building_name
stringclasses 30
values | scene_graph
dict | task
stringlengths 14
77
|
|---|---|---|
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"
}
]
}
}
|
Water for potted plant3 on coffee_table1 in living_room2.
|
Beechwood
|
{
"links": [
"Beechwood↔floor_A",
"Beechwood↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"closet1↔cabinet1",
"childs_room1↔suitcase1",
"childs_room1↔table1",
"childs_room1↔bed2",
"bathroom2↔toilet2",
"bathroom2↔toilet3",
"bathroom2↔sink3",
"bathroom2↔sink4",
"television_room1↔chair20",
"television_room1↔couch2",
"television_room1↔tv2",
"television_room1↔bookcase1",
"television_room1↔table2",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔dining_table2",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔dining_table1",
"dining_room1↔potted_plant2",
"dining_room1↔potted_plant3",
"dining_room1↔potted_plant4",
"lobby1↔chair7",
"lobby1↔chair8",
"lobby1↔potted_plant1",
"kitchen1↔chair14",
"kitchen1↔chair15",
"kitchen1↔chair16",
"kitchen1↔chair17",
"kitchen1↔chair18",
"kitchen1↔potted_plant8",
"kitchen1↔dining_table3",
"kitchen1↔sink1",
"kitchen1↔sink7",
"kitchen1↔refrigerator1",
"refrigerator1↔potato1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"home_office1↔chair19",
"home_office1↔bookcase2",
"living_room1↔couch1",
"living_room1↔potted_plant5",
"living_room1↔tv1",
"bathroom3↔potted_plant6",
"bathroom3↔potted_plant7",
"bathroom3↔toilet1",
"bathroom3↔sink5",
"bathroom3↔sink6",
"bedroom1↔potted_plant9",
"bedroom1↔potted_plant10",
"bedroom1↔bed1",
"childs_room2↔bed3",
"childs_room2↔table3",
"bathroom1↔toilet4",
"utility_room1↔sink2",
"cabinet1↔handbag1",
"table1↔book3",
"table1↔book4",
"table1↔book5",
"table1↔clock1",
"bed2↔teddy bear1",
"sink3↔bottle1",
"sink3↔potted_plant11",
"table2↔cup1",
"table2↔book15",
"bookcase1↔book24",
"bookcase1↔book25",
"bookcase1↔book26",
"bookcase1↔book27",
"bookcase1↔book28",
"bookcase1↔book30",
"dining_table2↔bowl1",
"dining_table1↔vase2",
"dining_table1↔vase3",
"dining_table1↔vase4",
"bookcase2↔book16",
"bookcase2↔book17",
"bookcase2↔book18",
"bookcase2↔book19",
"bookcase2↔book20",
"bookcase2↔book21",
"bookcase2↔book22",
"bookcase2↔book23",
"bookcase2↔book29",
"couch1↔book1",
"couch1↔book2",
"couch1↔book6",
"sink5↔vase1",
"table3↔book7",
"table3↔book8",
"table3↔book9",
"table3↔book10",
"table3↔book11",
"table3↔book12",
"table3↔book13",
"bed3↔book14",
"table3↔clock2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "cabinet1",
"room": "closet1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "table1",
"room": "childs_room1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "suitcase1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair20",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "television_room1"
},
{
"affordances": [
"turn_off",
"access",
"turn_on"
],
"attributes": "",
"id": "tv2",
"room": "television_room1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table2",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining_table2",
"room": "playroom1"
},
{
"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",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "lobby1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant1",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair16",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair18",
"room": "kitchen1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant8",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink7",
"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": "closed, 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": "dirty",
"id": "chair19",
"room": "home_office1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant5",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant9",
"room": "bedroom1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant10",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table3",
"room": "childs_room2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "utility_room1"
}
],
"building": [
{
"id": "Beechwood"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"wear",
"pickup",
"clean",
"open",
"empty",
"close",
"fill",
"grab"
],
"attributes": "",
"id": "handbag1",
"parent": "cabinet1",
"room": "closet1"
},
{
"affordances": [
"pickup"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "cup1",
"parent": "table2",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining_table2",
"room": "playroom1"
},
{
"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": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "bed3",
"room": "childs_room2"
},
{
"affordances": [
"pickup"
],
"attributes": "",
"id": "book15",
"parent": "table2",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book21",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book24",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book25",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book26",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book27",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book28",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book29",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book30",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink5",
"room": "bathroom3"
},
{
"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"
],
"attributes": "",
"id": "teddy bear1",
"parent": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant11",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"clean",
"cook"
],
"attributes": "dirty",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Turn off the microwave after heating food.
|
Klickitat
|
{
"links": [
"Klickitat↔floor_A",
"Klickitat↔floor_B",
"Klickitat↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_B↔staircase3",
"floor_C↔corridor2",
"floor_C↔corridor3",
"bathroom1↔toilet2",
"bathroom1↔sink5",
"bathroom2↔sink1",
"bathroom2↔sink1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"bathroom3↔toilet4",
"bathroom3↔sink2",
"bathroom4↔toilet3",
"bathroom4↔sink8",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink4",
"sink4↔vase2",
"sink4↔potted plant5",
"bedroom2↔chair13",
"bedroom2↔chair19",
"bedroom2↔couch4",
"bedroom2↔bed2",
"bedroom2↔desk1",
"desk1↔vase3",
"desk1↔bowl2",
"desk1↔bowl3",
"desk1↔bowl4",
"desk1↔bowl5",
"desk1↔bowl6",
"desk1↔potted plant12",
"desk1↔potted plant13",
"bedroom4↔bed1",
"bedroom4↔book1",
"bedroom4↔desk2",
"desk2↔potted plant1",
"desk2↔potted plant2",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining_room2↔chair8",
"dining_room2↔chair9",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table2",
"dining table2↔potted plant15",
"dining table2↔potted plant16",
"dining_room3↔chair14",
"dining_room3↔chair15",
"dining_room3↔chair16",
"dining_room3↔dining table3",
"dining table3↔cell phone1",
"dining table3↔bowl1",
"home_office1↔chair20",
"chair20↔laptop1",
"kitchen1↔microwave1",
"kitchen1↔oven3",
"kitchen1↔sink3",
"kitchen1↔refrigerator2",
"kitchen2↔microwave2",
"kitchen2↔oven1",
"kitchen2↔oven2",
"kitchen2↔sink6",
"kitchen2↔sink7",
"kitchen2↔refrigerator1",
"kitchen2↔window_sill1",
"sink6↔bottle1",
"window_sill1↔potted plant8",
"window_sill1↔potted plant9",
"window_sill1↔potted plant10",
"window_sill1↔vase4",
"living_room1↔couch2",
"living_room2↔chair1",
"living_room2↔chair2",
"living_room2↔chair3",
"living_room2↔chair4",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔book2",
"coffee_table1↔vase1",
"coffee_table1↔bowl7",
"living_room3↔chair17",
"living_room3↔chair18",
"living_room3↔couch3",
"living_room3↔coffee_table2",
"coffee_table2↔potted plant6",
"coffee_table2↔potted plant7",
"coffee_table2↔vase5",
"lobby1↔bench1",
"playroom1↔storage_box1",
"storage_box1↔sports ball1",
"staircase3↔chair25",
"chair25↔potted plant11",
"corridor3↔sink9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair19",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch4",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink9",
"room": "corridor3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"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",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair20",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, on",
"id": "microwave2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"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": "clean",
"id": "chair17",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "staircase3"
}
],
"building": [
{
"id": "Klickitat"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl4",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl5",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl6",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant16",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"pick up",
"answer",
"carry",
"look at",
"call",
"text"
],
"attributes": "",
"id": "cell phone1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair20",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl7",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"throw",
"pick up"
],
"attributes": "",
"id": "sports ball1",
"parent": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair25",
"room": "staircase3"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "dining_room3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
}
]
}
}
|
Find and collect all books from bedroom 4.
|
Corozal
|
{
"links": [
"Corozal↔floor_A",
"Corozal↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom1↔sink10",
"sink2↔potted plant9",
"bathroom2↔sink1",
"sink1↔bottle1",
"sink1↔bottle8",
"bathroom3↔toilet1",
"bathroom3↔sink11",
"bathroom3↔chair30",
"sink11↔bottle4",
"chair30↔book2",
"bathroom4↔sink4",
"bathroom4↔sink5",
"sink4↔bottle2",
"sink4↔bottle3",
"sink4↔bottle7",
"bathroom5↔toilet3",
"bathroom6↔toilet5",
"bathroom6↔sink3",
"bedroom1↔bed2",
"bedroom1↔tv4",
"bedroom2↔bed3",
"bedroom2↔tv1",
"bedroom2↔tv2",
"bedroom3↔bed4",
"bedroom3↔chair34",
"chair34↔vase1",
"chair34↔vase2",
"bedroom4↔chair6",
"bedroom4↔bed1",
"chair6↔book1",
"dining_room1↔chair2",
"dining_room1↔dining table2",
"dining table2↔potted plant6",
"home_office1↔tv6",
"home_office1↔chair5",
"chair5↔keyboard1",
"chair5↔clock2",
"chair5↔bottle5",
"chair5↔bottle6",
"chair5↔cup2",
"chair5↔cup3",
"chair5↔cup4",
"chair5↔cup5",
"chair5↔cup6",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"refrigerator1↔milk1",
"refrigerator1↔bread1",
"refrigerator1↔ice_cream1",
"refrigerator1↔orange1",
"sink2↔potted plant7",
"sink2↔potted plant8",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv5",
"lobby1↔chair31",
"chair31↔potted plant1",
"chair31↔potted plant2",
"television_room1↔bench1",
"television_room1↔chair4",
"television_room1↔couch3",
"television_room1↔tv3",
"couch3↔remote1",
"utility_room1↔chair33",
"chair33↔bowl1",
"chair33↔bowl2",
"chair33↔vase3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"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": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet5",
"room": "bathroom6"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom6"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "television_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv6",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, on",
"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, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair32",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair33",
"room": "utility_room1"
}
],
"building": [
{
"id": "Corozal"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup3",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup4",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"press",
"pick up",
"move",
"look for"
],
"attributes": "",
"id": "remote1",
"parent": "couch3",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "milk1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "bread1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "ice_cream1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "orange1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bathroom6"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Clean the sink in bathroom 2.
|
Uvalda
|
{
"links": [
"Uvalda↔floor_A",
"Uvalda↔floor_B",
"Uvalda↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor5",
"bathroom1↔toilet5",
"bathroom1↔sink3",
"sink3↔bottle3",
"bathroom2↔toilet4",
"bathroom3↔toilet3",
"bathroom4↔toilet2",
"bathroom4↔sink8",
"sink8↔potted plant4",
"sink8↔potted plant5",
"sink8↔potted plant13",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink2",
"sink2↔bottle4",
"sink2↔bottle5",
"sink2↔potted plant10",
"bedroom1↔bed3",
"bedroom1↔chair24",
"bedroom1↔chair25",
"chair24↔potted plant12",
"chair24↔book6",
"bedroom2↔bed2",
"bedroom2↔chair35",
"chair35↔potted plant6",
"chair35↔potted plant7",
"chair35↔clock2",
"bedroom3↔bed4",
"bedroom3↔chair36",
"chair36↔potted plant11",
"bedroom4↔bed1",
"corridor5↔chair33",
"corridor5↔chair34",
"chair33↔vase5",
"chair33↔vase7",
"dining_room1↔chair14",
"dining_room1↔chair15",
"dining_room1↔chair17",
"dining_room1↔chair19",
"dining_room1↔chair21",
"dining_room1↔chair22",
"dining_room1↔dining table5",
"dining table5↔bottle8",
"dining table5↔bottle9",
"dining table5↔bowl3",
"dining table5↔book9",
"home_office1↔chair1",
"home_office1↔chair2",
"home_office1↔chair3",
"chair1↔bowl1",
"chair1↔potted plant1",
"chair1↔potted plant2",
"chair1↔potted plant3",
"chair1↔book1",
"chair1↔book2",
"chair1↔book3",
"chair1↔book4",
"chair1↔book5",
"chair1↔vase1",
"chair1↔vase8",
"chair1↔vase9",
"chair1↔laptop1",
"kitchen2↔chair16",
"kitchen2↔chair18",
"kitchen2↔chair20",
"kitchen2↔chair23",
"kitchen2↔dining table4",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"dining table4↔laptop2",
"dining table4↔potted plant8",
"dining table4↔vase2",
"dining table4↔vase3",
"living_room1↔chair31",
"living_room1↔chair32",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv3",
"chair31↔bowl2",
"chair31↔vase4",
"chair31↔vase6",
"lobby1↔bench1",
"bench1↔book9",
"bench1↔vase12",
"playroom1↔chair4",
"playroom1↔chair5",
"playroom1↔chair6",
"playroom1↔chair7",
"playroom1↔chair8",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔chair26",
"playroom1↔chair27",
"playroom1↔chair28",
"playroom1↔chair29",
"playroom1↔chair30",
"playroom1↔dining table1",
"playroom1↔dining table2",
"playroom1↔dining table3",
"playroom1↔tv1",
"dining table1↔bottle1",
"dining table1↔bottle2",
"staircase1↔chair37",
"chair37↔bottle6",
"chair37↔bottle7",
"chair37↔book7",
"chair37↔book8",
"chair37↔vase10",
"chair37↔vase11"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair36",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair33",
"room": "corridor5"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair34",
"room": "corridor5"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair19",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair21",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair22",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table4",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair20",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair23",
"room": "kitchen2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair32",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "playroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair26",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair27",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair28",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair29",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair37",
"room": "staircase1"
}
],
"building": [
{
"id": "Uvalda"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair36",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair33",
"room": "corridor5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair33",
"room": "corridor5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop2",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "bench1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "bench1",
"room": "lobby1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "chair37",
"room": "staircase1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "closet3"
},
{
"id": "closet4"
},
{
"id": "closet5"
},
{
"id": "closet6"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
}
]
}
}
|
Check if the laundry basket in kitchen 2 is full.
|
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"
}
]
}
}
|
Inspect and clean surfaces in bathrooms.
|
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"
}
]
}
}
|
Dust off all surfaces in the home_office1.
|
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"
}
]
}
}
|
Turn on tv4 in home_office1.
|
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"
}
]
}
}
|
Fill the vase1 in childs_room1 with fresh water.
|
Beechwood
|
{
"links": [
"Beechwood↔floor_A",
"Beechwood↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"closet1↔cabinet1",
"childs_room1↔suitcase1",
"childs_room1↔table1",
"childs_room1↔bed2",
"bathroom2↔toilet2",
"bathroom2↔toilet3",
"bathroom2↔sink3",
"bathroom2↔sink4",
"television_room1↔chair20",
"television_room1↔couch2",
"television_room1↔tv2",
"television_room1↔bookcase1",
"television_room1↔table2",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔dining_table2",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔dining_table1",
"dining_room1↔potted_plant2",
"dining_room1↔potted_plant3",
"dining_room1↔potted_plant4",
"lobby1↔chair7",
"lobby1↔chair8",
"lobby1↔potted_plant1",
"kitchen1↔chair14",
"kitchen1↔chair15",
"kitchen1↔chair16",
"kitchen1↔chair17",
"kitchen1↔chair18",
"kitchen1↔potted_plant8",
"kitchen1↔dining_table3",
"kitchen1↔sink1",
"kitchen1↔sink7",
"kitchen1↔refrigerator1",
"refrigerator1↔potato1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"home_office1↔chair19",
"home_office1↔bookcase2",
"living_room1↔couch1",
"living_room1↔potted_plant5",
"living_room1↔tv1",
"bathroom3↔potted_plant6",
"bathroom3↔potted_plant7",
"bathroom3↔toilet1",
"bathroom3↔sink5",
"bathroom3↔sink6",
"bedroom1↔potted_plant9",
"bedroom1↔potted_plant10",
"bedroom1↔bed1",
"childs_room2↔bed3",
"childs_room2↔table3",
"bathroom1↔toilet4",
"utility_room1↔sink2",
"cabinet1↔handbag1",
"table1↔book3",
"table1↔book4",
"table1↔book5",
"table1↔clock1",
"bed2↔teddy bear1",
"sink3↔bottle1",
"sink3↔potted_plant11",
"table2↔cup1",
"table2↔book15",
"bookcase1↔book24",
"bookcase1↔book25",
"bookcase1↔book26",
"bookcase1↔book27",
"bookcase1↔book28",
"bookcase1↔book30",
"dining_table2↔bowl1",
"dining_table1↔vase2",
"dining_table1↔vase3",
"dining_table1↔vase4",
"bookcase2↔book16",
"bookcase2↔book17",
"bookcase2↔book18",
"bookcase2↔book19",
"bookcase2↔book20",
"bookcase2↔book21",
"bookcase2↔book22",
"bookcase2↔book23",
"bookcase2↔book29",
"couch1↔book1",
"couch1↔book2",
"couch1↔book6",
"sink5↔vase1",
"table3↔book7",
"table3↔book8",
"table3↔book9",
"table3↔book10",
"table3↔book11",
"table3↔book12",
"table3↔book13",
"bed3↔book14",
"table3↔clock2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "cabinet1",
"room": "closet1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "table1",
"room": "childs_room1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "suitcase1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair20",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "television_room1"
},
{
"affordances": [
"turn_off",
"access",
"turn_on"
],
"attributes": "",
"id": "tv2",
"room": "television_room1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table2",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining_table2",
"room": "playroom1"
},
{
"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",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "lobby1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant1",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair16",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair18",
"room": "kitchen1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant8",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink7",
"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": "closed, 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": "dirty",
"id": "chair19",
"room": "home_office1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant5",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant9",
"room": "bedroom1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant10",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table3",
"room": "childs_room2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "utility_room1"
}
],
"building": [
{
"id": "Beechwood"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"wear",
"pickup",
"clean",
"open",
"empty",
"close",
"fill",
"grab"
],
"attributes": "",
"id": "handbag1",
"parent": "cabinet1",
"room": "closet1"
},
{
"affordances": [
"pickup"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "cup1",
"parent": "table2",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining_table2",
"room": "playroom1"
},
{
"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": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "bed3",
"room": "childs_room2"
},
{
"affordances": [
"pickup"
],
"attributes": "",
"id": "book15",
"parent": "table2",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book21",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book24",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book25",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book26",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book27",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book28",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book29",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book30",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink5",
"room": "bathroom3"
},
{
"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"
],
"attributes": "",
"id": "teddy bear1",
"parent": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant11",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"clean",
"cook"
],
"attributes": "dirty",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Place books back on the home office bookcase.
|
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"
}
]
}
}
|
Organize the total furniture in living_room2.
|
Klickitat
|
{
"links": [
"Klickitat↔floor_A",
"Klickitat↔floor_B",
"Klickitat↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_B↔staircase3",
"floor_C↔corridor2",
"floor_C↔corridor3",
"bathroom1↔toilet2",
"bathroom1↔sink5",
"bathroom2↔sink1",
"bathroom2↔sink1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"bathroom3↔toilet4",
"bathroom3↔sink2",
"bathroom4↔toilet3",
"bathroom4↔sink8",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink4",
"sink4↔vase2",
"sink4↔potted plant5",
"bedroom2↔chair13",
"bedroom2↔chair19",
"bedroom2↔couch4",
"bedroom2↔bed2",
"bedroom2↔desk1",
"desk1↔vase3",
"desk1↔bowl2",
"desk1↔bowl3",
"desk1↔bowl4",
"desk1↔bowl5",
"desk1↔bowl6",
"desk1↔potted plant12",
"desk1↔potted plant13",
"bedroom4↔bed1",
"bedroom4↔book1",
"bedroom4↔desk2",
"desk2↔potted plant1",
"desk2↔potted plant2",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining_room2↔chair8",
"dining_room2↔chair9",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table2",
"dining table2↔potted plant15",
"dining table2↔potted plant16",
"dining_room3↔chair14",
"dining_room3↔chair15",
"dining_room3↔chair16",
"dining_room3↔dining table3",
"dining table3↔cell phone1",
"dining table3↔bowl1",
"home_office1↔chair20",
"chair20↔laptop1",
"kitchen1↔microwave1",
"kitchen1↔oven3",
"kitchen1↔sink3",
"kitchen1↔refrigerator2",
"kitchen2↔microwave2",
"kitchen2↔oven1",
"kitchen2↔oven2",
"kitchen2↔sink6",
"kitchen2↔sink7",
"kitchen2↔refrigerator1",
"kitchen2↔window_sill1",
"sink6↔bottle1",
"window_sill1↔potted plant8",
"window_sill1↔potted plant9",
"window_sill1↔potted plant10",
"window_sill1↔vase4",
"living_room1↔couch2",
"living_room2↔chair1",
"living_room2↔chair2",
"living_room2↔chair3",
"living_room2↔chair4",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔book2",
"coffee_table1↔vase1",
"coffee_table1↔bowl7",
"living_room3↔chair17",
"living_room3↔chair18",
"living_room3↔couch3",
"living_room3↔coffee_table2",
"coffee_table2↔potted plant6",
"coffee_table2↔potted plant7",
"coffee_table2↔vase5",
"lobby1↔bench1",
"playroom1↔storage_box1",
"storage_box1↔sports ball1",
"staircase3↔chair25",
"chair25↔potted plant11",
"corridor3↔sink9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair19",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch4",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink9",
"room": "corridor3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"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",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair20",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, on",
"id": "microwave2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"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": "clean",
"id": "chair17",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "staircase3"
}
],
"building": [
{
"id": "Klickitat"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl4",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl5",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl6",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant16",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"pick up",
"answer",
"carry",
"look at",
"call",
"text"
],
"attributes": "",
"id": "cell phone1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair20",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl7",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"throw",
"pick up"
],
"attributes": "",
"id": "sports ball1",
"parent": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair25",
"room": "staircase3"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "dining_room3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
}
]
}
}
|
Clean the microwave in kitchen 1.
|
Merom
|
{
"links": [
"Merom↔floor_A",
"Merom↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor1",
"bathroom1↔sink3",
"bathroom1↔toilet2",
"sink3↔potted plant23",
"sink3↔bottle1",
"bathroom2↔sink1",
"bathroom2↔toilet1",
"sink1↔potted plant2",
"sink1↔potted plant3",
"bedroom1↔bed1",
"bedroom1↔bench2",
"bedroom1↔chair4",
"chair4↔vase3",
"chair4↔potted plant18",
"chair4↔potted plant19",
"childs_room1↔couch2",
"childs_room1↔bed3",
"childs_room2↔chair1",
"childs_room2↔bed2",
"childs_room2↔desk1",
"desk1↔book1",
"desk1↔vase4",
"desk1↔potted plant10",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining table1↔potted plant4",
"dining table1↔potted plant5",
"dining table1↔potted plant6",
"dining table1↔potted plant7",
"dining table1↔potted plant8",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill1",
"window_sill1↔potted plant9",
"window_sill1↔potted plant22",
"window_sill1↔potted plant24",
"living_room1↔chair2",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔rubbish bin1",
"chair2↔potted plant1",
"living_room2↔chair8",
"living_room2↔couch3",
"chair8↔vase2",
"chair8↔potted plant12",
"chair8↔potted plant13",
"chair8↔potted plant14",
"chair8↔potted plant15",
"chair8↔potted plant16",
"chair8↔potted plant17",
"playroom1↔chair9",
"chair9↔vase1",
"chair9↔potted plant20",
"storage_room1↔backpack1"
],
"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": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, 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",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "bench1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "living_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "rubbish bin1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"open",
"clean"
],
"attributes": "",
"id": "backpack1",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "utility_room1"
}
],
"building": [
{
"id": "Merom"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant23",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant18",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant19",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant22",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant24",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant17",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair9",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant20",
"parent": "chair9",
"room": "playroom1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Ensure the sink in the utility room is clean.
|
Pinesdale
|
{
"links": [
"Pinesdale↔floor_A",
"Pinesdale↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor4",
"bathroom1↔sink6",
"bathroom1↔toilet2",
"bathroom2↔toilet4",
"bathroom2↔sink8",
"sink8↔bottle1",
"bathroom3↔sink2",
"bathroom3↔sink7",
"bathroom3↔toilet3",
"sink2↔potted plant2",
"sink2↔potted plant3",
"sink2↔potted plant4",
"bathroom4↔sink3",
"bathroom4↔sink4",
"bathroom4↔toilet1",
"bedroom1↔bench1",
"bedroom1↔bed2",
"bench1↔book4",
"bench1↔book5",
"bench1↔book6",
"bench1↔book7",
"bedroom2↔bed1",
"bedroom2↔desk2",
"desk2↔potted plant13",
"bedroom3↔bed4",
"bedroom3↔bed5",
"bedroom3↔desk3",
"desk3↔potted plant6",
"bedroom4↔bed3",
"bedroom4↔desk4",
"desk4↔clock4",
"desk4↔clock5",
"desk4↔vase10",
"home_office1↔chair31",
"chair31↔book8",
"chair31↔book9",
"chair31↔book10",
"chair31↔book11",
"chair31↔book12",
"chair31↔book13",
"chair31↔book17",
"chair31↔book18",
"chair31↔clock3",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining table1↔clock1",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔chair7",
"dining_room2↔chair8",
"dining_room2↔dining table2",
"dining table2↔book14",
"television_room1↔tv1",
"television_room1↔couch1",
"television_room1↔chair6",
"couch1↔book15",
"couch1↔book16",
"couch1↔book19",
"couch1↔book20",
"couch1↔clock2",
"chair6↔vase8",
"chair6↔vase9",
"chair6↔potted plant14",
"chair6↔potted plant15",
"chair6↔potted plant16",
"living_room1↔chair10",
"living_room1↔chair11",
"living_room1↔couch2",
"chair10↔book1",
"chair10↔book2",
"chair10↔book3",
"chair10↔vase1",
"chair10↔vase2",
"chair10↔vase3",
"chair10↔vase4",
"chair10↔vase5",
"chair10↔vase6",
"chair10↔vase7",
"chair10↔bowl1",
"chair10↔bowl2",
"chair10↔potted plant7",
"chair10↔potted plant8",
"chair10↔potted plant9",
"chair10↔potted plant10",
"chair10↔potted plant11",
"chair10↔potted plant12",
"lobby1↔chair30",
"chair30↔potted plant1",
"kitchen1↔oven1",
"kitchen1↔sink5",
"kitchen1↔refrigerator1",
"kitchen1↔dining table1",
"utility_room1↔sink1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet1",
"room": "bathroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "desk4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, 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",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "television_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Pinesdale"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock4",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant11",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair30",
"room": "lobby1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book15",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair6",
"room": "television_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Clean the chairs in dining room 1.
|
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 if the clock in the living room is ticking.
|
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"
}
]
}
}
|
Place the potted plant from the living room on the dining table.
|
Uvalda
|
{
"links": [
"Uvalda↔floor_A",
"Uvalda↔floor_B",
"Uvalda↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor5",
"bathroom1↔toilet5",
"bathroom1↔sink3",
"sink3↔bottle3",
"bathroom2↔toilet4",
"bathroom3↔toilet3",
"bathroom4↔toilet2",
"bathroom4↔sink8",
"sink8↔potted plant4",
"sink8↔potted plant5",
"sink8↔potted plant13",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink2",
"sink2↔bottle4",
"sink2↔bottle5",
"sink2↔potted plant10",
"bedroom1↔bed3",
"bedroom1↔chair24",
"bedroom1↔chair25",
"chair24↔potted plant12",
"chair24↔book6",
"bedroom2↔bed2",
"bedroom2↔chair35",
"chair35↔potted plant6",
"chair35↔potted plant7",
"chair35↔clock2",
"bedroom3↔bed4",
"bedroom3↔chair36",
"chair36↔potted plant11",
"bedroom4↔bed1",
"corridor5↔chair33",
"corridor5↔chair34",
"chair33↔vase5",
"chair33↔vase7",
"dining_room1↔chair14",
"dining_room1↔chair15",
"dining_room1↔chair17",
"dining_room1↔chair19",
"dining_room1↔chair21",
"dining_room1↔chair22",
"dining_room1↔dining table5",
"dining table5↔bottle8",
"dining table5↔bottle9",
"dining table5↔bowl3",
"dining table5↔book9",
"home_office1↔chair1",
"home_office1↔chair2",
"home_office1↔chair3",
"chair1↔bowl1",
"chair1↔potted plant1",
"chair1↔potted plant2",
"chair1↔potted plant3",
"chair1↔book1",
"chair1↔book2",
"chair1↔book3",
"chair1↔book4",
"chair1↔book5",
"chair1↔vase1",
"chair1↔vase8",
"chair1↔vase9",
"chair1↔laptop1",
"kitchen2↔chair16",
"kitchen2↔chair18",
"kitchen2↔chair20",
"kitchen2↔chair23",
"kitchen2↔dining table4",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"dining table4↔laptop2",
"dining table4↔potted plant8",
"dining table4↔vase2",
"dining table4↔vase3",
"living_room1↔chair31",
"living_room1↔chair32",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv3",
"chair31↔bowl2",
"chair31↔vase4",
"chair31↔vase6",
"lobby1↔bench1",
"bench1↔book9",
"bench1↔vase12",
"playroom1↔chair4",
"playroom1↔chair5",
"playroom1↔chair6",
"playroom1↔chair7",
"playroom1↔chair8",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔chair26",
"playroom1↔chair27",
"playroom1↔chair28",
"playroom1↔chair29",
"playroom1↔chair30",
"playroom1↔dining table1",
"playroom1↔dining table2",
"playroom1↔dining table3",
"playroom1↔tv1",
"dining table1↔bottle1",
"dining table1↔bottle2",
"staircase1↔chair37",
"chair37↔bottle6",
"chair37↔bottle7",
"chair37↔book7",
"chair37↔book8",
"chair37↔vase10",
"chair37↔vase11"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair36",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair33",
"room": "corridor5"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair34",
"room": "corridor5"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair19",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair21",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair22",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table4",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair20",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair23",
"room": "kitchen2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair32",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "playroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair26",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair27",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair28",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair29",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair37",
"room": "staircase1"
}
],
"building": [
{
"id": "Uvalda"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair36",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair33",
"room": "corridor5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair33",
"room": "corridor5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop2",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "bench1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "bench1",
"room": "lobby1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "chair37",
"room": "staircase1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "closet3"
},
{
"id": "closet4"
},
{
"id": "closet5"
},
{
"id": "closet6"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
}
]
}
}
|
Turn on the TV in bedroom 1 for entertainment.
|
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"
}
]
}
}
|
Make sure the beds in the bedrooms are tidy.
|
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"
}
]
}
}
|
Keep track of which books have been borrowed from the home_office1.
|
Corozal
|
{
"links": [
"Corozal↔floor_A",
"Corozal↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom1↔sink10",
"sink2↔potted plant9",
"bathroom2↔sink1",
"sink1↔bottle1",
"sink1↔bottle8",
"bathroom3↔toilet1",
"bathroom3↔sink11",
"bathroom3↔chair30",
"sink11↔bottle4",
"chair30↔book2",
"bathroom4↔sink4",
"bathroom4↔sink5",
"sink4↔bottle2",
"sink4↔bottle3",
"sink4↔bottle7",
"bathroom5↔toilet3",
"bathroom6↔toilet5",
"bathroom6↔sink3",
"bedroom1↔bed2",
"bedroom1↔tv4",
"bedroom2↔bed3",
"bedroom2↔tv1",
"bedroom2↔tv2",
"bedroom3↔bed4",
"bedroom3↔chair34",
"chair34↔vase1",
"chair34↔vase2",
"bedroom4↔chair6",
"bedroom4↔bed1",
"chair6↔book1",
"dining_room1↔chair2",
"dining_room1↔dining table2",
"dining table2↔potted plant6",
"home_office1↔tv6",
"home_office1↔chair5",
"chair5↔keyboard1",
"chair5↔clock2",
"chair5↔bottle5",
"chair5↔bottle6",
"chair5↔cup2",
"chair5↔cup3",
"chair5↔cup4",
"chair5↔cup5",
"chair5↔cup6",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"refrigerator1↔milk1",
"refrigerator1↔bread1",
"refrigerator1↔ice_cream1",
"refrigerator1↔orange1",
"sink2↔potted plant7",
"sink2↔potted plant8",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv5",
"lobby1↔chair31",
"chair31↔potted plant1",
"chair31↔potted plant2",
"television_room1↔bench1",
"television_room1↔chair4",
"television_room1↔couch3",
"television_room1↔tv3",
"couch3↔remote1",
"utility_room1↔chair33",
"chair33↔bowl1",
"chair33↔bowl2",
"chair33↔vase3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"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": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet5",
"room": "bathroom6"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom6"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "television_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv6",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, on",
"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, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair32",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair33",
"room": "utility_room1"
}
],
"building": [
{
"id": "Corozal"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup3",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup4",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"press",
"pick up",
"move",
"look for"
],
"attributes": "",
"id": "remote1",
"parent": "couch3",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "milk1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "bread1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "ice_cream1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "orange1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bathroom6"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Place the old bottles in the recycling bin.
|
Klickitat
|
{
"links": [
"Klickitat↔floor_A",
"Klickitat↔floor_B",
"Klickitat↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_B↔staircase3",
"floor_C↔corridor2",
"floor_C↔corridor3",
"bathroom1↔toilet2",
"bathroom1↔sink5",
"bathroom2↔sink1",
"bathroom2↔sink1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"bathroom3↔toilet4",
"bathroom3↔sink2",
"bathroom4↔toilet3",
"bathroom4↔sink8",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink4",
"sink4↔vase2",
"sink4↔potted plant5",
"bedroom2↔chair13",
"bedroom2↔chair19",
"bedroom2↔couch4",
"bedroom2↔bed2",
"bedroom2↔desk1",
"desk1↔vase3",
"desk1↔bowl2",
"desk1↔bowl3",
"desk1↔bowl4",
"desk1↔bowl5",
"desk1↔bowl6",
"desk1↔potted plant12",
"desk1↔potted plant13",
"bedroom4↔bed1",
"bedroom4↔book1",
"bedroom4↔desk2",
"desk2↔potted plant1",
"desk2↔potted plant2",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining_room2↔chair8",
"dining_room2↔chair9",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table2",
"dining table2↔potted plant15",
"dining table2↔potted plant16",
"dining_room3↔chair14",
"dining_room3↔chair15",
"dining_room3↔chair16",
"dining_room3↔dining table3",
"dining table3↔cell phone1",
"dining table3↔bowl1",
"home_office1↔chair20",
"chair20↔laptop1",
"kitchen1↔microwave1",
"kitchen1↔oven3",
"kitchen1↔sink3",
"kitchen1↔refrigerator2",
"kitchen2↔microwave2",
"kitchen2↔oven1",
"kitchen2↔oven2",
"kitchen2↔sink6",
"kitchen2↔sink7",
"kitchen2↔refrigerator1",
"kitchen2↔window_sill1",
"sink6↔bottle1",
"window_sill1↔potted plant8",
"window_sill1↔potted plant9",
"window_sill1↔potted plant10",
"window_sill1↔vase4",
"living_room1↔couch2",
"living_room2↔chair1",
"living_room2↔chair2",
"living_room2↔chair3",
"living_room2↔chair4",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔book2",
"coffee_table1↔vase1",
"coffee_table1↔bowl7",
"living_room3↔chair17",
"living_room3↔chair18",
"living_room3↔couch3",
"living_room3↔coffee_table2",
"coffee_table2↔potted plant6",
"coffee_table2↔potted plant7",
"coffee_table2↔vase5",
"lobby1↔bench1",
"playroom1↔storage_box1",
"storage_box1↔sports ball1",
"staircase3↔chair25",
"chair25↔potted plant11",
"corridor3↔sink9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair19",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch4",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink9",
"room": "corridor3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"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",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair20",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, on",
"id": "microwave2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"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": "clean",
"id": "chair17",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "staircase3"
}
],
"building": [
{
"id": "Klickitat"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl4",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl5",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl6",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant16",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"pick up",
"answer",
"carry",
"look at",
"call",
"text"
],
"attributes": "",
"id": "cell phone1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair20",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl7",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"throw",
"pick up"
],
"attributes": "",
"id": "sports ball1",
"parent": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair25",
"room": "staircase3"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "dining_room3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
}
]
}
}
|
Organize the contents of the storage box in playroom 1.
|
Uvalda
|
{
"links": [
"Uvalda↔floor_A",
"Uvalda↔floor_B",
"Uvalda↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor5",
"bathroom1↔toilet5",
"bathroom1↔sink3",
"sink3↔bottle3",
"bathroom2↔toilet4",
"bathroom3↔toilet3",
"bathroom4↔toilet2",
"bathroom4↔sink8",
"sink8↔potted plant4",
"sink8↔potted plant5",
"sink8↔potted plant13",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink2",
"sink2↔bottle4",
"sink2↔bottle5",
"sink2↔potted plant10",
"bedroom1↔bed3",
"bedroom1↔chair24",
"bedroom1↔chair25",
"chair24↔potted plant12",
"chair24↔book6",
"bedroom2↔bed2",
"bedroom2↔chair35",
"chair35↔potted plant6",
"chair35↔potted plant7",
"chair35↔clock2",
"bedroom3↔bed4",
"bedroom3↔chair36",
"chair36↔potted plant11",
"bedroom4↔bed1",
"corridor5↔chair33",
"corridor5↔chair34",
"chair33↔vase5",
"chair33↔vase7",
"dining_room1↔chair14",
"dining_room1↔chair15",
"dining_room1↔chair17",
"dining_room1↔chair19",
"dining_room1↔chair21",
"dining_room1↔chair22",
"dining_room1↔dining table5",
"dining table5↔bottle8",
"dining table5↔bottle9",
"dining table5↔bowl3",
"dining table5↔book9",
"home_office1↔chair1",
"home_office1↔chair2",
"home_office1↔chair3",
"chair1↔bowl1",
"chair1↔potted plant1",
"chair1↔potted plant2",
"chair1↔potted plant3",
"chair1↔book1",
"chair1↔book2",
"chair1↔book3",
"chair1↔book4",
"chair1↔book5",
"chair1↔vase1",
"chair1↔vase8",
"chair1↔vase9",
"chair1↔laptop1",
"kitchen2↔chair16",
"kitchen2↔chair18",
"kitchen2↔chair20",
"kitchen2↔chair23",
"kitchen2↔dining table4",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"dining table4↔laptop2",
"dining table4↔potted plant8",
"dining table4↔vase2",
"dining table4↔vase3",
"living_room1↔chair31",
"living_room1↔chair32",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv3",
"chair31↔bowl2",
"chair31↔vase4",
"chair31↔vase6",
"lobby1↔bench1",
"bench1↔book9",
"bench1↔vase12",
"playroom1↔chair4",
"playroom1↔chair5",
"playroom1↔chair6",
"playroom1↔chair7",
"playroom1↔chair8",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔chair26",
"playroom1↔chair27",
"playroom1↔chair28",
"playroom1↔chair29",
"playroom1↔chair30",
"playroom1↔dining table1",
"playroom1↔dining table2",
"playroom1↔dining table3",
"playroom1↔tv1",
"dining table1↔bottle1",
"dining table1↔bottle2",
"staircase1↔chair37",
"chair37↔bottle6",
"chair37↔bottle7",
"chair37↔book7",
"chair37↔book8",
"chair37↔vase10",
"chair37↔vase11"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair36",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair33",
"room": "corridor5"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair34",
"room": "corridor5"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair19",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair21",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair22",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table4",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair20",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair23",
"room": "kitchen2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair32",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "playroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair26",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair27",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair28",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair29",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair37",
"room": "staircase1"
}
],
"building": [
{
"id": "Uvalda"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair36",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair33",
"room": "corridor5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair33",
"room": "corridor5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop2",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "bench1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "bench1",
"room": "lobby1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "chair37",
"room": "staircase1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "closet3"
},
{
"id": "closet4"
},
{
"id": "closet5"
},
{
"id": "closet6"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
}
]
}
}
|
Water the plants in bathroom 5.
|
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"
}
]
}
}
|
Open the kitchen1 refrigerator.
|
Marstons
|
{
"links": [
"Marstons↔floor_A",
"Marstons↔floor_B",
"Marstons↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔staircase3",
"bathroom1↔toilet1",
"bathroom2↔toilet3",
"bathroom3↔toilet2",
"bathroom3↔sink10",
"sink10↔potted plant9",
"bedroom1↔bed2",
"bedroom1↔couch3",
"bedroom2↔couch5",
"bedroom2↔bed1",
"corridor1↔chair1",
"corridor1↔couch7",
"chair1↔potted plant1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔dining table2",
"dining table2↔potted plant3",
"dining_room2↔dining table1",
"home_office1↔chair10",
"home_office1↔chair11",
"home_office1↔chair12",
"chair10↔potted plant4",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔refrigerator1",
"living_room1↔chair6",
"living_room1↔chair7",
"living_room1↔chair8",
"living_room1↔chair9",
"living_room1↔couch4",
"living_room1↔couch6",
"chair6↔potted plant7",
"chair6↔vase2",
"chair6↔vase3",
"chair6↔vase5",
"living_room2↔chair13",
"living_room2↔chair14",
"living_room2↔couch1",
"chair13↔potted plant8",
"chair13↔vase1",
"chair13↔vase4",
"chair13↔potted plant2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch5",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch7",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"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": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"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": "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": "chair6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch4",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "living_room1"
}
],
"building": [
{
"id": "Marstons"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair1",
"room": "corridor1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "chair10",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair13",
"room": "living_room2"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "bedroom5"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "exercise_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Ensure there is no clutter in the hallway.
|
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"
}
]
}
}
|
Ensure all rooms are tidy before leaving.
|
Wiconisco
|
{
"links": [
"Wiconisco↔floor_A",
"Wiconisco↔floor_B",
"Wiconisco↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor5",
"bathroom1↔sink1",
"bathroom1↔toilet2",
"sink1↔potted plant14",
"bathroom2↔toilet3",
"bathroom3↔toilet1",
"bathroom3↔sink10",
"sink10↔potted plant2",
"sink10↔potted plant3",
"sink10↔potted plant12",
"bathroom4↔toilet4",
"bathroom4↔toilet5",
"bathroom4↔sink2",
"sink2↔vase4",
"sink2↔potted plant8",
"bedroom1↔bed2",
"bedroom1↔sink11",
"sink11↔potted plant11",
"childs_room1↔bed1",
"childs_room1↔bench1",
"bench1↔potted plant13",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔dining table2",
"dining table2↔wine glass1",
"dining table2↔wine glass2",
"dining table2↔bowl1",
"dining table2↔bowl3",
"dining table2↔potted plant7",
"dining table2↔vase1",
"dining table2↔vase2",
"dining table2↔vase3",
"dining_room2↔chair6",
"dining_room2↔chair8",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table1",
"home_office1↔chair13",
"chair13↔keyboard1",
"chair13↔book1",
"kitchen1↔tv1",
"kitchen2↔chair7",
"kitchen2↔oven1",
"kitchen2↔sink4",
"kitchen2↔refrigerator1",
"kitchen2↔refrigerator2",
"sink4↔bottle1",
"sink4↔bowl2",
"kitchen3↔sink3",
"living_room1↔chair5",
"living_room1↔couch1",
"living_room1↔tv2",
"chair5↔potted plant1",
"chair5↔potted plant4",
"chair5↔potted plant5",
"chair5↔potted plant6",
"chair5↔potted plant9",
"chair5↔potted plant10",
"chair5↔vase5",
"corridor3↔chair30",
"chair30↔vase6"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet5",
"room": "bathroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "corridor3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table2",
"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": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"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",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "home_office1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "kitchen3"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
}
],
"building": [
{
"id": "Wiconisco"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_C"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "sink2",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "sink11",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant13",
"parent": "bench1",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair30",
"room": "corridor3"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass1",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl3",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "sink4",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink4",
"room": "kitchen2"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair13",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair13",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair15",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "empty_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "kitchen3"
},
{
"id": "living_room1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
}
]
}
}
|
Clean vase 1 that is on dining table 2.
|
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"
}
]
}
}
|
Bring the potted plant from kitchen1 to the balcony.
|
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 for any trash in living room 2.
|
Mifflinburg
|
{
"links": [
"Mifflinburg↔floor_A",
"Mifflinburg↔floor_B",
"Mifflinburg↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔bedroom3",
"bathroom1↔toilet2",
"bathroom2↔sink5",
"bathroom2↔toilet1",
"bathroom3↔sink2",
"bathroom3↔toilet3",
"bedroom1↔bed3",
"bedroom2↔bed1",
"bedroom3↔bench1",
"bedroom3↔chair12",
"bedroom3↔bed2",
"chair12↔vase1",
"dining_room1↔chair10",
"dining_room1↔chair11",
"dining_room1↔dining table2",
"dining table2↔potted plant2",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔dining table1",
"kitchen1↔sink4",
"kitchen2↔microwave1",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"sink1↔potted plant5",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔couch2",
"chair3↔potted plant1",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room1"
},
{
"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": "dirty",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Mifflinburg"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair3",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Clean up any spills in the kitchen1.
|
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"
}
]
}
}
|
Clean the chair in dining_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"
}
]
}
}
|
Water the potted plants in bathroom 2.
|
Pinesdale
|
{
"links": [
"Pinesdale↔floor_A",
"Pinesdale↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor4",
"bathroom1↔sink6",
"bathroom1↔toilet2",
"bathroom2↔toilet4",
"bathroom2↔sink8",
"sink8↔bottle1",
"bathroom3↔sink2",
"bathroom3↔sink7",
"bathroom3↔toilet3",
"sink2↔potted plant2",
"sink2↔potted plant3",
"sink2↔potted plant4",
"bathroom4↔sink3",
"bathroom4↔sink4",
"bathroom4↔toilet1",
"bedroom1↔bench1",
"bedroom1↔bed2",
"bench1↔book4",
"bench1↔book5",
"bench1↔book6",
"bench1↔book7",
"bedroom2↔bed1",
"bedroom2↔desk2",
"desk2↔potted plant13",
"bedroom3↔bed4",
"bedroom3↔bed5",
"bedroom3↔desk3",
"desk3↔potted plant6",
"bedroom4↔bed3",
"bedroom4↔desk4",
"desk4↔clock4",
"desk4↔clock5",
"desk4↔vase10",
"home_office1↔chair31",
"chair31↔book8",
"chair31↔book9",
"chair31↔book10",
"chair31↔book11",
"chair31↔book12",
"chair31↔book13",
"chair31↔book17",
"chair31↔book18",
"chair31↔clock3",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining table1↔clock1",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔chair7",
"dining_room2↔chair8",
"dining_room2↔dining table2",
"dining table2↔book14",
"television_room1↔tv1",
"television_room1↔couch1",
"television_room1↔chair6",
"couch1↔book15",
"couch1↔book16",
"couch1↔book19",
"couch1↔book20",
"couch1↔clock2",
"chair6↔vase8",
"chair6↔vase9",
"chair6↔potted plant14",
"chair6↔potted plant15",
"chair6↔potted plant16",
"living_room1↔chair10",
"living_room1↔chair11",
"living_room1↔couch2",
"chair10↔book1",
"chair10↔book2",
"chair10↔book3",
"chair10↔vase1",
"chair10↔vase2",
"chair10↔vase3",
"chair10↔vase4",
"chair10↔vase5",
"chair10↔vase6",
"chair10↔vase7",
"chair10↔bowl1",
"chair10↔bowl2",
"chair10↔potted plant7",
"chair10↔potted plant8",
"chair10↔potted plant9",
"chair10↔potted plant10",
"chair10↔potted plant11",
"chair10↔potted plant12",
"lobby1↔chair30",
"chair30↔potted plant1",
"kitchen1↔oven1",
"kitchen1↔sink5",
"kitchen1↔refrigerator1",
"kitchen1↔dining table1",
"utility_room1↔sink1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet1",
"room": "bathroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "desk4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, 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",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "television_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Pinesdale"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock4",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant11",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair30",
"room": "lobby1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book15",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair6",
"room": "television_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Lock the doors to the bathrooms.
|
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"
}
]
}
}
|
Open the toilet in bathroom 1.
|
Merom
|
{
"links": [
"Merom↔floor_A",
"Merom↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor1",
"bathroom1↔sink3",
"bathroom1↔toilet2",
"sink3↔potted plant23",
"sink3↔bottle1",
"bathroom2↔sink1",
"bathroom2↔toilet1",
"sink1↔potted plant2",
"sink1↔potted plant3",
"bedroom1↔bed1",
"bedroom1↔bench2",
"bedroom1↔chair4",
"chair4↔vase3",
"chair4↔potted plant18",
"chair4↔potted plant19",
"childs_room1↔couch2",
"childs_room1↔bed3",
"childs_room2↔chair1",
"childs_room2↔bed2",
"childs_room2↔desk1",
"desk1↔book1",
"desk1↔vase4",
"desk1↔potted plant10",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining table1↔potted plant4",
"dining table1↔potted plant5",
"dining table1↔potted plant6",
"dining table1↔potted plant7",
"dining table1↔potted plant8",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill1",
"window_sill1↔potted plant9",
"window_sill1↔potted plant22",
"window_sill1↔potted plant24",
"living_room1↔chair2",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔rubbish bin1",
"chair2↔potted plant1",
"living_room2↔chair8",
"living_room2↔couch3",
"chair8↔vase2",
"chair8↔potted plant12",
"chair8↔potted plant13",
"chair8↔potted plant14",
"chair8↔potted plant15",
"chair8↔potted plant16",
"chair8↔potted plant17",
"playroom1↔chair9",
"chair9↔vase1",
"chair9↔potted plant20",
"storage_room1↔backpack1"
],
"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": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, 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",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "bench1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "living_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "rubbish bin1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"open",
"clean"
],
"attributes": "",
"id": "backpack1",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "utility_room1"
}
],
"building": [
{
"id": "Merom"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant23",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant18",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant19",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant22",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant24",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant17",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair9",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant20",
"parent": "chair9",
"room": "playroom1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Help the kids by cleaning the playroom.
|
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"
}
]
}
}
|
Make a smoothie and put it into a cup in the kitchen.
|
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"
}
]
}
}
|
Open the curtains in bedroom 4.
|
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"
}
]
}
}
|
Clean the bathroom sink.
|
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"
}
]
}
}
|
Organize the dish cabinet in kitchen 1.
|
Merom
|
{
"links": [
"Merom↔floor_A",
"Merom↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor1",
"bathroom1↔sink3",
"bathroom1↔toilet2",
"sink3↔potted plant23",
"sink3↔bottle1",
"bathroom2↔sink1",
"bathroom2↔toilet1",
"sink1↔potted plant2",
"sink1↔potted plant3",
"bedroom1↔bed1",
"bedroom1↔bench2",
"bedroom1↔chair4",
"chair4↔vase3",
"chair4↔potted plant18",
"chair4↔potted plant19",
"childs_room1↔couch2",
"childs_room1↔bed3",
"childs_room2↔chair1",
"childs_room2↔bed2",
"childs_room2↔desk1",
"desk1↔book1",
"desk1↔vase4",
"desk1↔potted plant10",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining table1↔potted plant4",
"dining table1↔potted plant5",
"dining table1↔potted plant6",
"dining table1↔potted plant7",
"dining table1↔potted plant8",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill1",
"window_sill1↔potted plant9",
"window_sill1↔potted plant22",
"window_sill1↔potted plant24",
"living_room1↔chair2",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔rubbish bin1",
"chair2↔potted plant1",
"living_room2↔chair8",
"living_room2↔couch3",
"chair8↔vase2",
"chair8↔potted plant12",
"chair8↔potted plant13",
"chair8↔potted plant14",
"chair8↔potted plant15",
"chair8↔potted plant16",
"chair8↔potted plant17",
"playroom1↔chair9",
"chair9↔vase1",
"chair9↔potted plant20",
"storage_room1↔backpack1"
],
"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": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, 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",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "bench1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "living_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "rubbish bin1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"open",
"clean"
],
"attributes": "",
"id": "backpack1",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "utility_room1"
}
],
"building": [
{
"id": "Merom"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant23",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant18",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant19",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant22",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant24",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant17",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair9",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant20",
"parent": "chair9",
"room": "playroom1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Open the sink in the utility room.
|
Merom
|
{
"links": [
"Merom↔floor_A",
"Merom↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor1",
"bathroom1↔sink3",
"bathroom1↔toilet2",
"sink3↔potted plant23",
"sink3↔bottle1",
"bathroom2↔sink1",
"bathroom2↔toilet1",
"sink1↔potted plant2",
"sink1↔potted plant3",
"bedroom1↔bed1",
"bedroom1↔bench2",
"bedroom1↔chair4",
"chair4↔vase3",
"chair4↔potted plant18",
"chair4↔potted plant19",
"childs_room1↔couch2",
"childs_room1↔bed3",
"childs_room2↔chair1",
"childs_room2↔bed2",
"childs_room2↔desk1",
"desk1↔book1",
"desk1↔vase4",
"desk1↔potted plant10",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining table1↔potted plant4",
"dining table1↔potted plant5",
"dining table1↔potted plant6",
"dining table1↔potted plant7",
"dining table1↔potted plant8",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill1",
"window_sill1↔potted plant9",
"window_sill1↔potted plant22",
"window_sill1↔potted plant24",
"living_room1↔chair2",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔rubbish bin1",
"chair2↔potted plant1",
"living_room2↔chair8",
"living_room2↔couch3",
"chair8↔vase2",
"chair8↔potted plant12",
"chair8↔potted plant13",
"chair8↔potted plant14",
"chair8↔potted plant15",
"chair8↔potted plant16",
"chair8↔potted plant17",
"playroom1↔chair9",
"chair9↔vase1",
"chair9↔potted plant20",
"storage_room1↔backpack1"
],
"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": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, 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",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "bench1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "living_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "rubbish bin1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"open",
"clean"
],
"attributes": "",
"id": "backpack1",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "utility_room1"
}
],
"building": [
{
"id": "Merom"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant23",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant18",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant19",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant22",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant24",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant17",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair9",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant20",
"parent": "chair9",
"room": "playroom1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Open the cupboard doors in the kitchen.
|
Pinesdale
|
{
"links": [
"Pinesdale↔floor_A",
"Pinesdale↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor4",
"bathroom1↔sink6",
"bathroom1↔toilet2",
"bathroom2↔toilet4",
"bathroom2↔sink8",
"sink8↔bottle1",
"bathroom3↔sink2",
"bathroom3↔sink7",
"bathroom3↔toilet3",
"sink2↔potted plant2",
"sink2↔potted plant3",
"sink2↔potted plant4",
"bathroom4↔sink3",
"bathroom4↔sink4",
"bathroom4↔toilet1",
"bedroom1↔bench1",
"bedroom1↔bed2",
"bench1↔book4",
"bench1↔book5",
"bench1↔book6",
"bench1↔book7",
"bedroom2↔bed1",
"bedroom2↔desk2",
"desk2↔potted plant13",
"bedroom3↔bed4",
"bedroom3↔bed5",
"bedroom3↔desk3",
"desk3↔potted plant6",
"bedroom4↔bed3",
"bedroom4↔desk4",
"desk4↔clock4",
"desk4↔clock5",
"desk4↔vase10",
"home_office1↔chair31",
"chair31↔book8",
"chair31↔book9",
"chair31↔book10",
"chair31↔book11",
"chair31↔book12",
"chair31↔book13",
"chair31↔book17",
"chair31↔book18",
"chair31↔clock3",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining table1↔clock1",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔chair7",
"dining_room2↔chair8",
"dining_room2↔dining table2",
"dining table2↔book14",
"television_room1↔tv1",
"television_room1↔couch1",
"television_room1↔chair6",
"couch1↔book15",
"couch1↔book16",
"couch1↔book19",
"couch1↔book20",
"couch1↔clock2",
"chair6↔vase8",
"chair6↔vase9",
"chair6↔potted plant14",
"chair6↔potted plant15",
"chair6↔potted plant16",
"living_room1↔chair10",
"living_room1↔chair11",
"living_room1↔couch2",
"chair10↔book1",
"chair10↔book2",
"chair10↔book3",
"chair10↔vase1",
"chair10↔vase2",
"chair10↔vase3",
"chair10↔vase4",
"chair10↔vase5",
"chair10↔vase6",
"chair10↔vase7",
"chair10↔bowl1",
"chair10↔bowl2",
"chair10↔potted plant7",
"chair10↔potted plant8",
"chair10↔potted plant9",
"chair10↔potted plant10",
"chair10↔potted plant11",
"chair10↔potted plant12",
"lobby1↔chair30",
"chair30↔potted plant1",
"kitchen1↔oven1",
"kitchen1↔sink5",
"kitchen1↔refrigerator1",
"kitchen1↔dining table1",
"utility_room1↔sink1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet1",
"room": "bathroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "desk4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, 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",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "television_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Pinesdale"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock4",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant11",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair30",
"room": "lobby1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book15",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair6",
"room": "television_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Open the refrigerator in the kitchen.
|
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": [
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"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",
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},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
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},
{
"affordances": [
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"fill",
"clean"
],
"attributes": "empty, clean",
"id": "dish3",
"parent": "dish_cabinet1",
"room": "kitchen2"
},
{
"affordances": [
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"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "window_sill4",
"room": "kitchen1"
},
{
"affordances": [
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"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass1",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
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"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",
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},
{
"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",
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},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
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"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"
}
]
}
}
|
Sweep or vacuum the living rooms regularly.
|
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"
}
]
}
}
|
Wipe the dining chairs.
|
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"
}
]
}
}
|
Fill the bowl with water for the dining room 1.
|
Marstons
|
{
"links": [
"Marstons↔floor_A",
"Marstons↔floor_B",
"Marstons↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔staircase3",
"bathroom1↔toilet1",
"bathroom2↔toilet3",
"bathroom3↔toilet2",
"bathroom3↔sink10",
"sink10↔potted plant9",
"bedroom1↔bed2",
"bedroom1↔couch3",
"bedroom2↔couch5",
"bedroom2↔bed1",
"corridor1↔chair1",
"corridor1↔couch7",
"chair1↔potted plant1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔dining table2",
"dining table2↔potted plant3",
"dining_room2↔dining table1",
"home_office1↔chair10",
"home_office1↔chair11",
"home_office1↔chair12",
"chair10↔potted plant4",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔refrigerator1",
"living_room1↔chair6",
"living_room1↔chair7",
"living_room1↔chair8",
"living_room1↔chair9",
"living_room1↔couch4",
"living_room1↔couch6",
"chair6↔potted plant7",
"chair6↔vase2",
"chair6↔vase3",
"chair6↔vase5",
"living_room2↔chair13",
"living_room2↔chair14",
"living_room2↔couch1",
"chair13↔potted plant8",
"chair13↔vase1",
"chair13↔vase4",
"chair13↔potted plant2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch5",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch7",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"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": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"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": "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": "chair6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch4",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "living_room1"
}
],
"building": [
{
"id": "Marstons"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair1",
"room": "corridor1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "chair10",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair13",
"room": "living_room2"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "bedroom5"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "exercise_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Clean the dining table in dining room.
|
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"
}
]
}
}
|
Clean the chairs in the dining 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"
}
]
}
}
|
Organize the area around sink1.
|
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"
}
]
}
}
|
Move books from the couch in living_room1 to the bookcase in home_office1.
|
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"
}
]
}
}
|
Put dishes back in the cupboard in the kitchen.
|
Darden
|
{
"links": [
"Darden↔floor_A",
"Darden↔floor_B",
"Darden↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor4",
"bathroom1↔sink5",
"bathroom1↔window_sill1",
"sink5↔bottle2",
"window_sill1↔potted plant6",
"bathroom3↔toilet1",
"bathroom3↔sink1",
"bathroom4↔sink4",
"bathroom5↔toilet2",
"bathroom5↔sink2",
"bathroom5↔sink3",
"sink2↔bottle4",
"bedroom1↔chair14",
"bedroom1↔bed4",
"bedroom2↔bed2",
"bedroom2↔desk1",
"desk1↔bottle3",
"desk1↔book5",
"bedroom3↔bed5",
"bedroom4↔bed3",
"bedroom4↔chair17",
"chair17↔potted plant7",
"chair17↔potted plant10",
"childs_room1↔chair2",
"childs_room1↔chair3",
"childs_room1↔chair4",
"childs_room1↔bed1",
"dining_room1↔dining table1",
"dining_room1↔chair10",
"dining_room1↔chair11",
"dining_room1↔chair12",
"dining_room1↔chair13",
"dining table1↔potted plant1",
"dining table1↔potted plant2",
"dining table1↔potted plant3",
"dining table1↔vase5",
"home_office1↔chair1",
"chair1↔book1",
"kitchen1↔oven1",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill2",
"refrigerator1↔bottle1",
"refrigerator1↔apple1",
"refrigerator1↔soda1",
"refrigerator1↔milk1",
"refrigerator1↔pizza1",
"window_sill2↔potted plant5",
"living_room1↔chair5",
"living_room1↔chair18",
"living_room1↔couch1",
"living_room1↔tv1",
"couch1↔book3",
"tv1↔potted plant4",
"living_room2↔chair6",
"living_room2↔chair7",
"living_room2↔chair8",
"living_room2↔chair9",
"living_room2↔couch2",
"living_room2↔coffee_table3",
"coffee_table3↔book4",
"coffee_table3↔vase1",
"coffee_table3↔vase4",
"coffee_table3↔cup1",
"coffee_table3↔cup2",
"coffee_table3↔bowl1",
"living_room3↔chair19",
"living_room3↔couch3",
"living_room3↔coffee_table1",
"couch3↔book2",
"coffee_table1↔vase2",
"coffee_table1↔vase3",
"coffee_table1↔bowl2",
"lobby1↔bench1",
"lobby1↔chair20",
"lobby1↔table1",
"table1↔potted plant8",
"table1↔potted plant9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom5"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom5"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "bed4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "bedroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "bed5",
"room": "bedroom3"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "bed3",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "bedroom4"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "bed1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "childs_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "home_office1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"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",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair18",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "coffee_table3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair19",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair20",
"room": "lobby1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "table1",
"room": "lobby1"
}
],
"building": [
{
"id": "Darden"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "chair17",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair17",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "window_sill2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "tv1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup1",
"parent": "coffee_table3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "coffee_table3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl1",
"parent": "coffee_table3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "coffee_table3",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "coffee_table3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table3",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table1",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "coffee_table1",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "coffee_table1",
"room": "living_room3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch3",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "table1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "table1",
"room": "lobby1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "soda1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "milk1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "childs_room1"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "closet3"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "storage_room1"
},
{
"id": "storage_room2"
}
]
}
}
|
Water the plants in living room 3.
|
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"
}
]
}
}
|
Check the structures of all beds to ensure they are neat.
|
Mifflinburg
|
{
"links": [
"Mifflinburg↔floor_A",
"Mifflinburg↔floor_B",
"Mifflinburg↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔bedroom3",
"bathroom1↔toilet2",
"bathroom2↔sink5",
"bathroom2↔toilet1",
"bathroom3↔sink2",
"bathroom3↔toilet3",
"bedroom1↔bed3",
"bedroom2↔bed1",
"bedroom3↔bench1",
"bedroom3↔chair12",
"bedroom3↔bed2",
"chair12↔vase1",
"dining_room1↔chair10",
"dining_room1↔chair11",
"dining_room1↔dining table2",
"dining table2↔potted plant2",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔dining table1",
"kitchen1↔sink4",
"kitchen2↔microwave1",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"sink1↔potted plant5",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔couch2",
"chair3↔potted plant1",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room1"
},
{
"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": "dirty",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Mifflinburg"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair3",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Tidy up the area around the coach in living 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"
}
]
}
}
|
Put the toys back in the closet after cleaning up.
|
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"
}
]
}
}
|
Turn off the water from the sink in the bathroom.
|
Wainscott
|
{
"links": [
"Wainscott↔floor_A",
"Wainscott↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor3",
"bathroom1↔sink3",
"bathroom1↔toilet1",
"bathroom2↔toilet2",
"bathroom2↔sink10",
"sink10↔bottle2",
"bathroom3↔sink2",
"bathroom3↔chair10",
"chair10↔potted plant11",
"chair10↔potted plant12",
"chair10↔potted plant20",
"bedroom1↔chair4",
"bedroom1↔chair5",
"chair4↔potted plant21",
"chair4↔book1",
"bedroom2↔bed1",
"bedroom2↔chair2",
"bedroom2↔chair3",
"chair2↔book2",
"chair2↔clock1",
"chair2↔potted plant7",
"chair2↔potted plant19",
"bedroom3↔bed3",
"bedroom4↔bed2",
"dining_room1↔oven1",
"dining_room1↔oven2",
"dining_room1↔sink1",
"dining_room1↔chair1",
"dining_room1↔dining table1",
"dining table1↔potted plant10",
"dining table1↔bottle1",
"dining table1↔vase1",
"dining_room2↔dining table3",
"dining_room2↔chair12",
"dining_room2↔chair13",
"dining_room2↔chair14",
"dining_room2↔chair15",
"dining table3↔potted plant14",
"dining table3↔potted plant15",
"dining table3↔potted plant16",
"dining table3↔cup1",
"living_room1↔coffee_table1",
"coffee_table1↔vase2",
"coffee_table1↔potted plant22",
"living_room2↔couch1",
"living_room2↔couch2",
"living_room2↔couch3",
"living_room2↔coffee_table2",
"coffee_table2↔potted plant2",
"coffee_table2↔potted plant4",
"coffee_table2↔potted plant6",
"living_room3↔couch5",
"living_room3↔chair11",
"chair11↔potted plant1",
"chair11↔potted plant3",
"chair11↔potted plant5",
"chair11↔potted plant13",
"playroom1↔chair6",
"playroom1↔chair7",
"playroom1↔chair8",
"playroom1↔chair9",
"playroom1↔dining table2",
"playroom1↔dining table4",
"playroom1↔tv1",
"dining table2↔clock2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch4",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch5",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table4",
"room": "playroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "playroom1"
}
],
"building": [
{
"id": "Wainscott"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink10",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant20",
"parent": "chair10",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant21",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant19",
"parent": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup1",
"parent": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant15",
"parent": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant22",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair11",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "chair11",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "chair11",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "chair11",
"room": "living_room3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "dining table2",
"room": "playroom1"
}
],
"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": "exercise_room1"
},
{
"id": "home_office1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "utility_room1"
}
]
}
}
|
Clean all chairs in dining room2.
|
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"
}
]
}
}
|
Water the potted plant on the window sill in bathroom 3.
|
Uvalda
|
{
"links": [
"Uvalda↔floor_A",
"Uvalda↔floor_B",
"Uvalda↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor5",
"bathroom1↔toilet5",
"bathroom1↔sink3",
"sink3↔bottle3",
"bathroom2↔toilet4",
"bathroom3↔toilet3",
"bathroom4↔toilet2",
"bathroom4↔sink8",
"sink8↔potted plant4",
"sink8↔potted plant5",
"sink8↔potted plant13",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink2",
"sink2↔bottle4",
"sink2↔bottle5",
"sink2↔potted plant10",
"bedroom1↔bed3",
"bedroom1↔chair24",
"bedroom1↔chair25",
"chair24↔potted plant12",
"chair24↔book6",
"bedroom2↔bed2",
"bedroom2↔chair35",
"chair35↔potted plant6",
"chair35↔potted plant7",
"chair35↔clock2",
"bedroom3↔bed4",
"bedroom3↔chair36",
"chair36↔potted plant11",
"bedroom4↔bed1",
"corridor5↔chair33",
"corridor5↔chair34",
"chair33↔vase5",
"chair33↔vase7",
"dining_room1↔chair14",
"dining_room1↔chair15",
"dining_room1↔chair17",
"dining_room1↔chair19",
"dining_room1↔chair21",
"dining_room1↔chair22",
"dining_room1↔dining table5",
"dining table5↔bottle8",
"dining table5↔bottle9",
"dining table5↔bowl3",
"dining table5↔book9",
"home_office1↔chair1",
"home_office1↔chair2",
"home_office1↔chair3",
"chair1↔bowl1",
"chair1↔potted plant1",
"chair1↔potted plant2",
"chair1↔potted plant3",
"chair1↔book1",
"chair1↔book2",
"chair1↔book3",
"chair1↔book4",
"chair1↔book5",
"chair1↔vase1",
"chair1↔vase8",
"chair1↔vase9",
"chair1↔laptop1",
"kitchen2↔chair16",
"kitchen2↔chair18",
"kitchen2↔chair20",
"kitchen2↔chair23",
"kitchen2↔dining table4",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"dining table4↔laptop2",
"dining table4↔potted plant8",
"dining table4↔vase2",
"dining table4↔vase3",
"living_room1↔chair31",
"living_room1↔chair32",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv3",
"chair31↔bowl2",
"chair31↔vase4",
"chair31↔vase6",
"lobby1↔bench1",
"bench1↔book9",
"bench1↔vase12",
"playroom1↔chair4",
"playroom1↔chair5",
"playroom1↔chair6",
"playroom1↔chair7",
"playroom1↔chair8",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔chair26",
"playroom1↔chair27",
"playroom1↔chair28",
"playroom1↔chair29",
"playroom1↔chair30",
"playroom1↔dining table1",
"playroom1↔dining table2",
"playroom1↔dining table3",
"playroom1↔tv1",
"dining table1↔bottle1",
"dining table1↔bottle2",
"staircase1↔chair37",
"chair37↔bottle6",
"chair37↔bottle7",
"chair37↔book7",
"chair37↔book8",
"chair37↔vase10",
"chair37↔vase11"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
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"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
}
]
}
}
|
Cleanhairs in the dining room.
|
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"
}
]
}
}
|
Water the plants at table1 in lobby1.
|
Corozal
|
{
"links": [
"Corozal↔floor_A",
"Corozal↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom1↔sink10",
"sink2↔potted plant9",
"bathroom2↔sink1",
"sink1↔bottle1",
"sink1↔bottle8",
"bathroom3↔toilet1",
"bathroom3↔sink11",
"bathroom3↔chair30",
"sink11↔bottle4",
"chair30↔book2",
"bathroom4↔sink4",
"bathroom4↔sink5",
"sink4↔bottle2",
"sink4↔bottle3",
"sink4↔bottle7",
"bathroom5↔toilet3",
"bathroom6↔toilet5",
"bathroom6↔sink3",
"bedroom1↔bed2",
"bedroom1↔tv4",
"bedroom2↔bed3",
"bedroom2↔tv1",
"bedroom2↔tv2",
"bedroom3↔bed4",
"bedroom3↔chair34",
"chair34↔vase1",
"chair34↔vase2",
"bedroom4↔chair6",
"bedroom4↔bed1",
"chair6↔book1",
"dining_room1↔chair2",
"dining_room1↔dining table2",
"dining table2↔potted plant6",
"home_office1↔tv6",
"home_office1↔chair5",
"chair5↔keyboard1",
"chair5↔clock2",
"chair5↔bottle5",
"chair5↔bottle6",
"chair5↔cup2",
"chair5↔cup3",
"chair5↔cup4",
"chair5↔cup5",
"chair5↔cup6",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"refrigerator1↔milk1",
"refrigerator1↔bread1",
"refrigerator1↔ice_cream1",
"refrigerator1↔orange1",
"sink2↔potted plant7",
"sink2↔potted plant8",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv5",
"lobby1↔chair31",
"chair31↔potted plant1",
"chair31↔potted plant2",
"television_room1↔bench1",
"television_room1↔chair4",
"television_room1↔couch3",
"television_room1↔tv3",
"couch3↔remote1",
"utility_room1↔chair33",
"chair33↔bowl1",
"chair33↔bowl2",
"chair33↔vase3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"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": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet5",
"room": "bathroom6"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom6"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "television_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv6",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, on",
"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, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair32",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair33",
"room": "utility_room1"
}
],
"building": [
{
"id": "Corozal"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup3",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup4",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"press",
"pick up",
"move",
"look for"
],
"attributes": "",
"id": "remote1",
"parent": "couch3",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "milk1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "bread1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "ice_cream1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "orange1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bathroom6"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Perform a general tidy-up in the living room.
|
Mifflinburg
|
{
"links": [
"Mifflinburg↔floor_A",
"Mifflinburg↔floor_B",
"Mifflinburg↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔bedroom3",
"bathroom1↔toilet2",
"bathroom2↔sink5",
"bathroom2↔toilet1",
"bathroom3↔sink2",
"bathroom3↔toilet3",
"bedroom1↔bed3",
"bedroom2↔bed1",
"bedroom3↔bench1",
"bedroom3↔chair12",
"bedroom3↔bed2",
"chair12↔vase1",
"dining_room1↔chair10",
"dining_room1↔chair11",
"dining_room1↔dining table2",
"dining table2↔potted plant2",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔dining table1",
"kitchen1↔sink4",
"kitchen2↔microwave1",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"sink1↔potted plant5",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔couch2",
"chair3↔potted plant1",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room1"
},
{
"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": "dirty",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Mifflinburg"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair3",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Open the refrigerator1 and check its contents.
|
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"
}
]
}
}
|
Check the comfort of all seating areas in living rooms.
|
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"
}
]
}
}
|
Ensure kids’ toys are cleaned and returned.
|
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"
}
]
}
}
|
Store the bottles found in living_room1.
|
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"
}
]
}
}
|
Make sure sink3 in bathroom2 is clean.
|
Klickitat
|
{
"links": [
"Klickitat↔floor_A",
"Klickitat↔floor_B",
"Klickitat↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_B↔staircase3",
"floor_C↔corridor2",
"floor_C↔corridor3",
"bathroom1↔toilet2",
"bathroom1↔sink5",
"bathroom2↔sink1",
"bathroom2↔sink1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"bathroom3↔toilet4",
"bathroom3↔sink2",
"bathroom4↔toilet3",
"bathroom4↔sink8",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink4",
"sink4↔vase2",
"sink4↔potted plant5",
"bedroom2↔chair13",
"bedroom2↔chair19",
"bedroom2↔couch4",
"bedroom2↔bed2",
"bedroom2↔desk1",
"desk1↔vase3",
"desk1↔bowl2",
"desk1↔bowl3",
"desk1↔bowl4",
"desk1↔bowl5",
"desk1↔bowl6",
"desk1↔potted plant12",
"desk1↔potted plant13",
"bedroom4↔bed1",
"bedroom4↔book1",
"bedroom4↔desk2",
"desk2↔potted plant1",
"desk2↔potted plant2",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining_room2↔chair8",
"dining_room2↔chair9",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table2",
"dining table2↔potted plant15",
"dining table2↔potted plant16",
"dining_room3↔chair14",
"dining_room3↔chair15",
"dining_room3↔chair16",
"dining_room3↔dining table3",
"dining table3↔cell phone1",
"dining table3↔bowl1",
"home_office1↔chair20",
"chair20↔laptop1",
"kitchen1↔microwave1",
"kitchen1↔oven3",
"kitchen1↔sink3",
"kitchen1↔refrigerator2",
"kitchen2↔microwave2",
"kitchen2↔oven1",
"kitchen2↔oven2",
"kitchen2↔sink6",
"kitchen2↔sink7",
"kitchen2↔refrigerator1",
"kitchen2↔window_sill1",
"sink6↔bottle1",
"window_sill1↔potted plant8",
"window_sill1↔potted plant9",
"window_sill1↔potted plant10",
"window_sill1↔vase4",
"living_room1↔couch2",
"living_room2↔chair1",
"living_room2↔chair2",
"living_room2↔chair3",
"living_room2↔chair4",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔book2",
"coffee_table1↔vase1",
"coffee_table1↔bowl7",
"living_room3↔chair17",
"living_room3↔chair18",
"living_room3↔couch3",
"living_room3↔coffee_table2",
"coffee_table2↔potted plant6",
"coffee_table2↔potted plant7",
"coffee_table2↔vase5",
"lobby1↔bench1",
"playroom1↔storage_box1",
"storage_box1↔sports ball1",
"staircase3↔chair25",
"chair25↔potted plant11",
"corridor3↔sink9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair19",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch4",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink9",
"room": "corridor3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"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",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair20",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, on",
"id": "microwave2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"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": "clean",
"id": "chair17",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "staircase3"
}
],
"building": [
{
"id": "Klickitat"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl4",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl5",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl6",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant16",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"pick up",
"answer",
"carry",
"look at",
"call",
"text"
],
"attributes": "",
"id": "cell phone1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair20",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl7",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"throw",
"pick up"
],
"attributes": "",
"id": "sports ball1",
"parent": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair25",
"room": "staircase3"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "dining_room3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
}
]
}
}
|
Open the blinds in bedroom 4 for natural light.
|
Klickitat
|
{
"links": [
"Klickitat↔floor_A",
"Klickitat↔floor_B",
"Klickitat↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_B↔staircase3",
"floor_C↔corridor2",
"floor_C↔corridor3",
"bathroom1↔toilet2",
"bathroom1↔sink5",
"bathroom2↔sink1",
"bathroom2↔sink1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"bathroom3↔toilet4",
"bathroom3↔sink2",
"bathroom4↔toilet3",
"bathroom4↔sink8",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink4",
"sink4↔vase2",
"sink4↔potted plant5",
"bedroom2↔chair13",
"bedroom2↔chair19",
"bedroom2↔couch4",
"bedroom2↔bed2",
"bedroom2↔desk1",
"desk1↔vase3",
"desk1↔bowl2",
"desk1↔bowl3",
"desk1↔bowl4",
"desk1↔bowl5",
"desk1↔bowl6",
"desk1↔potted plant12",
"desk1↔potted plant13",
"bedroom4↔bed1",
"bedroom4↔book1",
"bedroom4↔desk2",
"desk2↔potted plant1",
"desk2↔potted plant2",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining_room2↔chair8",
"dining_room2↔chair9",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table2",
"dining table2↔potted plant15",
"dining table2↔potted plant16",
"dining_room3↔chair14",
"dining_room3↔chair15",
"dining_room3↔chair16",
"dining_room3↔dining table3",
"dining table3↔cell phone1",
"dining table3↔bowl1",
"home_office1↔chair20",
"chair20↔laptop1",
"kitchen1↔microwave1",
"kitchen1↔oven3",
"kitchen1↔sink3",
"kitchen1↔refrigerator2",
"kitchen2↔microwave2",
"kitchen2↔oven1",
"kitchen2↔oven2",
"kitchen2↔sink6",
"kitchen2↔sink7",
"kitchen2↔refrigerator1",
"kitchen2↔window_sill1",
"sink6↔bottle1",
"window_sill1↔potted plant8",
"window_sill1↔potted plant9",
"window_sill1↔potted plant10",
"window_sill1↔vase4",
"living_room1↔couch2",
"living_room2↔chair1",
"living_room2↔chair2",
"living_room2↔chair3",
"living_room2↔chair4",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔book2",
"coffee_table1↔vase1",
"coffee_table1↔bowl7",
"living_room3↔chair17",
"living_room3↔chair18",
"living_room3↔couch3",
"living_room3↔coffee_table2",
"coffee_table2↔potted plant6",
"coffee_table2↔potted plant7",
"coffee_table2↔vase5",
"lobby1↔bench1",
"playroom1↔storage_box1",
"storage_box1↔sports ball1",
"staircase3↔chair25",
"chair25↔potted plant11",
"corridor3↔sink9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair19",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch4",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink9",
"room": "corridor3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"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",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair20",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, on",
"id": "microwave2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"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": "clean",
"id": "chair17",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "staircase3"
}
],
"building": [
{
"id": "Klickitat"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "sink4",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl4",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl5",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl6",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant16",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"pick up",
"answer",
"carry",
"look at",
"call",
"text"
],
"attributes": "",
"id": "cell phone1",
"parent": "dining table3",
"room": "dining_room3"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair20",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink6",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "window_sill1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl7",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "coffee table2",
"room": "living_room3"
},
{
"affordances": [
"throw",
"pick up"
],
"attributes": "",
"id": "sports ball1",
"parent": "storage_box1",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair25",
"room": "staircase3"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "dining_room3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
}
]
}
}
|
Clean the microwave.
|
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"
}
]
}
}
|
Clean bowl on coffee_table2.
|
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"
}
]
}
}
|
Gather all dirty dishes from living_room1.
|
Pinesdale
|
{
"links": [
"Pinesdale↔floor_A",
"Pinesdale↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor4",
"bathroom1↔sink6",
"bathroom1↔toilet2",
"bathroom2↔toilet4",
"bathroom2↔sink8",
"sink8↔bottle1",
"bathroom3↔sink2",
"bathroom3↔sink7",
"bathroom3↔toilet3",
"sink2↔potted plant2",
"sink2↔potted plant3",
"sink2↔potted plant4",
"bathroom4↔sink3",
"bathroom4↔sink4",
"bathroom4↔toilet1",
"bedroom1↔bench1",
"bedroom1↔bed2",
"bench1↔book4",
"bench1↔book5",
"bench1↔book6",
"bench1↔book7",
"bedroom2↔bed1",
"bedroom2↔desk2",
"desk2↔potted plant13",
"bedroom3↔bed4",
"bedroom3↔bed5",
"bedroom3↔desk3",
"desk3↔potted plant6",
"bedroom4↔bed3",
"bedroom4↔desk4",
"desk4↔clock4",
"desk4↔clock5",
"desk4↔vase10",
"home_office1↔chair31",
"chair31↔book8",
"chair31↔book9",
"chair31↔book10",
"chair31↔book11",
"chair31↔book12",
"chair31↔book13",
"chair31↔book17",
"chair31↔book18",
"chair31↔clock3",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining table1↔clock1",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔chair7",
"dining_room2↔chair8",
"dining_room2↔dining table2",
"dining table2↔book14",
"television_room1↔tv1",
"television_room1↔couch1",
"television_room1↔chair6",
"couch1↔book15",
"couch1↔book16",
"couch1↔book19",
"couch1↔book20",
"couch1↔clock2",
"chair6↔vase8",
"chair6↔vase9",
"chair6↔potted plant14",
"chair6↔potted plant15",
"chair6↔potted plant16",
"living_room1↔chair10",
"living_room1↔chair11",
"living_room1↔couch2",
"chair10↔book1",
"chair10↔book2",
"chair10↔book3",
"chair10↔vase1",
"chair10↔vase2",
"chair10↔vase3",
"chair10↔vase4",
"chair10↔vase5",
"chair10↔vase6",
"chair10↔vase7",
"chair10↔bowl1",
"chair10↔bowl2",
"chair10↔potted plant7",
"chair10↔potted plant8",
"chair10↔potted plant9",
"chair10↔potted plant10",
"chair10↔potted plant11",
"chair10↔potted plant12",
"lobby1↔chair30",
"chair30↔potted plant1",
"kitchen1↔oven1",
"kitchen1↔sink5",
"kitchen1↔refrigerator1",
"kitchen1↔dining table1",
"utility_room1↔sink1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet1",
"room": "bathroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "desk4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, 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",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "television_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Pinesdale"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock4",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant11",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair30",
"room": "lobby1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book15",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair6",
"room": "television_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Close the refrigerator in the kitchen.
|
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"
}
]
}
}
|
Check the volume settings of tv2 in living_room1.
|
Beechwood
|
{
"links": [
"Beechwood↔floor_A",
"Beechwood↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"closet1↔cabinet1",
"childs_room1↔suitcase1",
"childs_room1↔table1",
"childs_room1↔bed2",
"bathroom2↔toilet2",
"bathroom2↔toilet3",
"bathroom2↔sink3",
"bathroom2↔sink4",
"television_room1↔chair20",
"television_room1↔couch2",
"television_room1↔tv2",
"television_room1↔bookcase1",
"television_room1↔table2",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔dining_table2",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔dining_table1",
"dining_room1↔potted_plant2",
"dining_room1↔potted_plant3",
"dining_room1↔potted_plant4",
"lobby1↔chair7",
"lobby1↔chair8",
"lobby1↔potted_plant1",
"kitchen1↔chair14",
"kitchen1↔chair15",
"kitchen1↔chair16",
"kitchen1↔chair17",
"kitchen1↔chair18",
"kitchen1↔potted_plant8",
"kitchen1↔dining_table3",
"kitchen1↔sink1",
"kitchen1↔sink7",
"kitchen1↔refrigerator1",
"refrigerator1↔potato1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"home_office1↔chair19",
"home_office1↔bookcase2",
"living_room1↔couch1",
"living_room1↔potted_plant5",
"living_room1↔tv1",
"bathroom3↔potted_plant6",
"bathroom3↔potted_plant7",
"bathroom3↔toilet1",
"bathroom3↔sink5",
"bathroom3↔sink6",
"bedroom1↔potted_plant9",
"bedroom1↔potted_plant10",
"bedroom1↔bed1",
"childs_room2↔bed3",
"childs_room2↔table3",
"bathroom1↔toilet4",
"utility_room1↔sink2",
"cabinet1↔handbag1",
"table1↔book3",
"table1↔book4",
"table1↔book5",
"table1↔clock1",
"bed2↔teddy bear1",
"sink3↔bottle1",
"sink3↔potted_plant11",
"table2↔cup1",
"table2↔book15",
"bookcase1↔book24",
"bookcase1↔book25",
"bookcase1↔book26",
"bookcase1↔book27",
"bookcase1↔book28",
"bookcase1↔book30",
"dining_table2↔bowl1",
"dining_table1↔vase2",
"dining_table1↔vase3",
"dining_table1↔vase4",
"bookcase2↔book16",
"bookcase2↔book17",
"bookcase2↔book18",
"bookcase2↔book19",
"bookcase2↔book20",
"bookcase2↔book21",
"bookcase2↔book22",
"bookcase2↔book23",
"bookcase2↔book29",
"couch1↔book1",
"couch1↔book2",
"couch1↔book6",
"sink5↔vase1",
"table3↔book7",
"table3↔book8",
"table3↔book9",
"table3↔book10",
"table3↔book11",
"table3↔book12",
"table3↔book13",
"bed3↔book14",
"table3↔clock2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "cabinet1",
"room": "closet1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "table1",
"room": "childs_room1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "suitcase1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair20",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "television_room1"
},
{
"affordances": [
"turn_off",
"access",
"turn_on"
],
"attributes": "",
"id": "tv2",
"room": "television_room1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table2",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining_table2",
"room": "playroom1"
},
{
"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",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "lobby1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant1",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair16",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair18",
"room": "kitchen1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant8",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink7",
"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": "closed, 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": "dirty",
"id": "chair19",
"room": "home_office1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant5",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant9",
"room": "bedroom1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant10",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table3",
"room": "childs_room2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "utility_room1"
}
],
"building": [
{
"id": "Beechwood"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"wear",
"pickup",
"clean",
"open",
"empty",
"close",
"fill",
"grab"
],
"attributes": "",
"id": "handbag1",
"parent": "cabinet1",
"room": "closet1"
},
{
"affordances": [
"pickup"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "cup1",
"parent": "table2",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining_table2",
"room": "playroom1"
},
{
"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": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "bed3",
"room": "childs_room2"
},
{
"affordances": [
"pickup"
],
"attributes": "",
"id": "book15",
"parent": "table2",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book21",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book24",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book25",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book26",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book27",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book28",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book29",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book30",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink5",
"room": "bathroom3"
},
{
"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"
],
"attributes": "",
"id": "teddy bear1",
"parent": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant11",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"clean",
"cook"
],
"attributes": "dirty",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Heat up food in the microwave in the kitchen.
|
Mifflinburg
|
{
"links": [
"Mifflinburg↔floor_A",
"Mifflinburg↔floor_B",
"Mifflinburg↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔bedroom3",
"bathroom1↔toilet2",
"bathroom2↔sink5",
"bathroom2↔toilet1",
"bathroom3↔sink2",
"bathroom3↔toilet3",
"bedroom1↔bed3",
"bedroom2↔bed1",
"bedroom3↔bench1",
"bedroom3↔chair12",
"bedroom3↔bed2",
"chair12↔vase1",
"dining_room1↔chair10",
"dining_room1↔chair11",
"dining_room1↔dining table2",
"dining table2↔potted plant2",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔dining table1",
"kitchen1↔sink4",
"kitchen2↔microwave1",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"sink1↔potted plant5",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔couch2",
"chair3↔potted plant1",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room1"
},
{
"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": "dirty",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Mifflinburg"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair3",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Clean sink3 in utility room1 after use.
|
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"
}
]
}
}
|
Adjust the TV in living_room1.
|
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"
}
]
}
}
|
Remove any expired food from the kitchen microwave.
|
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"
}
]
}
}
|
Fill the vase on the dining table with water.
|
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"
}
]
}
}
|
Fill the vase in bedroom 1 with water.
|
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"
}
]
}
}
|
Water the potted plants in bathroom1.
|
Mifflinburg
|
{
"links": [
"Mifflinburg↔floor_A",
"Mifflinburg↔floor_B",
"Mifflinburg↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔bedroom3",
"bathroom1↔toilet2",
"bathroom2↔sink5",
"bathroom2↔toilet1",
"bathroom3↔sink2",
"bathroom3↔toilet3",
"bedroom1↔bed3",
"bedroom2↔bed1",
"bedroom3↔bench1",
"bedroom3↔chair12",
"bedroom3↔bed2",
"chair12↔vase1",
"dining_room1↔chair10",
"dining_room1↔chair11",
"dining_room1↔dining table2",
"dining table2↔potted plant2",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔dining table1",
"kitchen1↔sink4",
"kitchen2↔microwave1",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"sink1↔potted plant5",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔couch2",
"chair3↔potted plant1",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room1"
},
{
"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": "dirty",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Mifflinburg"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair3",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Ensure that potted plants in sink10 are watered.
|
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"
}
]
}
}
|
Close handbag2 in closet1.
|
Mifflinburg
|
{
"links": [
"Mifflinburg↔floor_A",
"Mifflinburg↔floor_B",
"Mifflinburg↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔bedroom3",
"bathroom1↔toilet2",
"bathroom2↔sink5",
"bathroom2↔toilet1",
"bathroom3↔sink2",
"bathroom3↔toilet3",
"bedroom1↔bed3",
"bedroom2↔bed1",
"bedroom3↔bench1",
"bedroom3↔chair12",
"bedroom3↔bed2",
"chair12↔vase1",
"dining_room1↔chair10",
"dining_room1↔chair11",
"dining_room1↔dining table2",
"dining table2↔potted plant2",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔dining table1",
"kitchen1↔sink4",
"kitchen2↔microwave1",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"sink1↔potted plant3",
"sink1↔potted plant4",
"sink1↔potted plant5",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔couch2",
"chair3↔potted plant1",
"utility_room1↔sink3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room1"
},
{
"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": "dirty",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Mifflinburg"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair12",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair3",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
Leave a reminder note for house cleaning an area.
|
Beechwood
|
{
"links": [
"Beechwood↔floor_A",
"Beechwood↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"closet1↔cabinet1",
"childs_room1↔suitcase1",
"childs_room1↔table1",
"childs_room1↔bed2",
"bathroom2↔toilet2",
"bathroom2↔toilet3",
"bathroom2↔sink3",
"bathroom2↔sink4",
"television_room1↔chair20",
"television_room1↔couch2",
"television_room1↔tv2",
"television_room1↔bookcase1",
"television_room1↔table2",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔dining_table2",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔dining_table1",
"dining_room1↔potted_plant2",
"dining_room1↔potted_plant3",
"dining_room1↔potted_plant4",
"lobby1↔chair7",
"lobby1↔chair8",
"lobby1↔potted_plant1",
"kitchen1↔chair14",
"kitchen1↔chair15",
"kitchen1↔chair16",
"kitchen1↔chair17",
"kitchen1↔chair18",
"kitchen1↔potted_plant8",
"kitchen1↔dining_table3",
"kitchen1↔sink1",
"kitchen1↔sink7",
"kitchen1↔refrigerator1",
"refrigerator1↔potato1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"home_office1↔chair19",
"home_office1↔bookcase2",
"living_room1↔couch1",
"living_room1↔potted_plant5",
"living_room1↔tv1",
"bathroom3↔potted_plant6",
"bathroom3↔potted_plant7",
"bathroom3↔toilet1",
"bathroom3↔sink5",
"bathroom3↔sink6",
"bedroom1↔potted_plant9",
"bedroom1↔potted_plant10",
"bedroom1↔bed1",
"childs_room2↔bed3",
"childs_room2↔table3",
"bathroom1↔toilet4",
"utility_room1↔sink2",
"cabinet1↔handbag1",
"table1↔book3",
"table1↔book4",
"table1↔book5",
"table1↔clock1",
"bed2↔teddy bear1",
"sink3↔bottle1",
"sink3↔potted_plant11",
"table2↔cup1",
"table2↔book15",
"bookcase1↔book24",
"bookcase1↔book25",
"bookcase1↔book26",
"bookcase1↔book27",
"bookcase1↔book28",
"bookcase1↔book30",
"dining_table2↔bowl1",
"dining_table1↔vase2",
"dining_table1↔vase3",
"dining_table1↔vase4",
"bookcase2↔book16",
"bookcase2↔book17",
"bookcase2↔book18",
"bookcase2↔book19",
"bookcase2↔book20",
"bookcase2↔book21",
"bookcase2↔book22",
"bookcase2↔book23",
"bookcase2↔book29",
"couch1↔book1",
"couch1↔book2",
"couch1↔book6",
"sink5↔vase1",
"table3↔book7",
"table3↔book8",
"table3↔book9",
"table3↔book10",
"table3↔book11",
"table3↔book12",
"table3↔book13",
"bed3↔book14",
"table3↔clock2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "cabinet1",
"room": "closet1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "table1",
"room": "childs_room1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "suitcase1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair20",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "television_room1"
},
{
"affordances": [
"turn_off",
"access",
"turn_on"
],
"attributes": "",
"id": "tv2",
"room": "television_room1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table2",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining_table2",
"room": "playroom1"
},
{
"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",
"clean",
"wipe"
],
"attributes": "dirty",
"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",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "lobby1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant1",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair16",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair18",
"room": "kitchen1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant8",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink7",
"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": "closed, 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": "dirty",
"id": "chair19",
"room": "home_office1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant5",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant9",
"room": "bedroom1"
},
{
"affordances": [
"access",
"water"
],
"attributes": "",
"id": "potted_plant10",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table3",
"room": "childs_room2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "utility_room1"
}
],
"building": [
{
"id": "Beechwood"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"wear",
"pickup",
"clean",
"open",
"empty",
"close",
"fill",
"grab"
],
"attributes": "",
"id": "handbag1",
"parent": "cabinet1",
"room": "closet1"
},
{
"affordances": [
"pickup"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "cup1",
"parent": "table2",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "dining_table2",
"room": "playroom1"
},
{
"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": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "bed3",
"room": "childs_room2"
},
{
"affordances": [
"pickup"
],
"attributes": "",
"id": "book15",
"parent": "table2",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book21",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book24",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book25",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book26",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book27",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book28",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book29",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book30",
"parent": "bookcase1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "table1",
"room": "childs_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "table3",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink5",
"room": "bathroom3"
},
{
"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"
],
"attributes": "",
"id": "teddy bear1",
"parent": "bed2",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant11",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"clean",
"cook"
],
"attributes": "dirty",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Wash any dirty mats in the utility room.
|
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"
}
]
}
}
|
Empty the trash in kitchen1.
|
Corozal
|
{
"links": [
"Corozal↔floor_A",
"Corozal↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom1↔sink10",
"sink2↔potted plant9",
"bathroom2↔sink1",
"sink1↔bottle1",
"sink1↔bottle8",
"bathroom3↔toilet1",
"bathroom3↔sink11",
"bathroom3↔chair30",
"sink11↔bottle4",
"chair30↔book2",
"bathroom4↔sink4",
"bathroom4↔sink5",
"sink4↔bottle2",
"sink4↔bottle3",
"sink4↔bottle7",
"bathroom5↔toilet3",
"bathroom6↔toilet5",
"bathroom6↔sink3",
"bedroom1↔bed2",
"bedroom1↔tv4",
"bedroom2↔bed3",
"bedroom2↔tv1",
"bedroom2↔tv2",
"bedroom3↔bed4",
"bedroom3↔chair34",
"chair34↔vase1",
"chair34↔vase2",
"bedroom4↔chair6",
"bedroom4↔bed1",
"chair6↔book1",
"dining_room1↔chair2",
"dining_room1↔dining table2",
"dining table2↔potted plant6",
"home_office1↔tv6",
"home_office1↔chair5",
"chair5↔keyboard1",
"chair5↔clock2",
"chair5↔bottle5",
"chair5↔bottle6",
"chair5↔cup2",
"chair5↔cup3",
"chair5↔cup4",
"chair5↔cup5",
"chair5↔cup6",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"refrigerator1↔milk1",
"refrigerator1↔bread1",
"refrigerator1↔ice_cream1",
"refrigerator1↔orange1",
"sink2↔potted plant7",
"sink2↔potted plant8",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv5",
"lobby1↔chair31",
"chair31↔potted plant1",
"chair31↔potted plant2",
"television_room1↔bench1",
"television_room1↔chair4",
"television_room1↔couch3",
"television_room1↔tv3",
"couch3↔remote1",
"utility_room1↔chair33",
"chair33↔bowl1",
"chair33↔bowl2",
"chair33↔vase3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"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": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet5",
"room": "bathroom6"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom6"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "television_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv6",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, on",
"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, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair32",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair33",
"room": "utility_room1"
}
],
"building": [
{
"id": "Corozal"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup3",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup4",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"press",
"pick up",
"move",
"look for"
],
"attributes": "",
"id": "remote1",
"parent": "couch3",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "milk1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "bread1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "ice_cream1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "orange1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bathroom6"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Wash the dirty cup in home office 1.
|
Leonardo
|
{
"links": [
"Leonardo↔floor_A",
"Leonardo↔floor_B",
"Leonardo↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor2",
"bathroom1↔toilet3",
"bathroom1↔sink2",
"sink2↔bottle3",
"sink2↔bottle5",
"bathroom2↔toilet4",
"bathroom3↔toilet2",
"bathroom3↔window_sill1",
"window_sill1↔potted plant11",
"window_sill1↔potted plant12",
"window_sill1↔potted plant14",
"window_sill1↔vase9",
"bathroom4↔toilet1",
"bathroom4↔window_sill2",
"window_sill2↔potted plant8",
"window_sill2↔vase11",
"bedroom1↔bed1",
"bedroom1↔chair14",
"bedroom2↔tv3",
"bedroom2↔bed2",
"tv3↔potted plant9",
"tv3↔potted plant10",
"bedroom3↔bed3",
"bedroom3↔chair30",
"chair30↔skateboard1",
"corridor1↔chair3",
"corridor2↔couch4",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔dining table1",
"dining_room1↔dining table2",
"dining_room1↔dining table3",
"dining table1↔vase2",
"dining table1↔vase3",
"dining table1↔vase6",
"dining table1↔vase7",
"dining table1↔vase8",
"home_office1↔handbag1",
"home_office1↔handbag2",
"home_office1↔chair12",
"home_office1↔chair13",
"home_office1↔couch6",
"home_office1↔couch7",
"home_office1↔tv2",
"couch6↔keyboard2",
"couch6↔keyboard3",
"couch6↔keyboard4",
"home_office2↔chair1",
"home_office2↔chair2",
"home_office2↔couch2",
"chair1↔potted plant1",
"couch2↔book1",
"couch2↔book2",
"couch2↔book3",
"chair1↔clock1",
"couch2↔keyboard1",
"chair1↔bottle1",
"kitchen1↔chair15",
"kitchen1↔chair16",
"kitchen1↔microwave1",
"kitchen1↔microwave2",
"kitchen1↔oven2",
"kitchen1↔sink1",
"chair15↔vase4",
"kitchen2↔chair11",
"kitchen2↔chair18",
"kitchen2↔oven1",
"kitchen2↔refrigerator1",
"chair11↔vase5",
"refrigerator1↔bottle2",
"refrigerator1↔bottle4",
"refrigerator1↔cup1",
"refrigerator1↔bowl1",
"living_room1↔couch1",
"living_room1↔coffee_table1",
"coffee_table1↔potted plant2",
"coffee_table1↔potted plant3",
"coffee_table1↔vase1",
"coffee_table1↔vase2",
"living_room2↔tv1",
"living_room2↔couch5",
"living_room2↔potted plant4",
"living_room2↔potted plant5",
"living_room2↔potted plant6",
"living_room2↔potted plant7",
"living_room2↔book4",
"living_room2↔vase10",
"living_room3↔chair4",
"living_room3↔chair5",
"living_room3↔couch3",
"storage_room1↔chair17",
"storage_room1↔chair19",
"storage_room1↔refrigerator2",
"refrigerator2↔bottle8",
"utility_room1↔drawer1",
"drawer1↔bottle6",
"drawer1↔bottle7"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch4",
"room": "corridor2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table3",
"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": "clean",
"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"
],
"attributes": "",
"id": "tv2",
"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",
"organize"
],
"attributes": "clean, tidy",
"id": "couch6",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch7",
"room": "home_office1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "handbag1",
"room": "home_office1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "handbag2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "home_office2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "home_office2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "home_office2"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, on",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair18",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed4",
"room": "living_room2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch5",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair19",
"room": "storage_room1"
},
{
"affordances": [
"close",
"access",
"organize",
"open"
],
"attributes": "",
"id": "drawer1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Leonardo"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant11",
"parent": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "window_sill2",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "window_sill2",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "tv3",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "tv3",
"room": "bedroom2"
},
{
"affordances": [
"ride",
"grab",
"pick up",
"stand on",
"store"
],
"attributes": "",
"id": "skateboard1",
"parent": "chair30",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard2",
"parent": "couch6",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard3",
"parent": "couch6",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard4",
"parent": "couch6",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "chair1",
"room": "home_office2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair1",
"room": "home_office2"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "couch2",
"room": "home_office2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "home_office2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch2",
"room": "home_office2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch2",
"room": "home_office2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "chair1",
"room": "home_office2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "cup1",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair11",
"room": "kitchen2"
},
{
"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"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "refrigerator2",
"room": "storage_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "drawer1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "drawer1",
"room": "utility_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "home_office2"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Retrieve the clock from home office 2.
|
Merom
|
{
"links": [
"Merom↔floor_A",
"Merom↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor1",
"bathroom1↔sink3",
"bathroom1↔toilet2",
"sink3↔potted plant23",
"sink3↔bottle1",
"bathroom2↔sink1",
"bathroom2↔toilet1",
"sink1↔potted plant2",
"sink1↔potted plant3",
"bedroom1↔bed1",
"bedroom1↔bench2",
"bedroom1↔chair4",
"chair4↔vase3",
"chair4↔potted plant18",
"chair4↔potted plant19",
"childs_room1↔couch2",
"childs_room1↔bed3",
"childs_room2↔chair1",
"childs_room2↔bed2",
"childs_room2↔desk1",
"desk1↔book1",
"desk1↔vase4",
"desk1↔potted plant10",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔dining table1",
"dining table1↔potted plant4",
"dining table1↔potted plant5",
"dining table1↔potted plant6",
"dining table1↔potted plant7",
"dining table1↔potted plant8",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill1",
"window_sill1↔potted plant9",
"window_sill1↔potted plant22",
"window_sill1↔potted plant24",
"living_room1↔chair2",
"living_room1↔chair3",
"living_room1↔couch1",
"living_room1↔rubbish bin1",
"chair2↔potted plant1",
"living_room2↔chair8",
"living_room2↔couch3",
"chair8↔vase2",
"chair8↔potted plant12",
"chair8↔potted plant13",
"chair8↔potted plant14",
"chair8↔potted plant15",
"chair8↔potted plant16",
"chair8↔potted plant17",
"playroom1↔chair9",
"chair9↔vase1",
"chair9↔potted plant20",
"storage_room1↔backpack1"
],
"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": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, 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",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "bench1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "living_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "rubbish bin1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"open",
"clean"
],
"attributes": "",
"id": "backpack1",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "utility_room1"
}
],
"building": [
{
"id": "Merom"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant23",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant18",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant19",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "desk1",
"room": "childs_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant22",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant24",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant17",
"parent": "chair8",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair9",
"room": "playroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant20",
"parent": "chair9",
"room": "playroom1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Wipe the chair in the childs room.
|
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"
}
]
}
}
|
Turn off all microwaves in the house.
|
Leonardo
|
{
"links": [
"Leonardo↔floor_A",
"Leonardo↔floor_B",
"Leonardo↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor2",
"bathroom1↔toilet3",
"bathroom1↔sink2",
"sink2↔bottle3",
"sink2↔bottle5",
"bathroom2↔toilet4",
"bathroom3↔toilet2",
"bathroom3↔window_sill1",
"window_sill1↔potted plant11",
"window_sill1↔potted plant12",
"window_sill1↔potted plant14",
"window_sill1↔vase9",
"bathroom4↔toilet1",
"bathroom4↔window_sill2",
"window_sill2↔potted plant8",
"window_sill2↔vase11",
"bedroom1↔bed1",
"bedroom1↔chair14",
"bedroom2↔tv3",
"bedroom2↔bed2",
"tv3↔potted plant9",
"tv3↔potted plant10",
"bedroom3↔bed3",
"bedroom3↔chair30",
"chair30↔skateboard1",
"corridor1↔chair3",
"corridor2↔couch4",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔dining table1",
"dining_room1↔dining table2",
"dining_room1↔dining table3",
"dining table1↔vase2",
"dining table1↔vase3",
"dining table1↔vase6",
"dining table1↔vase7",
"dining table1↔vase8",
"home_office1↔handbag1",
"home_office1↔handbag2",
"home_office1↔chair12",
"home_office1↔chair13",
"home_office1↔couch6",
"home_office1↔couch7",
"home_office1↔tv2",
"couch6↔keyboard2",
"couch6↔keyboard3",
"couch6↔keyboard4",
"home_office2↔chair1",
"home_office2↔chair2",
"home_office2↔couch2",
"chair1↔potted plant1",
"couch2↔book1",
"couch2↔book2",
"couch2↔book3",
"chair1↔clock1",
"couch2↔keyboard1",
"chair1↔bottle1",
"kitchen1↔chair15",
"kitchen1↔chair16",
"kitchen1↔microwave1",
"kitchen1↔microwave2",
"kitchen1↔oven2",
"kitchen1↔sink1",
"chair15↔vase4",
"kitchen2↔chair11",
"kitchen2↔chair18",
"kitchen2↔oven1",
"kitchen2↔refrigerator1",
"chair11↔vase5",
"refrigerator1↔bottle2",
"refrigerator1↔bottle4",
"refrigerator1↔cup1",
"refrigerator1↔bowl1",
"living_room1↔couch1",
"living_room1↔coffee_table1",
"coffee_table1↔potted plant2",
"coffee_table1↔potted plant3",
"coffee_table1↔vase1",
"coffee_table1↔vase2",
"living_room2↔tv1",
"living_room2↔couch5",
"living_room2↔potted plant4",
"living_room2↔potted plant5",
"living_room2↔potted plant6",
"living_room2↔potted plant7",
"living_room2↔book4",
"living_room2↔vase10",
"living_room3↔chair4",
"living_room3↔chair5",
"living_room3↔couch3",
"storage_room1↔chair17",
"storage_room1↔chair19",
"storage_room1↔refrigerator2",
"refrigerator2↔bottle8",
"utility_room1↔drawer1",
"drawer1↔bottle6",
"drawer1↔bottle7"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch4",
"room": "corridor2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table3",
"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": "clean",
"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"
],
"attributes": "",
"id": "tv2",
"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",
"organize"
],
"attributes": "clean, tidy",
"id": "couch6",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch7",
"room": "home_office1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "handbag1",
"room": "home_office1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "handbag2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "home_office2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "home_office2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "home_office2"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, on",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair18",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed4",
"room": "living_room2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch5",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch3",
"room": "living_room3"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "storage_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair19",
"room": "storage_room1"
},
{
"affordances": [
"close",
"access",
"organize",
"open"
],
"attributes": "",
"id": "drawer1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Leonardo"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant11",
"parent": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant14",
"parent": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "window_sill1",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "window_sill2",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "window_sill2",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "tv3",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "tv3",
"room": "bedroom2"
},
{
"affordances": [
"ride",
"grab",
"pick up",
"stand on",
"store"
],
"attributes": "",
"id": "skateboard1",
"parent": "chair30",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard2",
"parent": "couch6",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard3",
"parent": "couch6",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard4",
"parent": "couch6",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "chair1",
"room": "home_office2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair1",
"room": "home_office2"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "couch2",
"room": "home_office2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "home_office2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch2",
"room": "home_office2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch2",
"room": "home_office2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "chair1",
"room": "home_office2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair15",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "cup1",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair11",
"room": "kitchen2"
},
{
"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"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "refrigerator2",
"room": "storage_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "drawer1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "drawer1",
"room": "utility_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "home_office2"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Close the oven in kitchen 2.
|
Uvalda
|
{
"links": [
"Uvalda↔floor_A",
"Uvalda↔floor_B",
"Uvalda↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor5",
"bathroom1↔toilet5",
"bathroom1↔sink3",
"sink3↔bottle3",
"bathroom2↔toilet4",
"bathroom3↔toilet3",
"bathroom4↔toilet2",
"bathroom4↔sink8",
"sink8↔potted plant4",
"sink8↔potted plant5",
"sink8↔potted plant13",
"sink8↔potted plant14",
"bathroom5↔toilet1",
"bathroom5↔sink2",
"sink2↔bottle4",
"sink2↔bottle5",
"sink2↔potted plant10",
"bedroom1↔bed3",
"bedroom1↔chair24",
"bedroom1↔chair25",
"chair24↔potted plant12",
"chair24↔book6",
"bedroom2↔bed2",
"bedroom2↔chair35",
"chair35↔potted plant6",
"chair35↔potted plant7",
"chair35↔clock2",
"bedroom3↔bed4",
"bedroom3↔chair36",
"chair36↔potted plant11",
"bedroom4↔bed1",
"corridor5↔chair33",
"corridor5↔chair34",
"chair33↔vase5",
"chair33↔vase7",
"dining_room1↔chair14",
"dining_room1↔chair15",
"dining_room1↔chair17",
"dining_room1↔chair19",
"dining_room1↔chair21",
"dining_room1↔chair22",
"dining_room1↔dining table5",
"dining table5↔bottle8",
"dining table5↔bottle9",
"dining table5↔bowl3",
"dining table5↔book9",
"home_office1↔chair1",
"home_office1↔chair2",
"home_office1↔chair3",
"chair1↔bowl1",
"chair1↔potted plant1",
"chair1↔potted plant2",
"chair1↔potted plant3",
"chair1↔book1",
"chair1↔book2",
"chair1↔book3",
"chair1↔book4",
"chair1↔book5",
"chair1↔vase1",
"chair1↔vase8",
"chair1↔vase9",
"chair1↔laptop1",
"kitchen2↔chair16",
"kitchen2↔chair18",
"kitchen2↔chair20",
"kitchen2↔chair23",
"kitchen2↔dining table4",
"kitchen2↔oven1",
"kitchen2↔sink1",
"kitchen2↔refrigerator1",
"dining table4↔laptop2",
"dining table4↔potted plant8",
"dining table4↔vase2",
"dining table4↔vase3",
"living_room1↔chair31",
"living_room1↔chair32",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv3",
"chair31↔bowl2",
"chair31↔vase4",
"chair31↔vase6",
"lobby1↔bench1",
"bench1↔book9",
"bench1↔vase12",
"playroom1↔chair4",
"playroom1↔chair5",
"playroom1↔chair6",
"playroom1↔chair7",
"playroom1↔chair8",
"playroom1↔chair9",
"playroom1↔chair10",
"playroom1↔chair11",
"playroom1↔chair12",
"playroom1↔chair13",
"playroom1↔chair26",
"playroom1↔chair27",
"playroom1↔chair28",
"playroom1↔chair29",
"playroom1↔chair30",
"playroom1↔dining table1",
"playroom1↔dining table2",
"playroom1↔dining table3",
"playroom1↔tv1",
"dining table1↔bottle1",
"dining table1↔bottle2",
"staircase1↔chair37",
"chair37↔bottle6",
"chair37↔bottle7",
"chair37↔book7",
"chair37↔book8",
"chair37↔vase10",
"chair37↔vase11"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom5"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair25",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair36",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair33",
"room": "corridor5"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair34",
"room": "corridor5"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair19",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair21",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair22",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table4",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair20",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair23",
"room": "kitchen2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair32",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "bench1",
"room": "lobby1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table3",
"room": "playroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair26",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair27",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair28",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair29",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair37",
"room": "staircase1"
}
],
"building": [
{
"id": "Uvalda"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink8",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "sink2",
"room": "bathroom5"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "chair24",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair35",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair36",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair33",
"room": "corridor5"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair33",
"room": "corridor5"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "dining table5",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop2",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "dining table41",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair31",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "bench1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "bench1",
"room": "lobby1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dining table1",
"room": "playroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "chair37",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "chair37",
"room": "staircase1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "closet3"
},
{
"id": "closet4"
},
{
"id": "closet5"
},
{
"id": "closet6"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
}
]
}
}
|
Clean the chairs in living room 1.
|
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 the couch4 in bedroom1.
|
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"
}
]
}
}
|
Take out the rubbish in utility room 1.
|
Pinesdale
|
{
"links": [
"Pinesdale↔floor_A",
"Pinesdale↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor4",
"bathroom1↔sink6",
"bathroom1↔toilet2",
"bathroom2↔toilet4",
"bathroom2↔sink8",
"sink8↔bottle1",
"bathroom3↔sink2",
"bathroom3↔sink7",
"bathroom3↔toilet3",
"sink2↔potted plant2",
"sink2↔potted plant3",
"sink2↔potted plant4",
"bathroom4↔sink3",
"bathroom4↔sink4",
"bathroom4↔toilet1",
"bedroom1↔bench1",
"bedroom1↔bed2",
"bench1↔book4",
"bench1↔book5",
"bench1↔book6",
"bench1↔book7",
"bedroom2↔bed1",
"bedroom2↔desk2",
"desk2↔potted plant13",
"bedroom3↔bed4",
"bedroom3↔bed5",
"bedroom3↔desk3",
"desk3↔potted plant6",
"bedroom4↔bed3",
"bedroom4↔desk4",
"desk4↔clock4",
"desk4↔clock5",
"desk4↔vase10",
"home_office1↔chair31",
"chair31↔book8",
"chair31↔book9",
"chair31↔book10",
"chair31↔book11",
"chair31↔book12",
"chair31↔book13",
"chair31↔book17",
"chair31↔book18",
"chair31↔clock3",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining table1↔clock1",
"dining_room2↔chair4",
"dining_room2↔chair5",
"dining_room2↔chair7",
"dining_room2↔chair8",
"dining_room2↔dining table2",
"dining table2↔book14",
"television_room1↔tv1",
"television_room1↔couch1",
"television_room1↔chair6",
"couch1↔book15",
"couch1↔book16",
"couch1↔book19",
"couch1↔book20",
"couch1↔clock2",
"chair6↔vase8",
"chair6↔vase9",
"chair6↔potted plant14",
"chair6↔potted plant15",
"chair6↔potted plant16",
"living_room1↔chair10",
"living_room1↔chair11",
"living_room1↔couch2",
"chair10↔book1",
"chair10↔book2",
"chair10↔book3",
"chair10↔vase1",
"chair10↔vase2",
"chair10↔vase3",
"chair10↔vase4",
"chair10↔vase5",
"chair10↔vase6",
"chair10↔vase7",
"chair10↔bowl1",
"chair10↔bowl2",
"chair10↔potted plant7",
"chair10↔potted plant8",
"chair10↔potted plant9",
"chair10↔potted plant10",
"chair10↔potted plant11",
"chair10↔potted plant12",
"lobby1↔chair30",
"chair30↔potted plant1",
"kitchen1↔oven1",
"kitchen1↔sink5",
"kitchen1↔refrigerator1",
"kitchen1↔dining table1",
"utility_room1↔sink1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet1",
"room": "bathroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "desk4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, 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",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "television_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Pinesdale"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink8",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "desk2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "desk3",
"room": "bedroom3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock4",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "desk4",
"room": "bedroom4"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl2",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant11",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair10",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair30",
"room": "lobby1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock3",
"parent": "chair31",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book15",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "chair6",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "chair6",
"room": "television_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Fill the vase with water in 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"
}
]
}
}
|
Locate and water the potted_plant9 on sink4 in bathroom1.
|
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"
}
]
}
}
|
Pick up the potted plant from the kitchen sink.
|
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"
}
]
}
}
|
Clean chair1 in the dining room.
|
Corozal
|
{
"links": [
"Corozal↔floor_A",
"Corozal↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom1↔sink10",
"sink2↔potted plant9",
"bathroom2↔sink1",
"sink1↔bottle1",
"sink1↔bottle8",
"bathroom3↔toilet1",
"bathroom3↔sink11",
"bathroom3↔chair30",
"sink11↔bottle4",
"chair30↔book2",
"bathroom4↔sink4",
"bathroom4↔sink5",
"sink4↔bottle2",
"sink4↔bottle3",
"sink4↔bottle7",
"bathroom5↔toilet3",
"bathroom6↔toilet5",
"bathroom6↔sink3",
"bedroom1↔bed2",
"bedroom1↔tv4",
"bedroom2↔bed3",
"bedroom2↔tv1",
"bedroom2↔tv2",
"bedroom3↔bed4",
"bedroom3↔chair34",
"chair34↔vase1",
"chair34↔vase2",
"bedroom4↔chair6",
"bedroom4↔bed1",
"chair6↔book1",
"dining_room1↔chair2",
"dining_room1↔dining table2",
"dining table2↔potted plant6",
"home_office1↔tv6",
"home_office1↔chair5",
"chair5↔keyboard1",
"chair5↔clock2",
"chair5↔bottle5",
"chair5↔bottle6",
"chair5↔cup2",
"chair5↔cup3",
"chair5↔cup4",
"chair5↔cup5",
"chair5↔cup6",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"refrigerator1↔milk1",
"refrigerator1↔bread1",
"refrigerator1↔ice_cream1",
"refrigerator1↔orange1",
"sink2↔potted plant7",
"sink2↔potted plant8",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv5",
"lobby1↔chair31",
"chair31↔potted plant1",
"chair31↔potted plant2",
"television_room1↔bench1",
"television_room1↔chair4",
"television_room1↔couch3",
"television_room1↔tv3",
"couch3↔remote1",
"utility_room1↔chair33",
"chair33↔bowl1",
"chair33↔bowl2",
"chair33↔vase3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"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": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet5",
"room": "bathroom6"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom6"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "television_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv6",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, on",
"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, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair32",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair33",
"room": "utility_room1"
}
],
"building": [
{
"id": "Corozal"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup3",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup4",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"press",
"pick up",
"move",
"look for"
],
"attributes": "",
"id": "remote1",
"parent": "couch3",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "milk1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "bread1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "ice_cream1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "orange1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bathroom6"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
Water the potted plant 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"
}
]
}
}
|
Wipe the chair in bedroom 1.
|
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"
}
]
}
}
|
Replenish the water in the vase in the living room.
|
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"
}
]
}
}
|
Close the door to the bathroom when not in use.
|
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"
}
]
}
}
|
Pick up the clock1 on the coffee_table1.
|
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"
}
]
}
}
|
Wipe the chairs in home_office1.
|
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