building_name
stringclasses 30
values | scene_graph
dict | task
stringlengths 14
77
|
|---|---|---|
Cosmos
|
{
"links": [
"Cosmos↔floor_A",
"Cosmos↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor1",
"bathroom1↔sink1",
"bathroom1↔window_sill1",
"sink1↔cup3",
"sink1↔bottle1",
"sink1↔bottle2",
"window_sill1↔potted plant2",
"bathroom2↔toilet1",
"bathroom3↔sink3",
"bathroom3↔sink4",
"bathroom3↔window_sill2",
"window_sill2↔potted plant6",
"bathroom4↔toilet2",
"bathroom4↔toilet3",
"bedroom1↔bed1",
"bedroom1↔desk1",
"desk1↔vase7",
"desk1↔vase8",
"bedroom2↔bed2",
"bedroom2↔desk2",
"desk2↔vase13",
"desk2↔vase14",
"desk2↔vase15",
"desk2↔potted plant5",
"closet2↔drawer1",
"drawer1↔bottle3",
"drawer1↔bottle4",
"closet3↔drawer2",
"drawer2↔tie1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair6",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔chair12",
"dining_room1↔dining table1",
"dining_room1↔dining table2",
"dining_room1↔dining table3",
"dining table1↔book3",
"dining table1↔book4",
"dining table2↔vase5",
"dining table2↔vase6",
"dining table3↔potted plant1",
"dining table3↔potted plant3",
"kitchen1↔oven1",
"kitchen1↔oven2",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔chair1",
"kitchen1↔chair4",
"kitchen1↔chair7",
"kitchen1↔chair15",
"kitchen1↔window_sill4",
"window_sill4↔potted plant4",
"window_sill4↔vase9",
"living_room1↔chair17",
"living_room1↔couch3",
"living_room2↔chair5",
"living_room2↔chair8",
"living_room2↔chair11",
"living_room2↔tv2",
"living_room2↔chair16",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔vase10",
"coffee_table1↔vase11",
"coffee_table1↔vase16",
"coffee_table1↔vase17",
"coffee_table1↔potted plant7",
"lobby2↔table1",
"table1↔vase1",
"table1↔vase2",
"table1↔vase3",
"table1↔vase12",
"television_room1↔chair13",
"television_room1↔chair14",
"television_room1↔couch2",
"television_room1↔tv1",
"couch2↔laptop1",
"couch2↔book1",
"couch2↔book2",
"chair13↔cup1",
"chair13↔cup2",
"chair14↔vase4"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet3",
"room": "bathroom4"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"close",
"access",
"organize",
"open"
],
"attributes": "",
"id": "drawer1",
"room": "closet2"
},
{
"affordances": [
"close",
"access",
"organize",
"open"
],
"attributes": "",
"id": "drawer2",
"room": "closet3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch3",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair16",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "table1",
"room": "lobby2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "television_room1"
}
],
"building": [
{
"id": "Cosmos"
}
],
"floor": [
{
"id": "floor_B"
},
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "cup3",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase13",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase14",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase15",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "drawer1",
"room": "closet2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "drawer1",
"room": "closet2"
},
{
"affordances": [
"wear",
"pick up",
"tie"
],
"attributes": "",
"id": "tie1",
"parent": "drawer2",
"room": "closet3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "window_sill4",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "window_sill4",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase16",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase17",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "table1",
"room": "lobby2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "table1",
"room": "lobby2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "table1",
"room": "lobby2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "table1",
"room": "lobby2"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "couch2",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch2",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup1",
"parent": "chair13",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "chair13",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair14",
"room": "television_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "childs_room1"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "closet3"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "lobby1"
},
{
"id": "lobby2"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Organize the window sill in bathroom 1.
|
Ihlen
|
{
"links": [
"Ihlen↔floor_A",
"Ihlen↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔sink3",
"bathroom1↔toilet2",
"bathroom2↔sink1",
"bathroom2↔toilet1",
"bedroom1↔bed1",
"bedroom1↔chair5",
"bedroom2↔chair12",
"bedroom2↔bed3",
"chair12↔book1",
"bedroom3↔chair17",
"bedroom3↔bed2",
"chair17↔cup1",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔dining table1",
"dining table1↔potted plant2",
"dining_room2↔chair8",
"dining_room2↔chair9",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔dining table2",
"dining_room2↔dining table3",
"dining_room2↔dining table4",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"sink2↔potted plant3",
"living_room1↔chair6",
"living_room1↔chair7",
"living_room1↔chair16",
"chair6↔vase1",
"chair6↔potted plant1",
"living_room2↔chair13",
"living_room2↔chair14",
"living_room2↔chair15",
"living_room2↔couch1",
"storage_room1↔bench1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "bedroom3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "bench1",
"room": "storage_room1"
}
],
"building": [
{
"id": "Ihlen"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup1",
"parent": "chair17",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair6",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "garage1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
},
{
"id": "storage_room2"
}
]
}
}
|
Ensure all dining tables are ready for meals.
|
Tolstoy
|
{
"links": [
"Tolstoy↔floor_A",
"Tolstoy↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor4",
"corridor1↔cupboard1",
"corridor2↔cupboard2",
"bathroom1↔sink4",
"bathroom1↔toilet2",
"bathroom2↔toilet1",
"bathroom2↔sink2",
"bathroom2↔sink3",
"bathroom2↔sink5",
"bathroom3↔toilet3",
"bathroom3↔sink6",
"bathroom3↔sink7",
"bedroom1↔chair13",
"bedroom1↔bed5",
"bedroom1↔desk1",
"bedroom2↔bed4",
"bedroom2↔tv2",
"bedroom2↔TV_cabinet2",
"childs_room1↔bed3",
"childs_room1↔table2",
"childs_room2↔bed1",
"childs_room2↔bed2",
"closet1↔backpack1",
"closet1↔suitcase1",
"utility_room1↔table1",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair3",
"dining_room2↔dining_table1",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔dining_table2",
"home_office1↔chair5",
"home_office1↔chair6",
"home_office1↔dining_table3",
"home_office1↔bookcase3",
"kitchen1↔chair4",
"kitchen1↔oven1",
"kitchen1↔toaster1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"refrigerator1↔pizza1",
"refrigerator1↔juice1",
"refrigerator1↔apple1",
"refrigerator1↔egg1",
"living_room1↔couch1",
"living_room1↔tv1",
"living_room1↔coffee_table2",
"living_room1↔bookcase2",
"living_room1↔TV_cabinet1",
"living_room2↔chair11",
"living_room2↔chair12",
"living_room2↔coffee_table1",
"living_room2↔bookcase1",
"living_room2↔couch2",
"suitcase1↔tie1",
"table1↔bottle1",
"table1↔bottle2",
"sink2↔bottle3",
"sink2↔bottle4",
"cupboard1↔bottle5",
"cupboard1↔bottle6",
"cupboard1↔bottle7",
"cupboard1↔bottle8",
"sink6↔bottle10",
"sink6↔potted_plant10",
"cupboard1↔wine_glass1",
"cupboard1↔wine_glass2",
"cupboard1↔wine_glass3",
"cupboard1↔wine_glass4",
"cupboard1↔wine_glass5",
"cupboard1↔wine_glass6",
"sink1↔vase2",
"sink1↔bowl1",
"cupboard2↔bowl2",
"cupboard2↔bowl3",
"coffee_table1↔bowl4",
"coffee_table1↔bowl5",
"coffee_table1↔potted_plant11",
"bookcase1↔book5",
"bookcase1↔book6",
"bookcase1↔book7",
"bookcase1↔book8",
"bookcase1↔book9",
"coffee_table2↔potted_plant1",
"coffee_table2↔potted_plant2",
"bookcase2↔potted_plant3",
"bookcase2↔potted_plant4",
"TV_cabinet1↔potted_plant13",
"bookcase2↔book10",
"bookcase2↔book11",
"bookcase2↔book12",
"TV_cabinet1↔vase4",
"dining_table3↔potted_plant5",
"dining_table3↔vase9",
"dining_table3↔vase10",
"bookcase3↔book1",
"bookcase3↔book2",
"bookcase3↔book3",
"bookcase3↔book4",
"sink3↔potted_plant6",
"sink3↔potted_plant7",
"sink5↔vase5",
"sink5↔vase6",
"sink4↔vase7",
"sink4↔vase8",
"sink4↔potted_plant8",
"sink4↔potted_plant9",
"TV_cabinet2↔potted_plant12",
"desk1↔potted_plant14",
"desk1↔laptop1",
"table2↔vase1",
"cupboard2↔vase3",
"dining_table1↔bottle9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "backpack1",
"room": "closet1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining_table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, mess",
"id": "TV_cabinet2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"wash",
"clean"
],
"attributes": "",
"id": "toaster1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "table1",
"room": "utility_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table2",
"room": "childs_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "TV_cabinet1",
"room": "living_room1"
}
],
"building": [
{
"id": "Tolstoy"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"wear",
"pick up",
"tie"
],
"attributes": "",
"id": "tie1",
"parent": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "table1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "table1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "dining_table1",
"room": "dining_room2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle10",
"parent": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass1",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass2",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass3",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass4",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass5",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass6",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl2",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl4",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl5",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant1",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant2",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant3",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant4",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant5",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant6",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant7",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant8",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant9",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant10",
"parent": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant11",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant12",
"parent": "TV_cabinet2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant13",
"parent": "TV_cabinet1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant14",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "table2",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "TV_cabinet1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "juice1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "egg1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "utility_room1"
}
]
}
}
|
Organize the books in bookcase1 in living_room2.
|
Benevolence
|
{
"links": [
"Benevolence↔floor_A",
"Benevolence↔floor_B",
"Benevolence↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔sink5",
"bathroom1↔toilet2",
"bathroom1↔window sill2",
"window sill2↔potted plant3",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔dish_cabinet1",
"refrigerator1↔potato1",
"dish_cabinet1↔bowl1",
"dish_cabinet1↔bowl2",
"dish_cabinet1↔dish1",
"dish_cabinet1↔dish2",
"dish_cabinet1↔dish3",
"bathroom2↔sink2",
"bathroom2↔toilet1",
"bathroom3↔sink3",
"bathroom3↔sink4",
"bathroom3↔toilet3",
"bedroom1↔chair5",
"bedroom1↔bed3",
"bedroom1↔bookcase1",
"bedroom1↔window sill1",
"bookcase1↔book2",
"window sill1↔vase1",
"bedroom2↔bed1",
"bedroom2↔bed2",
"bedroom2↔tv1",
"bedroom2↔bookcase2",
"bedroom2↔desk1",
"bookcase2↔book1",
"desk1↔bottle3",
"bed1↔teddy bear1",
"corridor2↔chair4",
"chair4↔potted plant1",
"chair4↔potted plant2",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining_room1↔dining table2",
"dining_room1↔dining table3",
"dining_room1↔dining table4",
"dining table1↔bowl3",
"dining table1↔bottle1",
"dining table1↔bottle2",
"living_room1↔couch1",
"living_room1↔tv2",
"living_room1↔tv3",
"couch1↔teddy bear2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window sill2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window sill1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "corridor2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "opened, mess",
"id": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "living_room1"
}
],
"building": [
{
"id": "Benevolence"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_C"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "window sill2",
"room": "bathroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "window sill1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase2",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"hug",
"pick up",
"set"
],
"attributes": "",
"id": "teddy bear1",
"parent": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair4",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair4",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "dish1",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "dish2",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "dish3",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"hug",
"pick up",
"set"
],
"attributes": "",
"id": "teddy bear2",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"clean",
"pickup",
"cook"
],
"attributes": "",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "empty_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Take the teddy bear back to the bed in bedroom 1.
|
Hanson
|
{
"links": [
"Hanson↔floor_A",
"Hanson↔floor_B",
"Hanson↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔toilet4",
"bathroom2↔sink2",
"bathroom2↔toilet2",
"sink2↔vase6",
"bathroom3↔toilet1",
"bathroom3↔sink10",
"sink10↔bottle1",
"sink10↔potted plant1",
"bathroom4↔sink3",
"bathroom4↔toilet3",
"bedroom1↔bed2",
"bedroom1↔chair30",
"chair30↔potted plant9",
"bedroom2↔bed3",
"bedroom2↔desk1",
"desk1↔vase4",
"desk1↔potted plant11",
"desk1↔potted plant12",
"desk1↔potted plant13",
"bedroom3↔bed4",
"bedroom3↔chair31",
"chair31↔potted plant14",
"chair31↔potted plant15",
"childs_room1↔bed1",
"childs_room1↔chair1",
"chair1↔potted plant16",
"dining_room1↔dining table1",
"dining_room1↔chair12",
"dining_room1↔chair13",
"dining_room1↔chair14",
"dining_room1↔chair15",
"dining_room2↔chair5",
"dining_room2↔chair6",
"dining_room2↔chair7",
"dining_room2↔chair8",
"dining_room2↔dining table2",
"kitchen1↔oven1",
"kitchen1↔oven2",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔chair9",
"kitchen1↔chair11",
"sink1↔cup1",
"sink1↔potted plant6",
"living_room1↔tv1",
"living_room1↔chair2",
"living_room1↔couch1",
"chair2↔vase5",
"chair2↔potted plant2",
"chair2↔potted plant3",
"chair2↔potted plant4",
"chair2↔potted plant5",
"couch1↔book1",
"couch1↔book2",
"couch1↔book3",
"couch1↔book4",
"living_room2↔tv2",
"living_room2↔chair3",
"living_room2↔chair10",
"living_room2↔couch2",
"chair3↔potted plant7",
"chair3↔potted plant10",
"chair3↔vase1",
"chair3↔vase2",
"chair3↔vase3",
"living_room3↔chair4",
"lobby1↔chair33",
"chair33↔potted plant8"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair31",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "living_room3"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair33",
"room": "lobby1"
}
],
"building": [
{
"id": "Hanson"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair30",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant13",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "chair31",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair31",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant16",
"parent": "chair1",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "chair33",
"room": "lobby1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "childs_room1"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Dust off the chair14 in dining_room1.
|
Allensville
|
{
"links": [
"Allensville↔floor_A",
"floor_A↔lobby1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔chair5",
"bathroom1↔sink1",
"bathroom1↔toilet1",
"bathroom2↔sink3",
"bathroom2↔toilet2",
"living_room1↔chair1",
"living_room1↔chair4",
"living_room1↔couch1",
"living_room1↔coffee_table1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining_table1",
"bedroom1↔bed1",
"bedroom2↔bed2",
"bedroom2↔desk1",
"lobby1↔cabinet1",
"dining_table1↔vase2",
"dining_table1↔vase3",
"dining_table1↔vase4",
"cabinet1↔vase6",
"cabinet1↔vase7",
"sink2↔bowl1",
"refrigerator1↔apple1",
"refrigerator1↔apple2",
"sink1↔vase1",
"sink1↔potted plant1",
"sink3↔potted plant2",
"coffee_table1↔bowl2",
"desk1↔vase5",
"desk1↔potted plant3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "cabinet1",
"room": "lobby1"
}
],
"building": [
{
"id": "Allensville"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "cabinet1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "cabinet1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl2",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"wash"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"wash"
],
"attributes": "expired",
"id": "apple2",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "desk1",
"room": "bedroom2"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
}
]
}
}
|
Close the microwave after use.
|
McDade
|
{
"links": [
"McDade↔floor_A",
"McDade↔floor_B",
"McDade↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔sink1",
"bathroom1↔toilet1",
"sink1↔bottle1",
"bathroom2↔sink3",
"bathroom2↔toilet2",
"sink3↔potted plant4",
"bathroom4↔sink4",
"bathroom4↔toilet3",
"sink4↔potted plant5",
"sink4↔potted plant6",
"bedroom1↔bench2",
"bedroom1↔chair4",
"bedroom1↔bed2",
"bedroom2↔chair1",
"bedroom2↔bed1",
"chair1↔vase8",
"dining_room1↔dining table1",
"dining_room1↔dining table2",
"dining_room1↔bench1",
"dining_room1↔chair11",
"dining_room1↔chair12",
"dining table2↔potted plant8",
"dining table2↔potted plant9",
"dining table2↔vase16",
"exercise_room1↔storage_box1",
"storage_box1↔sports ball1",
"home_office1↔chair2",
"home_office1↔chair3",
"chair2↔potted plant4",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔chair7",
"kitchen1↔chair10",
"refrigerator1↔pizza1",
"refrigerator1↔cole1",
"refrigerator1↔apple1",
"refrigerator1↔bread1",
"refrigerator1↔steak1",
"chair7↔vase9",
"chair7↔vase10",
"chair7↔vase11",
"chair7↔vase12",
"chair7↔bowl1",
"living_room1↔couch1",
"living_room1↔coffee_table1",
"coffee_table1↔potted plant1",
"coffee_table1↔potted plant2",
"coffee_table1↔potted plant3",
"living_room2↔chair5",
"living_room2↔chair6",
"chair5↔book2",
"chair5↔vase1",
"chair5↔vase4",
"living_room3↔couch2",
"living_room3↔chair8",
"living_room3↔chair9",
"couch2↔book1",
"couch2↔book3",
"chair8↔vase2",
"chair8↔vase5",
"chair8↔potted plant7",
"lobby1↔chair32",
"chair32↔vase3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "bench2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch2",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair32",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "storage_box1",
"room": "exercise_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "utility_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "utility_room2"
}
],
"building": [
{
"id": "McDade"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair5",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair5",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair5",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "living_room3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair8",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair8",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair8",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair32",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase16",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"throw",
"pick up"
],
"attributes": "",
"id": "sports ball1",
"parent": "storage_box1",
"room": "exercise_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase18",
"parent": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl1",
"parent": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "bread1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "cole1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerato1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "steak1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "empty_room1"
},
{
"id": "exercise_room1"
},
{
"id": "garage1"
},
{
"id": "home_office1"
},
{
"id": "home_office2"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "storage_room1"
},
{
"id": "storage_room2"
},
{
"id": "utility_room1"
},
{
"id": "utility_room2"
}
]
}
}
|
Set up the exercise room by moving the storage box1.
|
Forkland
|
{
"links": [
"Forkland↔floor_A",
"Forkland↔floor_B",
"Forkland↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔sink4",
"sink4↔bottle11",
"sink4↔toilet2",
"bathroom2↔sink5",
"sink5↔bottle12",
"sink5↔toilet3",
"bathroom3↔sink2",
"sink2↔bottle1",
"sink2↔toilet1",
"bedroom1↔desk1",
"bedroom1↔bed3",
"desk1↔vase5",
"desk1↔vase6",
"bedroom2↔bed2",
"bedroom2↔bookcase1",
"bookcase1↔book1",
"childs_room1↔chair8",
"childs_room1↔bed1",
"childs_room1↔bed4",
"childs_room1↔desk2",
"desk2↔bottle9",
"childs_room2↔bed5",
"childs_room2↔desk3",
"desk3↔book3",
"closet1↔handbag2",
"handbag2↔book5",
"closet2↔handbag1",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair9",
"dining_room1↔dining table1",
"dining table1↔bottle7",
"dining table1↔bottle8",
"dining table1↔book4",
"dining table1↔bottle10",
"dining table1↔vase9",
"dining table1↔potted plant2",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill1",
"refrigerator1↔banana1",
"refrigerator1↔egg1",
"refrigerator1↔cole1",
"refrigerator1↔steak1",
"window_sill1↔potted plant1",
"window_sill1↔potted plant7",
"living_room1↔couch2",
"living_room1↔tv1",
"living_room2↔chair7",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔potted plant10",
"coffee_table1↔book2",
"coffee_table1↔vase12",
"coffee_table1↔potted plant3",
"coffee_table1↔potted plant4",
"coffee_table1↔vase1",
"living_room3↔chair5",
"living_room3↔chair6",
"living_room3↔coffee_table2",
"coffee_table2↔vase2",
"coffee_table2↔vase3",
"coffee_table2↔vase4",
"coffee_table2↔vase7",
"coffee_table2↔vase8",
"coffee_table2↔vase10",
"coffee_table2↔vase11",
"coffee_table2↔potted plant8",
"coffee_table2↔potted plant9",
"coffee_table2↔clock1",
"coffee_table2↔bowl1",
"lobby1↔table1",
"table1↔potted plant5",
"table1↔potted plant6",
"utility_room1↔sink3",
"sink3↔bottle2",
"sink3↔bottle3",
"sink3↔bottle4",
"sink3↔bottle5",
"sink3↔bottle6"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "childs_room2"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag2",
"room": "closet1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag1",
"room": "closet2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "table1",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Forkland"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle11",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle12",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "desk3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "handbag2",
"room": "closet1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle10",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "table1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "table1",
"room": "lobby1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "banana1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "egg1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "cole1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "steak1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Open the refrigerator in kitchen1.
|
Benevolence
|
{
"links": [
"Benevolence↔floor_A",
"Benevolence↔floor_B",
"Benevolence↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔sink5",
"bathroom1↔toilet2",
"bathroom1↔window sill2",
"window sill2↔potted plant3",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔dish_cabinet1",
"refrigerator1↔potato1",
"dish_cabinet1↔bowl1",
"dish_cabinet1↔bowl2",
"dish_cabinet1↔dish1",
"dish_cabinet1↔dish2",
"dish_cabinet1↔dish3",
"bathroom2↔sink2",
"bathroom2↔toilet1",
"bathroom3↔sink3",
"bathroom3↔sink4",
"bathroom3↔toilet3",
"bedroom1↔chair5",
"bedroom1↔bed3",
"bedroom1↔bookcase1",
"bedroom1↔window sill1",
"bookcase1↔book2",
"window sill1↔vase1",
"bedroom2↔bed1",
"bedroom2↔bed2",
"bedroom2↔tv1",
"bedroom2↔bookcase2",
"bedroom2↔desk1",
"bookcase2↔book1",
"desk1↔bottle3",
"bed1↔teddy bear1",
"corridor2↔chair4",
"chair4↔potted plant1",
"chair4↔potted plant2",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining_room1↔dining table2",
"dining_room1↔dining table3",
"dining_room1↔dining table4",
"dining table1↔bowl3",
"dining table1↔bottle1",
"dining table1↔bottle2",
"living_room1↔couch1",
"living_room1↔tv2",
"living_room1↔tv3",
"couch1↔teddy bear2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window sill2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window sill1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "corridor2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "opened, mess",
"id": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "living_room1"
}
],
"building": [
{
"id": "Benevolence"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_C"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "window sill2",
"room": "bathroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "window sill1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase2",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"hug",
"pick up",
"set"
],
"attributes": "",
"id": "teddy bear1",
"parent": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair4",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair4",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "dish1",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "dish2",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "dish3",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"hug",
"pick up",
"set"
],
"attributes": "",
"id": "teddy bear2",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"clean",
"pickup",
"cook"
],
"attributes": "",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "empty_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Gather all used plates from the dining room for washing.
|
Hiteman
|
{
"links": [
"Hiteman↔floor_A",
"Hiteman↔floor_B",
"Hiteman↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔living_room2",
"bathroom1↔toilet2",
"bathroom3↔sink2",
"bathroom3↔sink3",
"bathroom3↔toilet3",
"bathroom3↔toilet4",
"sink2↔potted plant2",
"sink2↔potted plant3",
"bathroom4↔sink4",
"bathroom4↔toilet1",
"bedroom2↔bed1",
"bedroom3↔chair9",
"kitchen1↔microwave1",
"microwave1↔pizza1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔chair1",
"kitchen1↔chair2",
"kitchen1↔chair3",
"kitchen1↔chair4",
"kitchen1↔chair5",
"kitchen1↔chair6",
"kitchen1↔chair7",
"kitchen1↔chair8",
"kitchen1↔chair10",
"kitchen1↔table1",
"table1↔vase1",
"table1↔vase2",
"table1↔vase3",
"table1↔bowl1",
"table1↔bowl2",
"table1↔potted plant4",
"table1↔potted plant5",
"living_room1↔couch1",
"living_room1↔chair11",
"chair11↔potted plant1",
"living_room2↔chair12",
"living_room2↔couch2",
"living_room3↔couch3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, on",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
}
],
"building": [
{
"id": "Hiteman"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair11",
"room": "living_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "pizza1",
"parent": "microwave1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "storage_room1"
}
]
}
}
|
Pick up the potted plant4 on table1.
|
Forkland
|
{
"links": [
"Forkland↔floor_A",
"Forkland↔floor_B",
"Forkland↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔sink4",
"sink4↔bottle11",
"sink4↔toilet2",
"bathroom2↔sink5",
"sink5↔bottle12",
"sink5↔toilet3",
"bathroom3↔sink2",
"sink2↔bottle1",
"sink2↔toilet1",
"bedroom1↔desk1",
"bedroom1↔bed3",
"desk1↔vase5",
"desk1↔vase6",
"bedroom2↔bed2",
"bedroom2↔bookcase1",
"bookcase1↔book1",
"childs_room1↔chair8",
"childs_room1↔bed1",
"childs_room1↔bed4",
"childs_room1↔desk2",
"desk2↔bottle9",
"childs_room2↔bed5",
"childs_room2↔desk3",
"desk3↔book3",
"closet1↔handbag2",
"handbag2↔book5",
"closet2↔handbag1",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair9",
"dining_room1↔dining table1",
"dining table1↔bottle7",
"dining table1↔bottle8",
"dining table1↔book4",
"dining table1↔bottle10",
"dining table1↔vase9",
"dining table1↔potted plant2",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill1",
"refrigerator1↔banana1",
"refrigerator1↔egg1",
"refrigerator1↔cole1",
"refrigerator1↔steak1",
"window_sill1↔potted plant1",
"window_sill1↔potted plant7",
"living_room1↔couch2",
"living_room1↔tv1",
"living_room2↔chair7",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔potted plant10",
"coffee_table1↔book2",
"coffee_table1↔vase12",
"coffee_table1↔potted plant3",
"coffee_table1↔potted plant4",
"coffee_table1↔vase1",
"living_room3↔chair5",
"living_room3↔chair6",
"living_room3↔coffee_table2",
"coffee_table2↔vase2",
"coffee_table2↔vase3",
"coffee_table2↔vase4",
"coffee_table2↔vase7",
"coffee_table2↔vase8",
"coffee_table2↔vase10",
"coffee_table2↔vase11",
"coffee_table2↔potted plant8",
"coffee_table2↔potted plant9",
"coffee_table2↔clock1",
"coffee_table2↔bowl1",
"lobby1↔table1",
"table1↔potted plant5",
"table1↔potted plant6",
"utility_room1↔sink3",
"sink3↔bottle2",
"sink3↔bottle3",
"sink3↔bottle4",
"sink3↔bottle5",
"sink3↔bottle6"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "childs_room2"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag2",
"room": "closet1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag1",
"room": "closet2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "table1",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Forkland"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle11",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle12",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "desk3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "handbag2",
"room": "closet1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle10",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "table1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "table1",
"room": "lobby1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "banana1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "egg1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "cole1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "steak1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Organize the bookcase in bedroom2.
|
Markleeville
|
{
"links": [
"Markleeville↔floor_A",
"Markleeville↔floor_B",
"floor_A↔staircase1",
"floor_B↔living_room2",
"corridor1↔chair1",
"chair1↔waste_paper_ball1",
"bathroom1↔sink2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom2↔sink3",
"bathroom2↔toilet1",
"bathroom2↔toilet3",
"sink3↔potted plant10",
"sink3↔cup2",
"bedroom1↔bed1",
"bedroom1↔bench1",
"bedroom1↔chair17",
"bedroom1↔couch3",
"bedroom1↔couch4",
"chair17↔potted plant6",
"chair17↔potted plant7",
"chair17↔potted plant8",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔dining table1",
"home_office1↔chair9",
"home_office1↔chair10",
"home_office1↔chair11",
"home_office1↔chair12",
"home_office1↔chair13",
"chair9↔book2",
"chair9↔potted plant9",
"kitchen1↔counter1",
"kitchen1↔oven1",
"kitchen1↔oven2",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔chair2",
"kitchen1↔chair3",
"kitchen1↔rubbish1",
"sink1↔potted plant4",
"sink1↔potted plant5",
"counter1↔cup1",
"counter1↔milk_carton1",
"refrigerator1↔hamburger1",
"refrigerator1↔pizza1",
"living_room1↔chair16",
"living_room1↔couch1",
"couch1↔book1",
"chair16↔potted plant1",
"living_room2↔chair14",
"living_room2↔chair15",
"living_room2↔couch2",
"living_room2↔coffee_table1",
"coffee_table1↔potted plant2",
"coffee_table1↔potted plant3",
"coffee_table1↔vase1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "opened",
"id": "rubbish1",
"room": "kitchen1"
}
],
"building": [
{
"id": "Markleeville"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup"
],
"attributes": "empty",
"id": "milk_carton1",
"parent": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair9",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "chair9",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup1",
"parent": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair16",
"room": "living_room1"
},
{
"affordances": [
"grab",
"eat",
"heat",
"throw away"
],
"attributes": "fresh",
"id": "hamburger1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"eat",
"heat",
"throw away"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup"
],
"attributes": "dirty",
"id": "waste_paper_ball1",
"parent": "chair1",
"room": "corridor1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "empty_room1"
},
{
"id": "empty_room2"
},
{
"id": "empty_room3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
}
]
}
}
|
Wipe chair14 in living_room2 and the items on the chair.
|
Onaga
|
{
"links": [
"Onaga↔floor_A",
"Onaga↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔sink1",
"bathroom1↔toilet2",
"sink1↔potted plant10",
"sink1↔bottle5",
"bathroom2↔sink3",
"bathroom2↔toilet3",
"bathroom3↔sink2",
"bathroom3↔toilet1",
"bedroom1↔bed1",
"bedroom1↔desk1",
"desk1↔bottle4",
"desk1↔vase1",
"desk1↔vase2",
"desk1↔vase3",
"childs_room1↔bed2",
"childs_room1↔desk2",
"desk2↔book1",
"desk2↔book2",
"desk2↔book3",
"desk2↔teddy bear1",
"desk2↔potted plant5",
"home_office1↔book4",
"home_office1↔chair11",
"home_office1↔chair12",
"chair11↔potted plant6",
"chair11↔potted plant7",
"chair11↔potted plant8",
"chair11↔potted plant9",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔refrigerator1",
"kitchen1↔dining table1",
"kitchen1↔chair6",
"kitchen1↔chair7",
"kitchen1↔chair8",
"kitchen1↔chair9",
"kitchen1↔chair10",
"dining table1↔bottle1",
"dining table1↔bottle2",
"dining table1↔bottle3",
"dining table1↔orange1",
"dining table1↔orange2",
"refrigerator1↔orange3",
"dining table1↔potted plant12",
"living_room1↔chair1",
"living_room1↔chair2",
"living_room1↔chair3",
"living_room1↔chair4",
"living_room1↔chair5",
"living_room1↔couch1",
"chair1↔potted plant1",
"chair1↔potted plant2",
"chair1↔potted plant3",
"chair1↔potted plant4",
"chair1↔potted plant11"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "home_office1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch1",
"room": "living_room1"
}
],
"building": [
{
"id": "Onaga"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"hug",
"pick up",
"set"
],
"attributes": "",
"id": "teddy bear1",
"parent": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dining table1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "dining table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"clean"
],
"attributes": "",
"id": "orange1",
"parent": "dining table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"clean"
],
"attributes": "",
"id": "orange2",
"parent": "dining table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"clean"
],
"attributes": "",
"id": "orange3",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "dining table1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "chair1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "chair11",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair11",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair11",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "chair11",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair11",
"room": "home_office1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "staircase1"
}
]
}
}
|
Organize couch in the living room.
|
Muleshoe
|
{
"links": [
"Muleshoe↔floor_A",
"Muleshoe↔floor_B",
"floor_A↔staircase1",
"floor_A↔staircase2",
"floor_B↔corridor2",
"bathroom1↔sink10",
"sink10↔potted plant12",
"sink10↔potted plant16",
"sink10↔potted plant17",
"bathroom2↔sink1",
"bathroom2↔toilet3",
"sink1↔bottle1",
"sink1↔vase1",
"sink1↔potted plant14",
"bathroom3↔sink2",
"bathroom3↔toilet1",
"closet1↔suitcase1",
"closet1↔suitcase2",
"corridor1↔chair3",
"home_office1↔chair30",
"chair30↔book18",
"sink2↔potted plant1",
"sink2↔potted plant8",
"bathroom4↔toilet4",
"bathroom5↔toilet2",
"bathroom5↔sink11",
"sink11↔potted plant9",
"bedroom1↔bed1",
"bedroom1↔tv1",
"bedroom1↔couch1",
"bedroom2↔chair16",
"bedroom2↔bed3",
"bedroom2↔bookcase1",
"bookcase1↔book10",
"bookcase1↔book11",
"bookcase1↔book12",
"bookcase1↔book13",
"bedroom3↔bed4",
"bedroom3↔chair5",
"chair5↔book22",
"chair5↔book23",
"chair5↔potted plant7",
"bedroom4↔bed2",
"bedroom4↔bookcase2",
"bookcase2↔book1",
"bookcase2↔book2",
"bookcase2↔book3",
"dining_room1↔chair1",
"dining_room1↔chair6",
"dining_room1↔dining table1",
"dining_room2↔chair8",
"dining_room2↔chair11",
"chair8↔wine glass1",
"chair8↔wine glass2",
"kitchen1↔oven1",
"kitchen1↔chair2",
"chair2↔book6",
"chair2↔book7",
"living_room1↔couch4",
"living_room1↔tv2",
"couch4↔book5",
"couch4↔book8",
"living_room2↔couch6",
"living_room2↔chair9",
"couch6↔book17",
"chair9↔vase9",
"playroom1↔bench1",
"playroom1↔chair17",
"staircase2↔chair31",
"chair31↔potted plant3",
"television_room1↔couch3",
"television_room1↔tv3",
"couch3↔book14",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom5"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink11",
"room": "bathroom5"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "suitcase2",
"room": "closet1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch4",
"room": "living_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch6",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "staircase2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "playroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Muleshoe"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant16",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant17",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "sink11",
"room": "bathroom5"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "bookcase2",
"room": "bedroom4"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass1",
"parent": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass2",
"parent": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "couch4",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "couch4",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "couch6",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair9",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair30",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair31",
"room": "staircase2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "couch3",
"room": "television_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Check if the sink in bathroom 5 is draining properly.
|
Noxapater
|
{
"links": [
"Noxapater↔floor_A",
"Noxapater↔floor_B",
"floor_A↔staircase1",
"floor_B↔kitchen1",
"bathroom1↔sink2",
"sink2↔bottle1",
"sink2↔toilet1",
"bedroom1↔bed1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔chair1",
"kitchen1↔chair2",
"kitchen1↔chair3",
"kitchen1↔chair4",
"kitchen1↔chair5",
"kitchen1↔dining table2",
"sink1↔potted plant1",
"living_room1↔chair6",
"living_room1↔chair7",
"living_room1↔chair8",
"living_room1↔couch1",
"couch1↔book1",
"couch1↔book2",
"chair6↔potted plant2",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔chair11",
"dining_room1↔chair12",
"dining_room1↔chair13",
"dining_room1↔chair14",
"dining_room1↔chair15",
"dining_room1↔chair16",
"dining_room1↔chair17",
"dining_room1↔chair18",
"dining_room1↔dining table1",
"dining table1↔potted plant3",
"dining table1↔potted plant4",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted plant1",
"room": "staircase1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted plant2",
"room": "staircase1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Noxapater"
}
],
"floor": [
{
"id": "floor_B"
},
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair6",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bedroom1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "empty_room1"
},
{
"id": "empty_room2"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "staircase1"
},
{
"id": "utility_room1"
}
]
}
}
|
Move the potted plant from the kitchen to the dining room.
|
Ranchester
|
{
"links": [
"Ranchester↔floor_A",
"Ranchester↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔sink2",
"bathroom1↔toilet3",
"sink2↔potted plant14",
"sink2↔potted plant15",
"sink2↔potted plant17",
"bathroom2↔toilet2",
"bathroom2↔sink10",
"sink10↔potted plant16",
"bathroom3↔toilet1",
"bathroom3↔sink11",
"sink11↔potted plant11",
"bedroom1↔bed4",
"bedroom1↔chair30",
"chair30↔vase1",
"bedroom2↔bed3",
"bedroom2↔chair31",
"chair31↔potted plant4",
"bedroom3↔bed1",
"bedroom3↔chair11",
"chair11↔potted plant3",
"bedroom4↔bed2",
"bedroom4↔chair16",
"chair16↔potted plant5",
"chair16↔potted plant6",
"chair16↔potted plant7",
"corridor1↔chair33",
"chair33↔potted plant18",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔dining table1",
"dining table1↔potted plant2",
"dining table1↔vase2",
"dining_room2↔chair7",
"dining_room2↔chair8",
"dining_room2↔chair9",
"dining_room2↔chair10",
"dining_room2↔dining table2",
"dining table2↔potted plant12",
"home_office1↔bookcase1",
"bookcase1↔book1",
"bookcase1↔book2",
"bookcase1↔book3",
"bookcase1↔book4",
"bookcase1↔book5",
"bookcase1↔book6",
"bookcase1↔book7",
"bookcase1↔book8",
"bookcase1↔book9",
"bookcase1↔book10",
"bookcase1↔book11",
"bookcase1↔book12",
"bookcase1↔book13",
"bookcase1↔book14",
"bookcase1↔book15",
"bookcase1↔book16",
"bookcase1↔book17",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"sink1↔knife1",
"sink1↔potted plant1",
"sink1↔potted plant10",
"living_room1↔couch2",
"living_room1↔couch3",
"living_room1↔chair14",
"living_room1↔chair15",
"couch2↔book18",
"couch2↔book19",
"couch2↔book25",
"couch2↔book26",
"chair14↔potted plant13",
"chair14↔vase3",
"staircase1↔chair36",
"chair36↔book23",
"chair36↔book24",
"television_room1↔couch1",
"television_room1↔chair35",
"couch1↔book20",
"couch1↔book21",
"couch1↔book22",
"chair35↔potted plant8",
"chair35↔potted plant9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "bedroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair33",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair35",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair36",
"room": "staircase1"
}
],
"building": [
{
"id": "Ranchester"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant17",
"parent": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "sink10",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair30",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "chair31",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair11",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "chair16",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair16",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair16",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant18",
"parent": "chair33",
"room": "corridor1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book15",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"grab",
"eat with",
"hold",
"clean",
"set on"
],
"attributes": "",
"id": "knife1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book25",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book26",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair14",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant13",
"parent": "chair14",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book21",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair35",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair35",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "chair36",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book24",
"parent": "chair36",
"room": "staircase1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Ensure the garden supplies are in the utility room.
|
Markleeville
|
{
"links": [
"Markleeville↔floor_A",
"Markleeville↔floor_B",
"floor_A↔staircase1",
"floor_B↔living_room2",
"corridor1↔chair1",
"chair1↔waste_paper_ball1",
"bathroom1↔sink2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom2↔sink3",
"bathroom2↔toilet1",
"bathroom2↔toilet3",
"sink3↔potted plant10",
"sink3↔cup2",
"bedroom1↔bed1",
"bedroom1↔bench1",
"bedroom1↔chair17",
"bedroom1↔couch3",
"bedroom1↔couch4",
"chair17↔potted plant6",
"chair17↔potted plant7",
"chair17↔potted plant8",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔dining table1",
"home_office1↔chair9",
"home_office1↔chair10",
"home_office1↔chair11",
"home_office1↔chair12",
"home_office1↔chair13",
"chair9↔book2",
"chair9↔potted plant9",
"kitchen1↔counter1",
"kitchen1↔oven1",
"kitchen1↔oven2",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔chair2",
"kitchen1↔chair3",
"kitchen1↔rubbish1",
"sink1↔potted plant4",
"sink1↔potted plant5",
"counter1↔cup1",
"counter1↔milk_carton1",
"refrigerator1↔hamburger1",
"refrigerator1↔pizza1",
"living_room1↔chair16",
"living_room1↔couch1",
"couch1↔book1",
"chair16↔potted plant1",
"living_room2↔chair14",
"living_room2↔chair15",
"living_room2↔couch2",
"living_room2↔coffee_table1",
"coffee_table1↔potted plant2",
"coffee_table1↔potted plant3",
"coffee_table1↔vase1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "opened",
"id": "rubbish1",
"room": "kitchen1"
}
],
"building": [
{
"id": "Markleeville"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup"
],
"attributes": "empty",
"id": "milk_carton1",
"parent": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair9",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "chair9",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup1",
"parent": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair16",
"room": "living_room1"
},
{
"affordances": [
"grab",
"eat",
"heat",
"throw away"
],
"attributes": "fresh",
"id": "hamburger1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"eat",
"heat",
"throw away"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup"
],
"attributes": "dirty",
"id": "waste_paper_ball1",
"parent": "chair1",
"room": "corridor1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "empty_room1"
},
{
"id": "empty_room2"
},
{
"id": "empty_room3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
}
]
}
}
|
Wipe all chairs in living_room1.
|
Lakeville
|
{
"links": [
"Lakeville↔floor_A",
"Lakeville↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor3",
"bathroom1↔toilet1",
"bathroom2↔window_sill1",
"window_sill1↔vase10",
"bathroom3↔window_sill2",
"window_sill2↔vase2",
"window_sill2↔vase3",
"window_sill2↔potted plant1",
"bedroom1↔bed4",
"bedroom2↔chair13",
"bedroom2↔chair14",
"bedroom2↔bed1",
"bedroom2↔desk1",
"desk1↔book22",
"desk1↔vase8",
"bedroom3↔chair15",
"bedroom3↔bed3",
"chair15↔vase7",
"bedroom4↔couch1",
"bedroom4↔bed2",
"bedroom4↔desk2",
"desk2↔vase5",
"dining_room1↔chair16",
"dining_room1↔chair17",
"dining_room1↔dining table3",
"dining table3↔book23",
"dining table3↔book24",
"dining table3↔book35",
"dining table3↔bowl2",
"dining table3↔vase9",
"dining_room2↔chair1",
"dining_room2↔chair4",
"dining_room2↔chair6",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table1",
"dining table1↔vase6",
"exercise_room1↔chair30",
"chair30↔book16",
"chair30↔book17",
"chair30↔book18",
"chair30↔book19",
"chair30↔book20",
"chair30↔book21",
"chair30↔book25",
"chair30↔book26",
"chair30↔book27",
"chair30↔book28",
"chair30↔cup1",
"home_office1↔bookcase2",
"bookcase2↔book1",
"bookcase2↔book2",
"bookcase2↔book3",
"kitchen1↔oven1",
"kitchen1↔toaster1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"sink1↔bowl1",
"living_room1↔couch2",
"living_room1↔tv1",
"couch2↔book4",
"couch2↔book5",
"couch2↔book6",
"couch2↔book7",
"couch2↔book8",
"couch2↔book9",
"couch2↔book10",
"couch2↔book11",
"couch2↔book12",
"couch2↔book13",
"couch2↔book14",
"couch2↔book15",
"couch2↔book29",
"couch2↔book30",
"couch2↔book31",
"couch2↔book32",
"couch2↔book33",
"couch2↔book34",
"tv1↔vase1",
"living_room2↔chair9",
"living_room2↔chair10",
"living_room2↔couch3",
"chair9↔vase4",
"dining_room3↔chair2",
"dining_room3↔chair3",
"dining_room3↔chair5",
"dining_room3↔chair7",
"dining_room3↔chair8",
"dining_room3↔chair18",
"dining_room3↔dining table2",
"dining table2↔oranges"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "bedroom3"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair16",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "toaster1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table2",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "dining_room3"
}
],
"building": [
{
"id": "Lakeville"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "window_sill1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair15",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book24",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book35",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl2",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book21",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book25",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book26",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book27",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book28",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup1",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book15",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book29",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book30",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book31",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book32",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book33",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book34",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "tv1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair9",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"wash"
],
"attributes": "",
"id": "oranges",
"parent": "dining table2",
"room": "dining_room3"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "dining_room3"
},
{
"id": "exercise_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
}
]
}
}
|
Wipe the table in dining room 1.
|
Shelbyville
|
{
"links": [
"Shelbyville↔floor_A",
"Shelbyville↔floor_B",
"Shelbyville↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor4",
"bathroom1↔toilet1",
"bathroom1↔sink3",
"sink3↔bottle7",
"sink3↔potted plant6",
"bathroom2↔toilet3",
"bathroom2↔sink5",
"bathroom3↔toilet4",
"bathroom3↔sink1",
"bathroom3↔sink2",
"sink1↔potted plant11",
"bedroom1↔bed1",
"bedroom1↔chair6",
"chair6↔clock1",
"chair6↔potted plant4",
"bedroom2↔chair12",
"bedroom2↔chair13",
"bedroom2↔bed2",
"bedroom2↔door1",
"chair12↔laptop2",
"chair12↔book1",
"door1↔bicycle1",
"childs_room1↔couch4",
"childs_room1↔bed3",
"childs_room1↔bed5",
"childs_room1↔chair35",
"chair35↔vase6",
"closet3↔handbag4",
"closet3↔suitcase1",
"closet4↔handbag1",
"corridor2↔chair30",
"chair30↔bottle2",
"chair30↔bottle3",
"chair30↔bottle4",
"chair30↔bottle5",
"chair30↔bottle6",
"chair30↔wine glass1",
"chair30↔wine glass2",
"chair30↔potted plant9",
"dining_room2↔chair31",
"chair31↔potted plant5",
"home_office1↔chair32",
"chair32↔book2",
"chair32↔potted plant10",
"chair32↔laptop1",
"chair32↔vase3",
"chair32↔vase4",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink6",
"kitchen1↔refrigerator1",
"refrigerator1↔apple1",
"refrigerator1↔egg1",
"refrigerator1↔milk1",
"refrigerator1↔steak1",
"sink6↔potted plant1",
"sink6↔potted plant2",
"sink6↔potted plant3",
"living_room1↔chair17",
"living_room1↔couch2",
"living_room1↔couch3",
"chair17↔bottle1",
"chair17↔vase1",
"chair17↔vase2",
"chair17↔potted plant7",
"chair17↔potted plant8",
"lobby1↔backpack1",
"lobby1↔handbag2",
"lobby1↔handbag3",
"playroom1↔chair14",
"playroom1↔chair15",
"playroom1↔chair16",
"chair14↔vase5",
"chair14↔bowl1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "door1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "corridor2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch4",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair35",
"room": "childs_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag4",
"room": "closet3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "suitcase1",
"room": "closet3"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag1",
"room": "closet4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair32",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, on",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "playroom1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "backpack1",
"room": "lobby1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag2",
"room": "lobby1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag3",
"room": "lobby1"
}
],
"building": [
{
"id": "Shelbyville"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_C"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant11",
"parent": "sink1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "chair6",
"room": "bedroom1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "chair6",
"room": "bedroom1"
},
{
"affordances": [
"ride",
"repair",
"park",
"pick up",
"clean"
],
"attributes": "",
"id": "bicycle1",
"parent": "door1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop2",
"parent": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "chair30",
"room": "corridor2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "chair30",
"room": "corridor2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "chair30",
"room": "corridor2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "chair30",
"room": "corridor2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair30",
"room": "corridor2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass1",
"parent": "chair30",
"room": "corridor2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass2",
"parent": "chair30",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair30",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "chair31",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair32",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair32",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair32",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair32",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair32",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "sink6",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "sink6",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink6",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "chair17",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair17",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair17",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair17",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair17",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl1",
"parent": "chair14",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair14",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair35",
"room": "childs_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "egg1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "milk1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "steak1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "childs_room1"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "closet3"
},
{
"id": "closet4"
},
{
"id": "closet5"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "television_room1"
}
]
}
}
|
Open the refrigerator in kitchen1.
|
Coffeen
|
{
"links": [
"Coffeen↔floor_A",
"Coffeen↔floor_B",
"Coffeen↔floor_C",
"Coffeen↔floor_D",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔staircase3",
"floor_D↔staircase4",
"bathroom1↔toilet1",
"bathroom1↔sink6",
"bathroom1↔window_sill1",
"window_sill1↔vase5",
"window_sill1↔potted plant18",
"bathroom2↔toilet3",
"bathroom2↔sink1",
"bathroom2↔window_sill2",
"window_sill2↔potted plant2",
"bathroom3↔sink3",
"bathroom3↔sink4",
"bathroom3↔window_sill3",
"window_sill3↔vase6",
"bathroom4↔toilet2",
"bedroom1↔chair2",
"bedroom1↔bed1",
"bedroom2↔chair12",
"bedroom2↔chair13",
"bedroom2↔desk1",
"bedroom2↔bed2",
"bedroom2↔tv2",
"desk1↔potted plant14",
"desk1↔potted plant15",
"corridor2↔chair14",
"chair14↔potted plant1",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔dining table1",
"dining table1↔vase3",
"dining table1↔vase4",
"dining table1↔wine glass6",
"dining table1↔potted plant10",
"home_office1↔chair3",
"home_office1↔chair4",
"home_office1↔bookcase1",
"bookcase1↔book1",
"bookcase1↔book2",
"kitchen1↔sink2",
"kitchen1↔dish_cabinet1",
"kitchen1↔window_sill4",
"dish_cabinet1↔bottle1",
"dish_cabinet1↔bottle2",
"dish_cabinet1↔bottle4",
"dish_cabinet1↔dish1",
"dish_cabinet1↔dish2",
"dish_cabinet1↔dish3",
"window_sill4↔potted plant7",
"kitchen2↔microwave1",
"kitchen2↔oven1",
"kitchen2↔sink5",
"kitchen2↔refrigerator1",
"kitchen2↔window_sill5",
"kitchen2↔dish_cabinet2",
"dish_cabinet2↔wine glass1",
"dish_cabinet2↔wine glass2",
"dish_cabinet2↔wine glass3",
"dish_cabinet2↔wine glass4",
"dish_cabinet2↔wine glass5",
"dish_cabinet2↔bowl2",
"dish_cabinet2↔bowl3",
"dish_cabinet2↔bowl4",
"dish_cabinet2↔bowl5",
"refrigerator1↔apple1",
"refrigerator1↔potato1",
"window_sill5↔potted plant11",
"living_room1↔chair5",
"living_room1↔couch1",
"living_room1↔coffee_table1",
"coffee_table1↔bowl1",
"coffee_table1↔potted plant3",
"coffee_table1↔potted plant4",
"coffee_table1↔potted plant5",
"coffee_table1↔potted plant6",
"coffee_table1↔potted plant8",
"coffee_table1↔potted plant9",
"coffee_table1↔potted plant16",
"coffee_table1↔potted plant17",
"coffee_table1↔clock1",
"living_room2↔chair11",
"living_room2↔couch2",
"living_room2↔tv1",
"living_room2↔coffee_table2",
"coffee_table2↔potted plant12",
"coffee_table2↔potted plant13",
"coffee_table2↔vase1",
"coffee_table2↔vase2",
"utility_room1↔sink7",
"utility_room1↔chair1",
"utility_room1↔backpack1",
"sink7↔bottle3",
"sink7↔bottle5",
"sink7↔bottle6",
"sink7↔bottle7",
"sink7↔cup1",
"sink7↔cup2",
"chair1↔potted plant19",
"chair1↔potted plant20",
"chair1↔potted plant21",
"chair1↔potted plant22"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "corridor2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "home_office1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill4",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, on",
"id": "microwave1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "opened, tidy",
"id": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "window_sill5",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "backpack1",
"room": "utility_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "utility_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "utility_room1"
}
],
"building": [
{
"id": "Coffeen"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
},
{
"id": "floor_D"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant18",
"parent": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "window_sill2",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "window_sill3",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair14",
"room": "corridor2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "dish1",
"parent": "dish_cabinet1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "dish2",
"parent": "dish_cabinet1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "dish3",
"parent": "dish_cabinet1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "window_sill4",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass1",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass2",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass3",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass4",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass5",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl3",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl4",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl5",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"eat",
"grab",
"peel",
"hold",
"through away",
"pick up",
"bite"
],
"attributes": "",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"pick up"
],
"attributes": "",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "window_sill5",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant17",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup1",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant19",
"parent": "chair1",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant20",
"parent": "chair1",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant21",
"parent": "chair1",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant22",
"parent": "chair1",
"room": "utility_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
},
{
"id": "staircase4"
},
{
"id": "utility_room1"
}
]
}
}
|
Check the water supply for the sink7 in utility_room1.
|
Muleshoe
|
{
"links": [
"Muleshoe↔floor_A",
"Muleshoe↔floor_B",
"floor_A↔staircase1",
"floor_A↔staircase2",
"floor_B↔corridor2",
"bathroom1↔sink10",
"sink10↔potted plant12",
"sink10↔potted plant16",
"sink10↔potted plant17",
"bathroom2↔sink1",
"bathroom2↔toilet3",
"sink1↔bottle1",
"sink1↔vase1",
"sink1↔potted plant14",
"bathroom3↔sink2",
"bathroom3↔toilet1",
"closet1↔suitcase1",
"closet1↔suitcase2",
"corridor1↔chair3",
"home_office1↔chair30",
"chair30↔book18",
"sink2↔potted plant1",
"sink2↔potted plant8",
"bathroom4↔toilet4",
"bathroom5↔toilet2",
"bathroom5↔sink11",
"sink11↔potted plant9",
"bedroom1↔bed1",
"bedroom1↔tv1",
"bedroom1↔couch1",
"bedroom2↔chair16",
"bedroom2↔bed3",
"bedroom2↔bookcase1",
"bookcase1↔book10",
"bookcase1↔book11",
"bookcase1↔book12",
"bookcase1↔book13",
"bedroom3↔bed4",
"bedroom3↔chair5",
"chair5↔book22",
"chair5↔book23",
"chair5↔potted plant7",
"bedroom4↔bed2",
"bedroom4↔bookcase2",
"bookcase2↔book1",
"bookcase2↔book2",
"bookcase2↔book3",
"dining_room1↔chair1",
"dining_room1↔chair6",
"dining_room1↔dining table1",
"dining_room2↔chair8",
"dining_room2↔chair11",
"chair8↔wine glass1",
"chair8↔wine glass2",
"kitchen1↔oven1",
"kitchen1↔chair2",
"chair2↔book6",
"chair2↔book7",
"living_room1↔couch4",
"living_room1↔tv2",
"couch4↔book5",
"couch4↔book8",
"living_room2↔couch6",
"living_room2↔chair9",
"couch6↔book17",
"chair9↔vase9",
"playroom1↔bench1",
"playroom1↔chair17",
"staircase2↔chair31",
"chair31↔potted plant3",
"television_room1↔couch3",
"television_room1↔tv3",
"couch3↔book14",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom5"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink11",
"room": "bathroom5"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "suitcase2",
"room": "closet1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch4",
"room": "living_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch6",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "staircase2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "playroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Muleshoe"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant16",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant17",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "sink11",
"room": "bathroom5"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "bookcase2",
"room": "bedroom4"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass1",
"parent": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass2",
"parent": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "couch4",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "couch4",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "couch6",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair9",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair30",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair31",
"room": "staircase2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "couch3",
"room": "television_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Empty any remaining trash from the living room.
|
Tolstoy
|
{
"links": [
"Tolstoy↔floor_A",
"Tolstoy↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor4",
"corridor1↔cupboard1",
"corridor2↔cupboard2",
"bathroom1↔sink4",
"bathroom1↔toilet2",
"bathroom2↔toilet1",
"bathroom2↔sink2",
"bathroom2↔sink3",
"bathroom2↔sink5",
"bathroom3↔toilet3",
"bathroom3↔sink6",
"bathroom3↔sink7",
"bedroom1↔chair13",
"bedroom1↔bed5",
"bedroom1↔desk1",
"bedroom2↔bed4",
"bedroom2↔tv2",
"bedroom2↔TV_cabinet2",
"childs_room1↔bed3",
"childs_room1↔table2",
"childs_room2↔bed1",
"childs_room2↔bed2",
"closet1↔backpack1",
"closet1↔suitcase1",
"utility_room1↔table1",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair3",
"dining_room2↔dining_table1",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔dining_table2",
"home_office1↔chair5",
"home_office1↔chair6",
"home_office1↔dining_table3",
"home_office1↔bookcase3",
"kitchen1↔chair4",
"kitchen1↔oven1",
"kitchen1↔toaster1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"refrigerator1↔pizza1",
"refrigerator1↔juice1",
"refrigerator1↔apple1",
"refrigerator1↔egg1",
"living_room1↔couch1",
"living_room1↔tv1",
"living_room1↔coffee_table2",
"living_room1↔bookcase2",
"living_room1↔TV_cabinet1",
"living_room2↔chair11",
"living_room2↔chair12",
"living_room2↔coffee_table1",
"living_room2↔bookcase1",
"living_room2↔couch2",
"suitcase1↔tie1",
"table1↔bottle1",
"table1↔bottle2",
"sink2↔bottle3",
"sink2↔bottle4",
"cupboard1↔bottle5",
"cupboard1↔bottle6",
"cupboard1↔bottle7",
"cupboard1↔bottle8",
"sink6↔bottle10",
"sink6↔potted_plant10",
"cupboard1↔wine_glass1",
"cupboard1↔wine_glass2",
"cupboard1↔wine_glass3",
"cupboard1↔wine_glass4",
"cupboard1↔wine_glass5",
"cupboard1↔wine_glass6",
"sink1↔vase2",
"sink1↔bowl1",
"cupboard2↔bowl2",
"cupboard2↔bowl3",
"coffee_table1↔bowl4",
"coffee_table1↔bowl5",
"coffee_table1↔potted_plant11",
"bookcase1↔book5",
"bookcase1↔book6",
"bookcase1↔book7",
"bookcase1↔book8",
"bookcase1↔book9",
"coffee_table2↔potted_plant1",
"coffee_table2↔potted_plant2",
"bookcase2↔potted_plant3",
"bookcase2↔potted_plant4",
"TV_cabinet1↔potted_plant13",
"bookcase2↔book10",
"bookcase2↔book11",
"bookcase2↔book12",
"TV_cabinet1↔vase4",
"dining_table3↔potted_plant5",
"dining_table3↔vase9",
"dining_table3↔vase10",
"bookcase3↔book1",
"bookcase3↔book2",
"bookcase3↔book3",
"bookcase3↔book4",
"sink3↔potted_plant6",
"sink3↔potted_plant7",
"sink5↔vase5",
"sink5↔vase6",
"sink4↔vase7",
"sink4↔vase8",
"sink4↔potted_plant8",
"sink4↔potted_plant9",
"TV_cabinet2↔potted_plant12",
"desk1↔potted_plant14",
"desk1↔laptop1",
"table2↔vase1",
"cupboard2↔vase3",
"dining_table1↔bottle9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "backpack1",
"room": "closet1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining_table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, mess",
"id": "TV_cabinet2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"wash",
"clean"
],
"attributes": "",
"id": "toaster1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "table1",
"room": "utility_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table2",
"room": "childs_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "TV_cabinet1",
"room": "living_room1"
}
],
"building": [
{
"id": "Tolstoy"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"wear",
"pick up",
"tie"
],
"attributes": "",
"id": "tie1",
"parent": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "table1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "table1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "dining_table1",
"room": "dining_room2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle10",
"parent": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass1",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass2",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass3",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass4",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass5",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass6",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl2",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl4",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl5",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant1",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant2",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant3",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant4",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant5",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant6",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant7",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant8",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant9",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant10",
"parent": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant11",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant12",
"parent": "TV_cabinet2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant13",
"parent": "TV_cabinet1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant14",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "table2",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "TV_cabinet1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "juice1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "egg1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "utility_room1"
}
]
}
}
|
Clean the bowl3 inside cupboard2 in corridor2.
|
Collierville
|
{
"links": [
"Collierville↔floor_A",
"Collierville↔floor_B",
"Collierville↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔sink4",
"bathroom1↔sink5",
"bathroom1↔toilet3",
"bathroom1↔window_sill1",
"window_sill1↔vase3",
"bathroom2↔sink2",
"bathroom2↔sink3",
"bathroom2↔toilet1",
"bathroom2↔toilet2",
"sink2↔bottle1",
"bedroom1↔bed2",
"bedroom2↔bed1",
"bedroom2↔window_sill3",
"window_sill3↔potted plant4",
"corridor2↔chair6",
"chair6↔bottle2",
"chair6↔bottle3",
"chair6↔cup1",
"chair6↔vase2",
"chair6↔potted plant1",
"chair6↔potted plant5",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining_room1↔dining table2",
"dining_room1↔dining table3",
"dining table1↔vase1",
"garage1↔chair4",
"home_office1↔chair5",
"home_office1↔tv4",
"home_office1↔tv5",
"home_office1↔tv6",
"home_office1↔computer_desk1",
"computer_desk1↔keyboard1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill2",
"kitchen1↔rubbish bin1",
"window_sill2↔potted plant6",
"living_room1↔couch1",
"living_room1↔tv1",
"living_room1↔tv2",
"living_room1↔tv3",
"living_room1↔coffee_table1",
"coffee_table1↔vase4",
"coffee_table1↔potted plant2",
"coffee_table1↔potted plant3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "corridor2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "garage1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv4",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv5",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv6",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "computer_desk1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill2",
"room": "kitchen1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "rubbish bin1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room1"
}
],
"building": [
{
"id": "Collierville"
}
],
"floor": [
{
"id": "floor_B"
},
{
"id": "floor_C"
},
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "window_sill3",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "chair6",
"room": "corridor2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "chair6",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup1",
"parent": "chair6",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair6",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair6",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "chair6",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "computer_desk1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "window_sill2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "garage1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
}
]
}
}
|
Flush toilet2 in bathroom2 after use.
|
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