('postdoc_bay', 2), ['clear'], ['put_on'], []),
    (('desk', 5), ('jasons_office', 1), ['clear'], ['put_on'], []),
    (('desk', 3), ('dimitys_office', 1), ['clear'], ['put_on'], []),
    (('K31X', 1), ('dimitys_office', 1), ['clear'], [], []),
    (('desk', 13), ('phd_bay', 2), ['clear'], ['put_on'], []),
    (('desk', 14), ('phd_bay', 2), ['clear'], ['put_on'], []),
    (('desk', 15), ('phd_bay', 2), ['clear'], ['put_on'], []),
    (('desk', 16), ('phd_bay', 2), ['clear'], ['put_on'], []),
    (('desk', 17), ('phd_bay', 2), ['clear'], ['put_on'], []),
    (('desk', 18), ('phd_bay', 2), ['clear'], ['put_on'], []),
    (('desk', 25), ('phd_bay', 4), ['clear'], ['put_on'], []),
    (('desk', 26), ('phd_bay', 4), ['clear'], ['put_on'], []),
    (('desk', 27), ('phd_bay', 4), ['clear'], ['put_on'], []),
    (('desk', 28), ('phd_bay', 4), ['clear'], ['put_on'], []),
    (('desk', 29), ('phd_bay', 4), ['clear'], ['put_on'], []),
    (('desk', 30), ('phd_bay', 4), ['clear'], ['put_on'], []),
    (('cabinet', 3), ('dimitys_office', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('cabinet', 5), ('jasons_office', 1), ['open', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('shelf', 1), ('admin', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('produce_container', 1), ('agriculture_lab', 1), ['clear'], ['put_on', 'put_inside'], []),
    (('lunch_table', 1), ('cafeteria', 1), ['clear'], ['put_on'], []),
    (('drawer', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('recycling_bin', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('rubbish_bin', 1), ('kitchen', 1), ['closed', 'clear'], ['open', 'close', 'put_on', 'put_inside'], []),
    (('cupboard', 1), ('supplies_station', 1), ['closed', 'clear'], ['open', 'close','put_on', 'put_inside'], []),
    (('cupboard', 2), ('supplies_station', 1), ['closed', 'clear'], ['open', 'close','put_on','put_inside'], []),
    (('floor', 1), ('lobby', 1), ['clear'], ['put_on'], []),
    (('shelf', 2), ('lobby', 1), ['clear'], ['put_on'], [])
]

# Objects (name, relation, related, [states], [affordances], [properties] )
OBJECTS = [
    (('bowl', 1), 'inside_of', ('dishwasher', 1), ['clear'], ['pick_up'], ['blue']),
    (('banana', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('J64M', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('chicken_kebab', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('noodles', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('salmon_bagel', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('greek_salad', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('tomato', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('cheese', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('carrot', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('bag', 1), 'ontop_of', ('floor',1), ['clear'], ['pick_up'], []),
    (('cup', 1), 'inside_of', ('dishwasher', 1), ['clear'], ['pick_up'], []),
    (('milk', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('coffee_beans', 1), 'inside_of', ('fridge', 1), ['clear'], ['pick_up'], []),
    (('knife', 1), 'ontop_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
    (('fork', 1), 'ontop_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
    (('fork', 2), 'ontop_of', ('lunch_table',1), ['clear'], ['pick_up'], []),
    (('knife', 2), 'ontop_of', ('lunch_table',1), ['clear'], ['pick_up'], []),
    (('banana', 2), 'ontop_of', ('lunch_table',1), ['clear', 'ripe'], ['pick_up'], []),
    (('plate', 1), 'ontop_of', ('lunch_table',1), ['dirty'], ['pick_up'], []),
    (('shovel', 1), 'ontop_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
    (('phone', 1), 'ontop_of', ('desk', 2), ['clear'], ['pick_up'], []),
    (('stapler', 1), 'inside_of', ('cabinet', 2), ['clear'], ['pick_up'], []),
    (('pencil', 1), 'inside_of', ('cabinet', 2), ['clear'], ['pick_up'], []),
    (('apple', 3), 'inside_of', ('cabinet', 2), ['clear'], ['pick_up'], []),
    (('apple', 2), 'inside_of', ('cabinet', 3), ['clear', 'rot'], ['pick_up'], []),
    (('doritos', 1), 'ontop_of', ('desk', 35), ['clear'], ['pick_up'], []),
    (('marker', 1), 'ontop_of', ('desk', 36), ['clear'], ['pick_up'], []),
    (('jenga', 1), 'ontop_of', ('table', 2), ['clear'], ['pick_up'], []),
    (('risk', 1), 'ontop_of', ('table', 2), ['clear'], ['pick_up'], []),
    (('monopoly', 1), 'ontop_of', ('table', 2), ['clear'], ['pick_up'], []),
    (('fire_extinguisher', 1), 'ontop_of', ('floor', 1), ['clear'], ['pick_up'], []),
    (('frame', 1), 'ontop_of', ('desk', 32), ['clear'], ['pick_up'], []),
    (('frame', 2), 'ontop_of', ('desk', 32), ['clear'], ['pick_up'], []),
    (('complimentary_tshirt', 7), 'ontop_of', ('desk', 32), ['clear'], ['pick_up'], ['purple']),
    (('complimentary_tshirt', 8), 'ontop_of', ('desk', 32), ['clear'], ['pick_up'], []),
    (('complimentary_tshirt', 1), 'ontop_of', ('desk', 9), ['clear'], ['pick_up'], []),
    (('complimentary_tshirt', 2), 'ontop_of', ('desk', 10), ['clear'], ['pick_up'], []),
    (('complimentary_tshirt', 3), 'ontop_of', ('desk', 15), ['clear'], ['pick_up'], []),
    (('complimentary_tshirt', 4), 'ontop_of', ('desk', 18), ['clear'], ['pick_up'], []),
    (('complimentary_tshirt', 5), 'ontop_of', ('desk', 25), ['clear'], ['pick_up'], []),
    (('complimentary_tshirt', 6), 'ontop_of', ('desk', 18), ['clear'], ['pick_up'], []),
    (('pepsi', 1), 'ontop_of', ('desk', 38), ['clear'], ['pick_up'], []),
    (('document', 1), 'ontop_of', ('printer', 2), ['clear'], ['pick_up'], []),
    (('coffee_mug', 1), 'ontop_of', ('desk', 1), ['clear'], ['pick_up'], []),
    (('scissors', 1), 'ontop_of', ('desk', 6), ['clear'], ['pick_up'], []),
    (('stapler', 3), 'inside_of', ('cabinet', 6), ['clear'], ['pick_up'], []),
    (('terminator_poster', 1), 'attached_to', ('wall', 1), ['clear'], ['pick_up'], []),
    (('book', 2), 'ontop_of', ('table', 4), ['clear'], ['pick_up'], []),
    (('book', 1), 'ontop_of', ('table', 3), ['clear'], ['pick_up'], []),
    (('gripper', 1), 'ontop_of', ('table', 3), ['clear'], ['pick_up'], []),
    (('screwdriver', 1), 'inside_of', ('toolbox',1), ['clear'], ['pick_up'], []),
    (('stapler', 2), 'inside_of', ('desk', 37), ['clear'], ['pick_up'], []),
    (('drone', 2), 'inside_of', ('cabinet', 4), ['clear'], ['pick_up'], []),
    (('undergrad_thesis', 1), 'inside_of', ('cabinet', 4), ['clear'], ['pick_up'], []),
    (('apple', 1), 'inside_of', ('cabinet', 4), ['clear'], ['pick_up'], []),
    (('drone', 1), 'ontop_of', ('desk', 21), ['clear'], ['pick_up'], []),
    (('frame', 3), 'ontop_of', ('desk', 33), ['clear'], ['pick_up'], []),
    (('monitor', 1), 'ontop_of', ('desk', 5), ['clear'], ['pick_up'], []),
    (('parcel', 1), 'ontop_of', ('floor',1), ['clear'], ['pick_up'], []),
    (('fire_extinguisher', 2), 'ontop_of', ('shelf',1), ['clear'], ['pick_up'], []),
    (('monopoly', 2), 'ontop_of', ('table',2), ['clear'], ['pick_up'], []),
    (('risk', 2), 'ontop_of', ('table',2), ['clear'], ['pick_up'], []),
    (('jenga', 2), 'ontop_of', ('table',2), ['clear'], ['pick_up'], []),
    (('buzzer', 1), 'ontop_of', ('desk', 3), ['clear'], ['pick_up'], []),
    (('printer_paper', 1), 'inside_of', ('cupboard', 1), ['clear'], ['pick_up'], []),
    (('paper_towel', 1), 'inside_of', ('cupboard', 1), ['clear'], ['pick_up'], []),
    (('vodka', 1), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
    (('orange_juice', 1), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
    (('biscuits', 1), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
    (('bottled_water', 1), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
    (('bottled_water', 2), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
    (('bottled_water', 3), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
    (('bottled_water', 4), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
    (('bottled_water', 5), 'inside_of', ('cupboard', 2), ['clear'], ['pick_up'], []),
    (('kale_leaves', 1), 'inside_of', ('produce_container', 1), ['clear'], ['pick_up'], []),
    (('kale_leaves', 2), 'inside_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
    (('chips', 1), 'inside_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
    (('butter', 1), 'inside_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
    (('bread', 1), 'inside_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
    (('orange', 1), 'ontop_of', ('kitchen_bench',1), ['clear'], ['pick_up'], []),
    (('plate', 2), 'inside_of', ('dishwasher', 1), ['clear'], ['pick_up'], []),
    (('spoon', 1), 'inside_of', ('dishwasher', 1), ['clear'], ['pick_up'], []),
    (('milk_carton', 1), 'inside_of', ('recycling_bin',1), ['clear'], ['pick_up'], []),
    (('orange_peel', 1), 'inside_of', ('recycling_bin',1), ['clear'], ['pick_up'], []),
    (('apple_core', 1), 'inside_of', ('recycling_bin',1), ['clear'], ['pick_up'], []),
    (('banana_peel', 1), 'inside_of', ('rubbish_bin',1), ['clear'], ['pick_up'], []),
    (('plastic_bottle', 1), 'inside_of', ('rubbish_bin',1), ['clear'], ['pick_up'], []),
    (('headphones', 1), 'ontop_of', ('table',1), ['clear'], ['pick_up'], []),
]