building_name
stringclasses 38
values | scene_graph
dict | task
stringlengths 23
584
| scene_from_episodes
listlengths 1
10
| num_objects
int64 2
62
| data_category
stringclasses 1
value |
|---|---|---|---|---|---|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔toy_airplane_1",
"cabinet_30↔cushion_1",
"shelves_7↔picture_frame_1",
"shelves_23↔box_1",
"shelves_7↔book_1",
"shelves_7↔stuffed_toy_1",
"shelves_7↔vase_1",
"table_26↔box_2",
"cabinet_30↔bottle_1",
"stand_12↔box_3",
"table_27↔toy_bee_1",
"table_27↔toy_construction_set_1",
"table_25↔tennis_racquet_1",
"table_27↔baseballbat_1",
"stand_12↔spray_bottle_1",
"table_16↔phone_stand_1",
"table_16↔tape_1",
"bed_21↔book_2",
"bed_10↔box_4",
"bed_21↔bottle_2",
"washer_dryer_13↔shoe_1",
"washer_dryer_13↔ladle_1",
"washer_dryer_13↔doll_1",
"washer_dryer_13↔basketball_1",
"washer_dryer_8↔glass_1",
"chest_of_drawers_32↔plate_1",
"chair_14↔box_5",
"bed_21↔glass_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy airplane from the table in the living room to the shelves in the bedroom and clean the table. Then, clean the toy airplane.
|
[
"1810",
"79832",
"28848",
"80312",
"28788"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔toy_airplane_1",
"cabinet_30↔cushion_1",
"shelves_7↔picture_frame_1",
"shelves_23↔box_1",
"shelves_7↔book_1",
"shelves_7↔stuffed_toy_1",
"shelves_7↔vase_1",
"table_26↔box_2",
"cabinet_30↔bottle_1",
"stand_12↔box_3",
"table_27↔toy_bee_1",
"table_27↔toy_construction_set_1",
"table_25↔tennis_racquet_1",
"table_27↔baseballbat_1",
"stand_12↔spray_bottle_1",
"table_16↔phone_stand_1",
"table_16↔tape_1",
"bed_21↔book_2",
"bed_10↔box_4",
"bed_21↔bottle_2",
"washer_dryer_13↔shoe_1",
"washer_dryer_13↔ladle_1",
"washer_dryer_13↔doll_1",
"washer_dryer_13↔basketball_1",
"washer_dryer_8↔glass_1",
"chest_of_drawers_32↔plate_1",
"chair_14↔box_5",
"bed_21↔glass_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
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"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
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"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
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"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
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},
"type": "picture_frame"
},
{
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"release"
],
"id": "box_1",
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"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
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"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, help me rearrange the bedroom by placing the book next to the stuffed toy, and the vase on the shelves. Then, move all of them to the table in the living room.
|
[
"1810",
"79832",
"28848",
"80312",
"28788"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔toy_airplane_1",
"cabinet_30↔cushion_1",
"shelves_7↔picture_frame_1",
"shelves_23↔box_1",
"shelves_7↔book_1",
"shelves_7↔stuffed_toy_1",
"shelves_7↔vase_1",
"table_26↔box_2",
"cabinet_30↔bottle_1",
"stand_12↔box_3",
"table_27↔toy_bee_1",
"table_27↔toy_construction_set_1",
"table_25↔tennis_racquet_1",
"table_27↔baseballbat_1",
"stand_12↔spray_bottle_1",
"table_16↔phone_stand_1",
"table_16↔tape_1",
"bed_21↔book_2",
"bed_10↔box_4",
"bed_21↔bottle_2",
"washer_dryer_13↔shoe_1",
"washer_dryer_13↔ladle_1",
"washer_dryer_13↔doll_1",
"washer_dryer_13↔basketball_1",
"washer_dryer_8↔glass_1",
"chest_of_drawers_32↔plate_1",
"chair_14↔box_5",
"bed_21↔glass_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Place the toy bee on the table with the toy construction set, place it next to the toy construction set. Place the baseballbat next to the tennis racquet on the other table.
|
[
"1810",
"79832",
"28848",
"80312",
"28788"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔toy_airplane_1",
"cabinet_30↔cushion_1",
"shelves_7↔picture_frame_1",
"shelves_23↔box_1",
"shelves_7↔book_1",
"shelves_7↔stuffed_toy_1",
"shelves_7↔vase_1",
"table_26↔box_2",
"cabinet_30↔bottle_1",
"stand_12↔box_3",
"table_27↔toy_bee_1",
"table_27↔toy_construction_set_1",
"table_25↔tennis_racquet_1",
"table_27↔baseballbat_1",
"stand_12↔spray_bottle_1",
"table_16↔phone_stand_1",
"table_16↔tape_1",
"bed_21↔book_2",
"bed_10↔box_4",
"bed_21↔bottle_2",
"washer_dryer_13↔shoe_1",
"washer_dryer_13↔ladle_1",
"washer_dryer_13↔doll_1",
"washer_dryer_13↔basketball_1",
"washer_dryer_8↔glass_1",
"chest_of_drawers_32↔plate_1",
"chair_14↔box_5",
"bed_21↔glass_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the phone stand and tape from the living room table to the bedroom chest of drawers. Place them next to each other on the chest of drawers.
|
[
"1810",
"79832",
"28848",
"80312",
"28788"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔toy_airplane_1",
"cabinet_30↔cushion_1",
"shelves_7↔picture_frame_1",
"shelves_23↔box_1",
"shelves_7↔book_1",
"shelves_7↔stuffed_toy_1",
"shelves_7↔vase_1",
"table_26↔box_2",
"cabinet_30↔bottle_1",
"stand_12↔box_3",
"table_27↔toy_bee_1",
"table_27↔toy_construction_set_1",
"table_25↔tennis_racquet_1",
"table_27↔baseballbat_1",
"stand_12↔spray_bottle_1",
"table_16↔phone_stand_1",
"table_16↔tape_1",
"bed_21↔book_2",
"bed_10↔box_4",
"bed_21↔bottle_2",
"washer_dryer_13↔shoe_1",
"washer_dryer_13↔ladle_1",
"washer_dryer_13↔doll_1",
"washer_dryer_13↔basketball_1",
"washer_dryer_8↔glass_1",
"chest_of_drawers_32↔plate_1",
"chair_14↔box_5",
"bed_21↔glass_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me clean up the objects in laundryroom/mudroom. Place the shoe, ladle, doll, and basketball on the washer dryer , next to each other.
|
[
"1810",
"79832",
"28848",
"80312",
"28788"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔toy_pineapple_1",
"cabinet_30↔toy_pineapple_2",
"cabinet_30↔stuffed_toy_1",
"cabinet_30↔tray_1",
"stand_12↔canister_1",
"bed_21↔cup_1",
"washer_dryer_13↔cup_2",
"stand_12↔vase_1",
"stand_12↔plate_1",
"stand_12↔bottle_1",
"stand_12↔knife_1",
"stand_12↔bowl_1",
"chest_of_drawers_32↔glass_1",
"couch_17↔box_1",
"bed_21↔book_1",
"bed_10↔candle_1",
"table_16↔vase_2",
"couch_17↔spray_bottle_1",
"bed_21↔cushion_1",
"cabinet_30↔glass_2",
"stand_12↔shoe_1",
"bed_10↔box_2",
"stand_12↔basketball_1",
"stand_12↔toy_animal_1",
"stand_12↔fork_1",
"cabinet_30↔bottle_2",
"washer_dryer_8↔basket_1",
"washer_dryer_8↔bath_towel_1",
"washer_dryer_8↔soap_dispenser_1",
"unknown_15↔action_figure_1",
"toilet_11↔clock_1",
"washer_dryer_8↔glass_3",
"table_18↔clock_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me set up a play area in the living room. Place toy pineapples and stuffed toy on the table. Place the tray next to the table.
|
[
"28670",
"78939",
"13420",
"13277",
"79568"
] | 33 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔toy_pineapple_1",
"cabinet_30↔toy_pineapple_2",
"cabinet_30↔stuffed_toy_1",
"cabinet_30↔tray_1",
"stand_12↔canister_1",
"bed_21↔cup_1",
"washer_dryer_13↔cup_2",
"stand_12↔vase_1",
"stand_12↔plate_1",
"stand_12↔bottle_1",
"stand_12↔knife_1",
"stand_12↔bowl_1",
"chest_of_drawers_32↔glass_1",
"couch_17↔box_1",
"bed_21↔book_1",
"bed_10↔candle_1",
"table_16↔vase_2",
"couch_17↔spray_bottle_1",
"bed_21↔cushion_1",
"cabinet_30↔glass_2",
"stand_12↔shoe_1",
"bed_10↔box_2",
"stand_12↔basketball_1",
"stand_12↔toy_animal_1",
"stand_12↔fork_1",
"cabinet_30↔bottle_2",
"washer_dryer_8↔basket_1",
"washer_dryer_8↔bath_towel_1",
"washer_dryer_8↔soap_dispenser_1",
"unknown_15↔action_figure_1",
"toilet_11↔clock_1",
"washer_dryer_8↔glass_3",
"table_18↔clock_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me prepare a snack. First, bring the plate, the bottle, and the knife to the living room stand. Then, move them to the cabinet in the closet and place them next to each other.
|
[
"28670",
"78939",
"13420",
"13277",
"79568"
] | 33 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔toy_pineapple_1",
"cabinet_30↔toy_pineapple_2",
"cabinet_30↔stuffed_toy_1",
"cabinet_30↔tray_1",
"stand_12↔canister_1",
"bed_21↔cup_1",
"washer_dryer_13↔cup_2",
"stand_12↔vase_1",
"stand_12↔plate_1",
"stand_12↔bottle_1",
"stand_12↔knife_1",
"stand_12↔bowl_1",
"chest_of_drawers_32↔glass_1",
"couch_17↔box_1",
"bed_21↔book_1",
"bed_10↔candle_1",
"table_16↔vase_2",
"couch_17↔spray_bottle_1",
"bed_21↔cushion_1",
"cabinet_30↔glass_2",
"stand_12↔shoe_1",
"bed_10↔box_2",
"stand_12↔basketball_1",
"stand_12↔toy_animal_1",
"stand_12↔fork_1",
"cabinet_30↔bottle_2",
"washer_dryer_8↔basket_1",
"washer_dryer_8↔bath_towel_1",
"washer_dryer_8↔soap_dispenser_1",
"unknown_15↔action_figure_1",
"toilet_11↔clock_1",
"washer_dryer_8↔glass_3",
"table_18↔clock_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the vase to a different table in the living room.
|
[
"28670",
"78939",
"13420",
"13277",
"79568"
] | 33 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔toy_pineapple_1",
"cabinet_30↔toy_pineapple_2",
"cabinet_30↔stuffed_toy_1",
"cabinet_30↔tray_1",
"stand_12↔canister_1",
"bed_21↔cup_1",
"washer_dryer_13↔cup_2",
"stand_12↔vase_1",
"stand_12↔plate_1",
"stand_12↔bottle_1",
"stand_12↔knife_1",
"stand_12↔bowl_1",
"chest_of_drawers_32↔glass_1",
"couch_17↔box_1",
"bed_21↔book_1",
"bed_10↔candle_1",
"table_16↔vase_2",
"couch_17↔spray_bottle_1",
"bed_21↔cushion_1",
"cabinet_30↔glass_2",
"stand_12↔shoe_1",
"bed_10↔box_2",
"stand_12↔basketball_1",
"stand_12↔toy_animal_1",
"stand_12↔fork_1",
"cabinet_30↔bottle_2",
"washer_dryer_8↔basket_1",
"washer_dryer_8↔bath_towel_1",
"washer_dryer_8↔soap_dispenser_1",
"unknown_15↔action_figure_1",
"toilet_11↔clock_1",
"washer_dryer_8↔glass_3",
"table_18↔clock_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Bring the basketball, toy animal, and fork from the living room to the bathroom and place them on the toilet.
|
[
"28670",
"78939",
"13420",
"13277",
"79568"
] | 33 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔toy_pineapple_1",
"cabinet_30↔toy_pineapple_2",
"cabinet_30↔stuffed_toy_1",
"cabinet_30↔tray_1",
"stand_12↔canister_1",
"bed_21↔cup_1",
"washer_dryer_13↔cup_2",
"stand_12↔vase_1",
"stand_12↔plate_1",
"stand_12↔bottle_1",
"stand_12↔knife_1",
"stand_12↔bowl_1",
"chest_of_drawers_32↔glass_1",
"couch_17↔box_1",
"bed_21↔book_1",
"bed_10↔candle_1",
"table_16↔vase_2",
"couch_17↔spray_bottle_1",
"bed_21↔cushion_1",
"cabinet_30↔glass_2",
"stand_12↔shoe_1",
"bed_10↔box_2",
"stand_12↔basketball_1",
"stand_12↔toy_animal_1",
"stand_12↔fork_1",
"cabinet_30↔bottle_2",
"washer_dryer_8↔basket_1",
"washer_dryer_8↔bath_towel_1",
"washer_dryer_8↔soap_dispenser_1",
"unknown_15↔action_figure_1",
"toilet_11↔clock_1",
"washer_dryer_8↔glass_3",
"table_18↔clock_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_pineapple_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_pineapple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Create a laundry area in the laundry room by placing a basket next to a bath towel and a soap dispenser on the washer dryer. Move these objects to the shelves in bedroom.
|
[
"28670",
"78939",
"13420",
"13277",
"79568"
] | 33 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"stand_12↔kettle_1",
"table_25↔jug_1",
"bed_21↔bottle_1",
"shelves_23↔cup_1",
"cabinet_30↔cup_2",
"table_16↔plate_1",
"shelves_23↔book_1",
"washer_dryer_8↔plate_2",
"table_16↔glass_1",
"bed_21↔folder_1",
"cabinet_30↔vase_1",
"cabinet_30↔picture_frame_1",
"cabinet_30↔candle_1",
"couch_17↔cup_3",
"cabinet_9↔shoe_1",
"stand_12↔glass_2",
"bed_10↔cup_4",
"chair_19↔toy_animal_1",
"chair_19↔tennis_racquet_1",
"bed_10↔clock_1",
"cabinet_9↔cup_5",
"washer_dryer_8↔shoe_2",
"bed_10↔jug_2",
"table_18↔squeezer_1",
"table_18↔tomato_1",
"table_18↔knife_1",
"couch_17↔bottle_2",
"chair_24↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_5",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Place the kettle on the table in the kitchen, then fill the kettle with water and turn it on. Meanwhile, place the jug on another table in the living room and fill it with water.
|
[
"1814",
"121178",
"13512",
"13436",
"79730"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"stand_12↔kettle_1",
"table_25↔jug_1",
"bed_21↔bottle_1",
"shelves_23↔cup_1",
"cabinet_30↔cup_2",
"table_16↔plate_1",
"shelves_23↔book_1",
"washer_dryer_8↔plate_2",
"table_16↔glass_1",
"bed_21↔folder_1",
"cabinet_30↔vase_1",
"cabinet_30↔picture_frame_1",
"cabinet_30↔candle_1",
"couch_17↔cup_3",
"cabinet_9↔shoe_1",
"stand_12↔glass_2",
"bed_10↔cup_4",
"chair_19↔toy_animal_1",
"chair_19↔tennis_racquet_1",
"bed_10↔clock_1",
"cabinet_9↔cup_5",
"washer_dryer_8↔shoe_2",
"bed_10↔jug_2",
"table_18↔squeezer_1",
"table_18↔tomato_1",
"table_18↔knife_1",
"couch_17↔bottle_2",
"chair_24↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_5",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the book from the shelves in the bedroom to the living room and clean the shelves.
|
[
"1814",
"121178",
"13512",
"13436",
"79730"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"stand_12↔kettle_1",
"table_25↔jug_1",
"bed_21↔bottle_1",
"shelves_23↔cup_1",
"cabinet_30↔cup_2",
"table_16↔plate_1",
"shelves_23↔book_1",
"washer_dryer_8↔plate_2",
"table_16↔glass_1",
"bed_21↔folder_1",
"cabinet_30↔vase_1",
"cabinet_30↔picture_frame_1",
"cabinet_30↔candle_1",
"couch_17↔cup_3",
"cabinet_9↔shoe_1",
"stand_12↔glass_2",
"bed_10↔cup_4",
"chair_19↔toy_animal_1",
"chair_19↔tennis_racquet_1",
"bed_10↔clock_1",
"cabinet_9↔cup_5",
"washer_dryer_8↔shoe_2",
"bed_10↔jug_2",
"table_18↔squeezer_1",
"table_18↔tomato_1",
"table_18↔knife_1",
"couch_17↔bottle_2",
"chair_24↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_5",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the vase to the living room stand. Take the picture frame and candle to the living room table?
|
[
"1814",
"121178",
"13512",
"13436",
"79730"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"stand_12↔kettle_1",
"table_25↔jug_1",
"bed_21↔bottle_1",
"shelves_23↔cup_1",
"cabinet_30↔cup_2",
"table_16↔plate_1",
"shelves_23↔book_1",
"washer_dryer_8↔plate_2",
"table_16↔glass_1",
"bed_21↔folder_1",
"cabinet_30↔vase_1",
"cabinet_30↔picture_frame_1",
"cabinet_30↔candle_1",
"couch_17↔cup_3",
"cabinet_9↔shoe_1",
"stand_12↔glass_2",
"bed_10↔cup_4",
"chair_19↔toy_animal_1",
"chair_19↔tennis_racquet_1",
"bed_10↔clock_1",
"cabinet_9↔cup_5",
"washer_dryer_8↔shoe_2",
"bed_10↔jug_2",
"table_18↔squeezer_1",
"table_18↔tomato_1",
"table_18↔knife_1",
"couch_17↔bottle_2",
"chair_24↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_5",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Place the toy animal on the living room table and the tennis racquet on the couch.
|
[
"1814",
"121178",
"13512",
"13436",
"79730"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"stand_12↔kettle_1",
"table_25↔jug_1",
"bed_21↔bottle_1",
"shelves_23↔cup_1",
"cabinet_30↔cup_2",
"table_16↔plate_1",
"shelves_23↔book_1",
"washer_dryer_8↔plate_2",
"table_16↔glass_1",
"bed_21↔folder_1",
"cabinet_30↔vase_1",
"cabinet_30↔picture_frame_1",
"cabinet_30↔candle_1",
"couch_17↔cup_3",
"cabinet_9↔shoe_1",
"stand_12↔glass_2",
"bed_10↔cup_4",
"chair_19↔toy_animal_1",
"chair_19↔tennis_racquet_1",
"bed_10↔clock_1",
"cabinet_9↔cup_5",
"washer_dryer_8↔shoe_2",
"bed_10↔jug_2",
"table_18↔squeezer_1",
"table_18↔tomato_1",
"table_18↔knife_1",
"couch_17↔bottle_2",
"chair_24↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_5",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me prepare a snack. First, bring the squeezer, the tomato, and the knife to the dining table. Then, move them to the cabinet in the closet and place them next to each other.
|
[
"1814",
"121178",
"13512",
"13436",
"79730"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔can_opener_1",
"table_18↔ladle_1",
"cabinet_30↔box_1",
"microwave_29↔candle_1",
"bed_21↔cushion_1",
"shelves_23↔cup_1",
"washer_dryer_8↔c-clamp_1",
"washer_dryer_8↔phone_stand_1",
"washer_dryer_8↔android_figure_1",
"chair_24↔box_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_food_1",
"chair_14↔shoe_1",
"unknown_15↔glass_1",
"table_27↔toy_swing_1",
"table_27↔helmet_1",
"table_27↔credit_card_1",
"couch_17↔bottle_1",
"bed_10↔clock_1",
"table_18↔cup_2",
"washer_dryer_8↔cup_3",
"couch_17↔stuffed_toy_1",
"shelves_7↔vase_1",
"shelves_7↔plate_1",
"chair_14↔cushion_2",
"cabinet_30↔fork_1",
"cabinet_30↔fork_2",
"stand_12↔hand_towel_1",
"washer_dryer_13↔box_3",
"stand_12↔picture_frame_1",
"stand_12↔stuffed_toy_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "c-clamp_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "c-clamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the can opener and ladle next to the ladle that are alone on the table?
|
[
"79564",
"28692",
"79611",
"13511",
"13157"
] | 31 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔can_opener_1",
"table_18↔ladle_1",
"cabinet_30↔box_1",
"microwave_29↔candle_1",
"bed_21↔cushion_1",
"shelves_23↔cup_1",
"washer_dryer_8↔c-clamp_1",
"washer_dryer_8↔phone_stand_1",
"washer_dryer_8↔android_figure_1",
"chair_24↔box_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_food_1",
"chair_14↔shoe_1",
"unknown_15↔glass_1",
"table_27↔toy_swing_1",
"table_27↔helmet_1",
"table_27↔credit_card_1",
"couch_17↔bottle_1",
"bed_10↔clock_1",
"table_18↔cup_2",
"washer_dryer_8↔cup_3",
"couch_17↔stuffed_toy_1",
"shelves_7↔vase_1",
"shelves_7↔plate_1",
"chair_14↔cushion_2",
"cabinet_30↔fork_1",
"cabinet_30↔fork_2",
"stand_12↔hand_towel_1",
"washer_dryer_13↔box_3",
"stand_12↔picture_frame_1",
"stand_12↔stuffed_toy_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "c-clamp_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "c-clamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the c-clamp, phone stand, and android figure from the laundryroom/mudroom washer dryer to the living room table. Place them next to each other on the table.
|
[
"79564",
"28692",
"79611",
"13511",
"13157"
] | 31 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔can_opener_1",
"table_18↔ladle_1",
"cabinet_30↔box_1",
"microwave_29↔candle_1",
"bed_21↔cushion_1",
"shelves_23↔cup_1",
"washer_dryer_8↔c-clamp_1",
"washer_dryer_8↔phone_stand_1",
"washer_dryer_8↔android_figure_1",
"chair_24↔box_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_food_1",
"chair_14↔shoe_1",
"unknown_15↔glass_1",
"table_27↔toy_swing_1",
"table_27↔helmet_1",
"table_27↔credit_card_1",
"couch_17↔bottle_1",
"bed_10↔clock_1",
"table_18↔cup_2",
"washer_dryer_8↔cup_3",
"couch_17↔stuffed_toy_1",
"shelves_7↔vase_1",
"shelves_7↔plate_1",
"chair_14↔cushion_2",
"cabinet_30↔fork_1",
"cabinet_30↔fork_2",
"stand_12↔hand_towel_1",
"washer_dryer_13↔box_3",
"stand_12↔picture_frame_1",
"stand_12↔stuffed_toy_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "c-clamp_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "c-clamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the toy vehicle to the table in the living room next to the toy animal, and move the toy food to the same table next to the toy vehicle, placing them close by each other. Then, relocate both the toy vehicle and the toy food to the shelves in the bedroom, keeping them close to each other.
|
[
"79564",
"28692",
"79611",
"13511",
"13157"
] | 31 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔can_opener_1",
"table_18↔ladle_1",
"cabinet_30↔box_1",
"microwave_29↔candle_1",
"bed_21↔cushion_1",
"shelves_23↔cup_1",
"washer_dryer_8↔c-clamp_1",
"washer_dryer_8↔phone_stand_1",
"washer_dryer_8↔android_figure_1",
"chair_24↔box_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_food_1",
"chair_14↔shoe_1",
"unknown_15↔glass_1",
"table_27↔toy_swing_1",
"table_27↔helmet_1",
"table_27↔credit_card_1",
"couch_17↔bottle_1",
"bed_10↔clock_1",
"table_18↔cup_2",
"washer_dryer_8↔cup_3",
"couch_17↔stuffed_toy_1",
"shelves_7↔vase_1",
"shelves_7↔plate_1",
"chair_14↔cushion_2",
"cabinet_30↔fork_1",
"cabinet_30↔fork_2",
"stand_12↔hand_towel_1",
"washer_dryer_13↔box_3",
"stand_12↔picture_frame_1",
"stand_12↔stuffed_toy_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "c-clamp_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "c-clamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Take the toy swing, helmet, and credit card and place them on the chair.
|
[
"79564",
"28692",
"79611",
"13511",
"13157"
] | 31 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔can_opener_1",
"table_18↔ladle_1",
"cabinet_30↔box_1",
"microwave_29↔candle_1",
"bed_21↔cushion_1",
"shelves_23↔cup_1",
"washer_dryer_8↔c-clamp_1",
"washer_dryer_8↔phone_stand_1",
"washer_dryer_8↔android_figure_1",
"chair_24↔box_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_food_1",
"chair_14↔shoe_1",
"unknown_15↔glass_1",
"table_27↔toy_swing_1",
"table_27↔helmet_1",
"table_27↔credit_card_1",
"couch_17↔bottle_1",
"bed_10↔clock_1",
"table_18↔cup_2",
"washer_dryer_8↔cup_3",
"couch_17↔stuffed_toy_1",
"shelves_7↔vase_1",
"shelves_7↔plate_1",
"chair_14↔cushion_2",
"cabinet_30↔fork_1",
"cabinet_30↔fork_2",
"stand_12↔hand_towel_1",
"washer_dryer_13↔box_3",
"stand_12↔picture_frame_1",
"stand_12↔stuffed_toy_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "ladle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "ladle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "c-clamp_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "c-clamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me prepare a snack in the living room. Place the vase and plate on the table. Also bring forks from the cabinet in the kitchen to the table.
|
[
"79564",
"28692",
"79611",
"13511",
"13157"
] | 31 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔bread_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"cabinet_9↔bottle_1",
"stand_12↔book_1",
"stool_22↔plate_1",
"washer_dryer_13↔laptop_stand_1",
"stand_12↔book_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_construction_set_1",
"couch_17↔glass_1",
"stand_12↔candle_1",
"table_27↔box_1",
"stool_22↔toy_animal_1",
"stool_22↔stuffed_toy_1",
"bed_10↔candle_2",
"shelves_23↔cup_1",
"table_27↔plate_2",
"table_27↔bowl_1",
"stand_12↔action_figure_1",
"chair_24↔cushion_1",
"washer_dryer_8↔cup_2",
"stand_12↔basketball_1",
"stand_12↔helmet_1",
"chair_14↔plant_saucer_1",
"couch_17↔apple_2",
"shelves_23↔soap_dispenser_1",
"bed_10↔candle_3",
"couch_17↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_stand_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plant_saucer_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "plant_saucer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me clean up the items in the kitchen. Put away the bread, apple, and tomato in the cabinet placing them next to each other.
|
[
"28645",
"80376",
"79350",
"121259",
"79860"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔bread_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"cabinet_9↔bottle_1",
"stand_12↔book_1",
"stool_22↔plate_1",
"washer_dryer_13↔laptop_stand_1",
"stand_12↔book_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_construction_set_1",
"couch_17↔glass_1",
"stand_12↔candle_1",
"table_27↔box_1",
"stool_22↔toy_animal_1",
"stool_22↔stuffed_toy_1",
"bed_10↔candle_2",
"shelves_23↔cup_1",
"table_27↔plate_2",
"table_27↔bowl_1",
"stand_12↔action_figure_1",
"chair_24↔cushion_1",
"washer_dryer_8↔cup_2",
"stand_12↔basketball_1",
"stand_12↔helmet_1",
"chair_14↔plant_saucer_1",
"couch_17↔apple_2",
"shelves_23↔soap_dispenser_1",
"bed_10↔candle_3",
"couch_17↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_stand_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plant_saucer_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "plant_saucer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy vehicle and toy construction set from the living room table to the bedroom shelves. Then, place them next to each other on the shelves.
|
[
"28645",
"80376",
"79350",
"121259",
"79860"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔bread_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"cabinet_9↔bottle_1",
"stand_12↔book_1",
"stool_22↔plate_1",
"washer_dryer_13↔laptop_stand_1",
"stand_12↔book_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_construction_set_1",
"couch_17↔glass_1",
"stand_12↔candle_1",
"table_27↔box_1",
"stool_22↔toy_animal_1",
"stool_22↔stuffed_toy_1",
"bed_10↔candle_2",
"shelves_23↔cup_1",
"table_27↔plate_2",
"table_27↔bowl_1",
"stand_12↔action_figure_1",
"chair_24↔cushion_1",
"washer_dryer_8↔cup_2",
"stand_12↔basketball_1",
"stand_12↔helmet_1",
"chair_14↔plant_saucer_1",
"couch_17↔apple_2",
"shelves_23↔soap_dispenser_1",
"bed_10↔candle_3",
"couch_17↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_stand_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plant_saucer_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "plant_saucer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy animal and stuffed toy from the living room stool to the bedroom bed. Place them next to each other on the bed.
|
[
"28645",
"80376",
"79350",
"121259",
"79860"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔bread_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"cabinet_9↔bottle_1",
"stand_12↔book_1",
"stool_22↔plate_1",
"washer_dryer_13↔laptop_stand_1",
"stand_12↔book_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_construction_set_1",
"couch_17↔glass_1",
"stand_12↔candle_1",
"table_27↔box_1",
"stool_22↔toy_animal_1",
"stool_22↔stuffed_toy_1",
"bed_10↔candle_2",
"shelves_23↔cup_1",
"table_27↔plate_2",
"table_27↔bowl_1",
"stand_12↔action_figure_1",
"chair_24↔cushion_1",
"washer_dryer_8↔cup_2",
"stand_12↔basketball_1",
"stand_12↔helmet_1",
"chair_14↔plant_saucer_1",
"couch_17↔apple_2",
"shelves_23↔soap_dispenser_1",
"bed_10↔candle_3",
"couch_17↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_stand_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plant_saucer_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "plant_saucer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the plate and the bowl from the table to the kitchen and fill the bowl with water. Clean the table.
|
[
"28645",
"80376",
"79350",
"121259",
"79860"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔bread_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"cabinet_9↔bottle_1",
"stand_12↔book_1",
"stool_22↔plate_1",
"washer_dryer_13↔laptop_stand_1",
"stand_12↔book_2",
"table_16↔toy_vehicle_1",
"table_16↔toy_construction_set_1",
"couch_17↔glass_1",
"stand_12↔candle_1",
"table_27↔box_1",
"stool_22↔toy_animal_1",
"stool_22↔stuffed_toy_1",
"bed_10↔candle_2",
"shelves_23↔cup_1",
"table_27↔plate_2",
"table_27↔bowl_1",
"stand_12↔action_figure_1",
"chair_24↔cushion_1",
"washer_dryer_8↔cup_2",
"stand_12↔basketball_1",
"stand_12↔helmet_1",
"chair_14↔plant_saucer_1",
"couch_17↔apple_2",
"shelves_23↔soap_dispenser_1",
"bed_10↔candle_3",
"couch_17↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_stand_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plant_saucer_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "plant_saucer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the basketball and then the helmet from the living room stand to the bedroom shelves. Then place them next to each other on the shelves.
|
[
"28645",
"80376",
"79350",
"121259",
"79860"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"shelves_7↔book_1",
"shelves_7↔android_figure_1",
"shelves_7↔laptop_cover_1",
"shelves_7↔can_1",
"unknown_15↔box_1",
"toilet_11↔box_2",
"bed_21↔box_3",
"cabinet_30↔bottle_1",
"table_18↔bread_1",
"table_18↔cake_pan_1",
"table_18↔backpack_1",
"shelves_23↔glass_1",
"stand_12↔picture_frame_1",
"table_16↔clock_1",
"table_16↔picture_frame_2",
"table_16↔vase_1",
"table_26↔shoe_1",
"stand_12↔plate_1",
"shelves_23↔knife_1",
"table_26↔cup_1",
"cabinet_30↔cushion_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"stand_12↔shoe_2",
"couch_17↔tennis_racquet_1",
"couch_17↔spectacles_1",
"stand_12↔potato_1",
"chair_20↔spray_bottle_1",
"bed_10↔casserole_1",
"cabinet_30↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "casserole_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "casserole"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me move the book, android figure, laptop cover, and can from the bedroom to the living room? Place them on the chair.
|
[
"13059",
"79746",
"78964",
"78883",
"79929"
] | 30 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"shelves_7↔book_1",
"shelves_7↔android_figure_1",
"shelves_7↔laptop_cover_1",
"shelves_7↔can_1",
"unknown_15↔box_1",
"toilet_11↔box_2",
"bed_21↔box_3",
"cabinet_30↔bottle_1",
"table_18↔bread_1",
"table_18↔cake_pan_1",
"table_18↔backpack_1",
"shelves_23↔glass_1",
"stand_12↔picture_frame_1",
"table_16↔clock_1",
"table_16↔picture_frame_2",
"table_16↔vase_1",
"table_26↔shoe_1",
"stand_12↔plate_1",
"shelves_23↔knife_1",
"table_26↔cup_1",
"cabinet_30↔cushion_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"stand_12↔shoe_2",
"couch_17↔tennis_racquet_1",
"couch_17↔spectacles_1",
"stand_12↔potato_1",
"chair_20↔spray_bottle_1",
"bed_10↔casserole_1",
"cabinet_30↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "casserole_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "casserole"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the bread, cake pan, and backpack from the kitchen table to the living room couch. Place them next to each other on the couch.
|
[
"13059",
"79746",
"78964",
"78883",
"79929"
] | 30 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"shelves_7↔book_1",
"shelves_7↔android_figure_1",
"shelves_7↔laptop_cover_1",
"shelves_7↔can_1",
"unknown_15↔box_1",
"toilet_11↔box_2",
"bed_21↔box_3",
"cabinet_30↔bottle_1",
"table_18↔bread_1",
"table_18↔cake_pan_1",
"table_18↔backpack_1",
"shelves_23↔glass_1",
"stand_12↔picture_frame_1",
"table_16↔clock_1",
"table_16↔picture_frame_2",
"table_16↔vase_1",
"table_26↔shoe_1",
"stand_12↔plate_1",
"shelves_23↔knife_1",
"table_26↔cup_1",
"cabinet_30↔cushion_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"stand_12↔shoe_2",
"couch_17↔tennis_racquet_1",
"couch_17↔spectacles_1",
"stand_12↔potato_1",
"chair_20↔spray_bottle_1",
"bed_10↔casserole_1",
"cabinet_30↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "casserole_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "casserole"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the clock, picture frame, and vase from the living room to the bedroom. Place the clock on the bed and the picture frame and vase on the shelves placing them next to each other. Then, move all these items to the dining room and place them on the table.
|
[
"13059",
"79746",
"78964",
"78883",
"79929"
] | 30 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"shelves_7↔book_1",
"shelves_7↔android_figure_1",
"shelves_7↔laptop_cover_1",
"shelves_7↔can_1",
"unknown_15↔box_1",
"toilet_11↔box_2",
"bed_21↔box_3",
"cabinet_30↔bottle_1",
"table_18↔bread_1",
"table_18↔cake_pan_1",
"table_18↔backpack_1",
"shelves_23↔glass_1",
"stand_12↔picture_frame_1",
"table_16↔clock_1",
"table_16↔picture_frame_2",
"table_16↔vase_1",
"table_26↔shoe_1",
"stand_12↔plate_1",
"shelves_23↔knife_1",
"table_26↔cup_1",
"cabinet_30↔cushion_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"stand_12↔shoe_2",
"couch_17↔tennis_racquet_1",
"couch_17↔spectacles_1",
"stand_12↔potato_1",
"chair_20↔spray_bottle_1",
"bed_10↔casserole_1",
"cabinet_30↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "casserole_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "casserole"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the apple and tomato from the kitchen table to the dining table. Place them next to each other on the table.
|
[
"13059",
"79746",
"78964",
"78883",
"79929"
] | 30 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"shelves_7↔book_1",
"shelves_7↔android_figure_1",
"shelves_7↔laptop_cover_1",
"shelves_7↔can_1",
"unknown_15↔box_1",
"toilet_11↔box_2",
"bed_21↔box_3",
"cabinet_30↔bottle_1",
"table_18↔bread_1",
"table_18↔cake_pan_1",
"table_18↔backpack_1",
"shelves_23↔glass_1",
"stand_12↔picture_frame_1",
"table_16↔clock_1",
"table_16↔picture_frame_2",
"table_16↔vase_1",
"table_26↔shoe_1",
"stand_12↔plate_1",
"shelves_23↔knife_1",
"table_26↔cup_1",
"cabinet_30↔cushion_1",
"table_18↔apple_1",
"table_18↔tomato_1",
"stand_12↔shoe_2",
"couch_17↔tennis_racquet_1",
"couch_17↔spectacles_1",
"stand_12↔potato_1",
"chair_20↔spray_bottle_1",
"bed_10↔casserole_1",
"cabinet_30↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "android_figure_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "android_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tomato_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tomato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "casserole_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "casserole"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the tennis racquet and spectacles from the living room couch to the bedroom shelves. Place them next to each other on the shelves.
|
[
"13059",
"79746",
"78964",
"78883",
"79929"
] | 30 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"chair_20↔basket_1",
"chair_20↔doll_1",
"table_26↔clock_1",
"bed_10↔plate_1",
"couch_17↔cup_1",
"table_18↔kettle_1",
"table_18↔jug_1",
"table_18↔teapot_1",
"stand_12↔multiport_hub_1",
"table_16↔toy_swing_1",
"table_16↔toy_food_1",
"table_16↔toy_fruits_1",
"toilet_11↔cup_2",
"bed_10↔clock_2",
"bed_21↔cup_3",
"shelves_7↔toy_airplane_1",
"shelves_7↔basket_2",
"shelves_7↔basket_3",
"table_26↔helmet_1",
"table_26↔tray_1",
"unknown_15↔box_1",
"toilet_11↔cup_4",
"stand_12↔bread_1",
"shelves_23↔shoe_1",
"shelves_7↔toy_animal_1",
"shelves_7↔candle_1",
"shelves_7↔basket_4",
"table_26↔bottle_1",
"cabinet_30↔clock_3",
"bed_10↔clock_4",
"chair_20↔box_2",
"unknown_28↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_3",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_4",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Place the basket on the living room stand and the doll on the couch.
|
[
"13536",
"121395",
"79178",
"13422",
"80039"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"chair_20↔basket_1",
"chair_20↔doll_1",
"table_26↔clock_1",
"bed_10↔plate_1",
"couch_17↔cup_1",
"table_18↔kettle_1",
"table_18↔jug_1",
"table_18↔teapot_1",
"stand_12↔multiport_hub_1",
"table_16↔toy_swing_1",
"table_16↔toy_food_1",
"table_16↔toy_fruits_1",
"toilet_11↔cup_2",
"bed_10↔clock_2",
"bed_21↔cup_3",
"shelves_7↔toy_airplane_1",
"shelves_7↔basket_2",
"shelves_7↔basket_3",
"table_26↔helmet_1",
"table_26↔tray_1",
"unknown_15↔box_1",
"toilet_11↔cup_4",
"stand_12↔bread_1",
"shelves_23↔shoe_1",
"shelves_7↔toy_animal_1",
"shelves_7↔candle_1",
"shelves_7↔basket_4",
"table_26↔bottle_1",
"cabinet_30↔clock_3",
"bed_10↔clock_4",
"chair_20↔box_2",
"unknown_28↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_3",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_4",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the kettle, jug, and teapot from the kitchen to the living room, fill the kettle with water and turn it on. Then, clean the table.
|
[
"13536",
"121395",
"79178",
"13422",
"80039"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"chair_20↔basket_1",
"chair_20↔doll_1",
"table_26↔clock_1",
"bed_10↔plate_1",
"couch_17↔cup_1",
"table_18↔kettle_1",
"table_18↔jug_1",
"table_18↔teapot_1",
"stand_12↔multiport_hub_1",
"table_16↔toy_swing_1",
"table_16↔toy_food_1",
"table_16↔toy_fruits_1",
"toilet_11↔cup_2",
"bed_10↔clock_2",
"bed_21↔cup_3",
"shelves_7↔toy_airplane_1",
"shelves_7↔basket_2",
"shelves_7↔basket_3",
"table_26↔helmet_1",
"table_26↔tray_1",
"unknown_15↔box_1",
"toilet_11↔cup_4",
"stand_12↔bread_1",
"shelves_23↔shoe_1",
"shelves_7↔toy_animal_1",
"shelves_7↔candle_1",
"shelves_7↔basket_4",
"table_26↔bottle_1",
"cabinet_30↔clock_3",
"bed_10↔clock_4",
"chair_20↔box_2",
"unknown_28↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_3",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_4",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Place a toy swing, a toy food, and a toy fruits on a new table in the living room. Then move them next to each other on the table in the living room.
|
[
"13536",
"121395",
"79178",
"13422",
"80039"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"chair_20↔basket_1",
"chair_20↔doll_1",
"table_26↔clock_1",
"bed_10↔plate_1",
"couch_17↔cup_1",
"table_18↔kettle_1",
"table_18↔jug_1",
"table_18↔teapot_1",
"stand_12↔multiport_hub_1",
"table_16↔toy_swing_1",
"table_16↔toy_food_1",
"table_16↔toy_fruits_1",
"toilet_11↔cup_2",
"bed_10↔clock_2",
"bed_21↔cup_3",
"shelves_7↔toy_airplane_1",
"shelves_7↔basket_2",
"shelves_7↔basket_3",
"table_26↔helmet_1",
"table_26↔tray_1",
"unknown_15↔box_1",
"toilet_11↔cup_4",
"stand_12↔bread_1",
"shelves_23↔shoe_1",
"shelves_7↔toy_animal_1",
"shelves_7↔candle_1",
"shelves_7↔basket_4",
"table_26↔bottle_1",
"cabinet_30↔clock_3",
"bed_10↔clock_4",
"chair_20↔box_2",
"unknown_28↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_3",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_4",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Make sure the tray and both baskets are on the same table. Leave the toy airplane and helmet as they are.
|
[
"13536",
"121395",
"79178",
"13422",
"80039"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"chair_20↔basket_1",
"chair_20↔doll_1",
"table_26↔clock_1",
"bed_10↔plate_1",
"couch_17↔cup_1",
"table_18↔kettle_1",
"table_18↔jug_1",
"table_18↔teapot_1",
"stand_12↔multiport_hub_1",
"table_16↔toy_swing_1",
"table_16↔toy_food_1",
"table_16↔toy_fruits_1",
"toilet_11↔cup_2",
"bed_10↔clock_2",
"bed_21↔cup_3",
"shelves_7↔toy_airplane_1",
"shelves_7↔basket_2",
"shelves_7↔basket_3",
"table_26↔helmet_1",
"table_26↔tray_1",
"unknown_15↔box_1",
"toilet_11↔cup_4",
"stand_12↔bread_1",
"shelves_23↔shoe_1",
"shelves_7↔toy_animal_1",
"shelves_7↔candle_1",
"shelves_7↔basket_4",
"table_26↔bottle_1",
"cabinet_30↔clock_3",
"bed_10↔clock_4",
"chair_20↔box_2",
"unknown_28↔soap_dispenser_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_food_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_food"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_3",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_4",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_4",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy animal, candle, and basket from the bedroom to the closet? Place the toy animal on the cabinet and the candle and basket on the shelves, placing them next to each other?
|
[
"13536",
"121395",
"79178",
"13422",
"80039"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔laptop_1",
"table_26↔laptop_cover_1",
"unknown_28↔cushion_1",
"bed_21↔shoe_1",
"stand_12↔plate_1",
"bed_21↔candle_1",
"table_26↔picture_frame_1",
"table_18↔can_1",
"table_18↔can_opener_1",
"shelves_7↔shoe_2",
"shelves_23↔box_1",
"table_16↔milk_frother_cup_1",
"table_16↔teapot_1",
"microwave_29↔plate_2",
"cabinet_30↔jug_1",
"cabinet_30↔cushion_2",
"stand_12↔potato_1",
"table_26↔vase_1",
"table_26↔statue_1",
"table_16↔lamp_1",
"cabinet_30↔cushion_3",
"cabinet_30↔box_2",
"bed_10↔doll_1",
"table_26↔stuffed_toy_1",
"chest_of_drawers_31↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the laptop and laptop cover from the bedroom table to the living room couch. Place them next to each other on the couch.
|
[
"28761",
"79269",
"79458",
"121541",
"28700"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔laptop_1",
"table_26↔laptop_cover_1",
"unknown_28↔cushion_1",
"bed_21↔shoe_1",
"stand_12↔plate_1",
"bed_21↔candle_1",
"table_26↔picture_frame_1",
"table_18↔can_1",
"table_18↔can_opener_1",
"shelves_7↔shoe_2",
"shelves_23↔box_1",
"table_16↔milk_frother_cup_1",
"table_16↔teapot_1",
"microwave_29↔plate_2",
"cabinet_30↔jug_1",
"cabinet_30↔cushion_2",
"stand_12↔potato_1",
"table_26↔vase_1",
"table_26↔statue_1",
"table_16↔lamp_1",
"cabinet_30↔cushion_3",
"cabinet_30↔box_2",
"bed_10↔doll_1",
"table_26↔stuffed_toy_1",
"chest_of_drawers_31↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, place the can next to the can opener on the table in the kitchen? Then, move both to the washer dryer in the laundryroom/mudroom.
|
[
"28761",
"79269",
"79458",
"121541",
"28700"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔laptop_1",
"table_26↔laptop_cover_1",
"unknown_28↔cushion_1",
"bed_21↔shoe_1",
"stand_12↔plate_1",
"bed_21↔candle_1",
"table_26↔picture_frame_1",
"table_18↔can_1",
"table_18↔can_opener_1",
"shelves_7↔shoe_2",
"shelves_23↔box_1",
"table_16↔milk_frother_cup_1",
"table_16↔teapot_1",
"microwave_29↔plate_2",
"cabinet_30↔jug_1",
"cabinet_30↔cushion_2",
"stand_12↔potato_1",
"table_26↔vase_1",
"table_26↔statue_1",
"table_16↔lamp_1",
"cabinet_30↔cushion_3",
"cabinet_30↔box_2",
"bed_10↔doll_1",
"table_26↔stuffed_toy_1",
"chest_of_drawers_31↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the milk frother cup and teapot to the table in the living room. Then, place them next to each other on the shelves in bedroom.
|
[
"28761",
"79269",
"79458",
"121541",
"28700"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔laptop_1",
"table_26↔laptop_cover_1",
"unknown_28↔cushion_1",
"bed_21↔shoe_1",
"stand_12↔plate_1",
"bed_21↔candle_1",
"table_26↔picture_frame_1",
"table_18↔can_1",
"table_18↔can_opener_1",
"shelves_7↔shoe_2",
"shelves_23↔box_1",
"table_16↔milk_frother_cup_1",
"table_16↔teapot_1",
"microwave_29↔plate_2",
"cabinet_30↔jug_1",
"cabinet_30↔cushion_2",
"stand_12↔potato_1",
"table_26↔vase_1",
"table_26↔statue_1",
"table_16↔lamp_1",
"cabinet_30↔cushion_3",
"cabinet_30↔box_2",
"bed_10↔doll_1",
"table_26↔stuffed_toy_1",
"chest_of_drawers_31↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the vase and the statue from the bedroom to the living room. Then turn on the lamp.
|
[
"28761",
"79269",
"79458",
"121541",
"28700"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔laptop_1",
"table_26↔laptop_cover_1",
"unknown_28↔cushion_1",
"bed_21↔shoe_1",
"stand_12↔plate_1",
"bed_21↔candle_1",
"table_26↔picture_frame_1",
"table_18↔can_1",
"table_18↔can_opener_1",
"shelves_7↔shoe_2",
"shelves_23↔box_1",
"table_16↔milk_frother_cup_1",
"table_16↔teapot_1",
"microwave_29↔plate_2",
"cabinet_30↔jug_1",
"cabinet_30↔cushion_2",
"stand_12↔potato_1",
"table_26↔vase_1",
"table_26↔statue_1",
"table_16↔lamp_1",
"cabinet_30↔cushion_3",
"cabinet_30↔box_2",
"bed_10↔doll_1",
"table_26↔stuffed_toy_1",
"chest_of_drawers_31↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "can"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "potato_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "potato"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the doll from the bedroom bed to the living room stool. Move the stuffed toy next to the doll so we don't misplace it.
|
[
"28761",
"79269",
"79458",
"121541",
"28700"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔vase_1",
"table_25↔lamp_1",
"bed_21↔box_1",
"couch_17↔bottle_1",
"stand_12↔plate_1",
"table_25↔cup_1",
"table_25↔lamp_2",
"table_25↔lamp_3",
"table_25↔lamp_4",
"table_25↔clock_1",
"chest_of_drawers_32↔action_figure_1",
"bed_10↔stuffed_toy_1",
"microwave_29↔box_2",
"stand_12↔dumbbell_1",
"table_25↔toy_bee_1",
"table_25↔toy_fire_truck_1",
"cabinet_30↔soap_dispenser_1",
"washer_dryer_8↔bottle_2",
"table_26↔bowl_1",
"stand_12↔book_1",
"stand_12↔cup_2",
"couch_17↔vase_2",
"couch_17↔toy_fruits_1",
"couch_17↔basket_1",
"chest_of_drawers_31↔dumbbell_2",
"bed_10↔glass_1",
"chair_19↔book_2",
"chair_19↔folder_1",
"chair_19↔credit_card_1",
"chair_19↔keychain_1",
"couch_17↔box_3",
"table_16↔shoe_1",
"bed_21↔spray_bottle_1",
"stool_22↔plate_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_3",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_4",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_2",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "keychain_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "keychain"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the vase from the table in the living room to the shelves in the bedroom , clean the table and turn off the lamp on the table.
|
[
"121187",
"28677",
"13024",
"13224",
"13552"
] | 34 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔vase_1",
"table_25↔lamp_1",
"bed_21↔box_1",
"couch_17↔bottle_1",
"stand_12↔plate_1",
"table_25↔cup_1",
"table_25↔lamp_2",
"table_25↔lamp_3",
"table_25↔lamp_4",
"table_25↔clock_1",
"chest_of_drawers_32↔action_figure_1",
"bed_10↔stuffed_toy_1",
"microwave_29↔box_2",
"stand_12↔dumbbell_1",
"table_25↔toy_bee_1",
"table_25↔toy_fire_truck_1",
"cabinet_30↔soap_dispenser_1",
"washer_dryer_8↔bottle_2",
"table_26↔bowl_1",
"stand_12↔book_1",
"stand_12↔cup_2",
"couch_17↔vase_2",
"couch_17↔toy_fruits_1",
"couch_17↔basket_1",
"chest_of_drawers_31↔dumbbell_2",
"bed_10↔glass_1",
"chair_19↔book_2",
"chair_19↔folder_1",
"chair_19↔credit_card_1",
"chair_19↔keychain_1",
"couch_17↔box_3",
"table_16↔shoe_1",
"bed_21↔spray_bottle_1",
"stool_22↔plate_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_3",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_4",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_2",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "keychain_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "keychain"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Bring two lamps to the bedroom table and place them next to each other.
|
[
"121187",
"28677",
"13024",
"13224",
"13552"
] | 34 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔vase_1",
"table_25↔lamp_1",
"bed_21↔box_1",
"couch_17↔bottle_1",
"stand_12↔plate_1",
"table_25↔cup_1",
"table_25↔lamp_2",
"table_25↔lamp_3",
"table_25↔lamp_4",
"table_25↔clock_1",
"chest_of_drawers_32↔action_figure_1",
"bed_10↔stuffed_toy_1",
"microwave_29↔box_2",
"stand_12↔dumbbell_1",
"table_25↔toy_bee_1",
"table_25↔toy_fire_truck_1",
"cabinet_30↔soap_dispenser_1",
"washer_dryer_8↔bottle_2",
"table_26↔bowl_1",
"stand_12↔book_1",
"stand_12↔cup_2",
"couch_17↔vase_2",
"couch_17↔toy_fruits_1",
"couch_17↔basket_1",
"chest_of_drawers_31↔dumbbell_2",
"bed_10↔glass_1",
"chair_19↔book_2",
"chair_19↔folder_1",
"chair_19↔credit_card_1",
"chair_19↔keychain_1",
"couch_17↔box_3",
"table_16↔shoe_1",
"bed_21↔spray_bottle_1",
"stool_22↔plate_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_3",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_4",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_2",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "keychain_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "keychain"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Put some toy bee in the laundryroom/mudroom washer dryer. I want to learn if toy bee can be washed? Oh, let's put a toy fire truck in there too..
|
[
"121187",
"28677",
"13024",
"13224",
"13552"
] | 34 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔vase_1",
"table_25↔lamp_1",
"bed_21↔box_1",
"couch_17↔bottle_1",
"stand_12↔plate_1",
"table_25↔cup_1",
"table_25↔lamp_2",
"table_25↔lamp_3",
"table_25↔lamp_4",
"table_25↔clock_1",
"chest_of_drawers_32↔action_figure_1",
"bed_10↔stuffed_toy_1",
"microwave_29↔box_2",
"stand_12↔dumbbell_1",
"table_25↔toy_bee_1",
"table_25↔toy_fire_truck_1",
"cabinet_30↔soap_dispenser_1",
"washer_dryer_8↔bottle_2",
"table_26↔bowl_1",
"stand_12↔book_1",
"stand_12↔cup_2",
"couch_17↔vase_2",
"couch_17↔toy_fruits_1",
"couch_17↔basket_1",
"chest_of_drawers_31↔dumbbell_2",
"bed_10↔glass_1",
"chair_19↔book_2",
"chair_19↔folder_1",
"chair_19↔credit_card_1",
"chair_19↔keychain_1",
"couch_17↔box_3",
"table_16↔shoe_1",
"bed_21↔spray_bottle_1",
"stool_22↔plate_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_3",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_4",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_2",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "keychain_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "keychain"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Take the vase, toy fruits, and basket and place them on the stand.
|
[
"121187",
"28677",
"13024",
"13224",
"13552"
] | 34 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔vase_1",
"table_25↔lamp_1",
"bed_21↔box_1",
"couch_17↔bottle_1",
"stand_12↔plate_1",
"table_25↔cup_1",
"table_25↔lamp_2",
"table_25↔lamp_3",
"table_25↔lamp_4",
"table_25↔clock_1",
"chest_of_drawers_32↔action_figure_1",
"bed_10↔stuffed_toy_1",
"microwave_29↔box_2",
"stand_12↔dumbbell_1",
"table_25↔toy_bee_1",
"table_25↔toy_fire_truck_1",
"cabinet_30↔soap_dispenser_1",
"washer_dryer_8↔bottle_2",
"table_26↔bowl_1",
"stand_12↔book_1",
"stand_12↔cup_2",
"couch_17↔vase_2",
"couch_17↔toy_fruits_1",
"couch_17↔basket_1",
"chest_of_drawers_31↔dumbbell_2",
"bed_10↔glass_1",
"chair_19↔book_2",
"chair_19↔folder_1",
"chair_19↔credit_card_1",
"chair_19↔keychain_1",
"couch_17↔box_3",
"table_16↔shoe_1",
"bed_21↔spray_bottle_1",
"stool_22↔plate_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_3",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_4",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fruits_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_fruits"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basket_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "basket"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_2",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "keychain_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "keychain"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spray_bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spray_bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the book, folder, credit card, and keychain from the living room chair to the bedroom bed.
|
[
"121187",
"28677",
"13024",
"13224",
"13552"
] | 34 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔jug_1",
"table_18↔vase_1",
"couch_17↔box_1",
"table_25↔teapot_1",
"cabinet_30↔glass_1",
"table_26↔apple_1",
"stand_12↔box_2",
"stool_22↔cushion_1",
"stand_12↔multiport_hub_1",
"table_16↔cup_1",
"table_16↔teapot_2",
"stand_12↔lamp_1",
"stand_12↔glass_2",
"table_18↔fork_1",
"table_18↔knife_1",
"bed_21↔cushion_2",
"table_18↔box_3",
"toilet_11↔box_4",
"table_16↔toy_airplane_1",
"couch_17↔toy_fire_truck_1",
"chest_of_drawers_32↔glass_3",
"chair_20↔box_5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, place the jug next to the vase on the table in the kitchen. Then, move both to the shelves in a bedroom.
|
[
"78878",
"28623",
"121521",
"121469",
"28474"
] | 22 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔jug_1",
"table_18↔vase_1",
"couch_17↔box_1",
"table_25↔teapot_1",
"cabinet_30↔glass_1",
"table_26↔apple_1",
"stand_12↔box_2",
"stool_22↔cushion_1",
"stand_12↔multiport_hub_1",
"table_16↔cup_1",
"table_16↔teapot_2",
"stand_12↔lamp_1",
"stand_12↔glass_2",
"table_18↔fork_1",
"table_18↔knife_1",
"bed_21↔cushion_2",
"table_18↔box_3",
"toilet_11↔box_4",
"table_16↔toy_airplane_1",
"couch_17↔toy_fire_truck_1",
"chest_of_drawers_32↔glass_3",
"chair_20↔box_5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the teapot from the dining room to the bedroom and place it next to the bed.
|
[
"78878",
"28623",
"121521",
"121469",
"28474"
] | 22 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔jug_1",
"table_18↔vase_1",
"couch_17↔box_1",
"table_25↔teapot_1",
"cabinet_30↔glass_1",
"table_26↔apple_1",
"stand_12↔box_2",
"stool_22↔cushion_1",
"stand_12↔multiport_hub_1",
"table_16↔cup_1",
"table_16↔teapot_2",
"stand_12↔lamp_1",
"stand_12↔glass_2",
"table_18↔fork_1",
"table_18↔knife_1",
"bed_21↔cushion_2",
"table_18↔box_3",
"toilet_11↔box_4",
"table_16↔toy_airplane_1",
"couch_17↔toy_fire_truck_1",
"chest_of_drawers_32↔glass_3",
"chair_20↔box_5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the cup and the teapot from the table in the living room to the kitchen and fill the teapot with water. Then turn on the lamp in the living room and clean the table.
|
[
"78878",
"28623",
"121521",
"121469",
"28474"
] | 22 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔jug_1",
"table_18↔vase_1",
"couch_17↔box_1",
"table_25↔teapot_1",
"cabinet_30↔glass_1",
"table_26↔apple_1",
"stand_12↔box_2",
"stool_22↔cushion_1",
"stand_12↔multiport_hub_1",
"table_16↔cup_1",
"table_16↔teapot_2",
"stand_12↔lamp_1",
"stand_12↔glass_2",
"table_18↔fork_1",
"table_18↔knife_1",
"bed_21↔cushion_2",
"table_18↔box_3",
"toilet_11↔box_4",
"table_16↔toy_airplane_1",
"couch_17↔toy_fire_truck_1",
"chest_of_drawers_32↔glass_3",
"chair_20↔box_5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the fork and the knife from the kitchen table to the dining table and clean the kitchen table.
|
[
"78878",
"28623",
"121521",
"121469",
"28474"
] | 22 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔jug_1",
"table_18↔vase_1",
"couch_17↔box_1",
"table_25↔teapot_1",
"cabinet_30↔glass_1",
"table_26↔apple_1",
"stand_12↔box_2",
"stool_22↔cushion_1",
"stand_12↔multiport_hub_1",
"table_16↔cup_1",
"table_16↔teapot_2",
"stand_12↔lamp_1",
"stand_12↔glass_2",
"table_18↔fork_1",
"table_18↔knife_1",
"bed_21↔cushion_2",
"table_18↔box_3",
"toilet_11↔box_4",
"table_16↔toy_airplane_1",
"couch_17↔toy_fire_truck_1",
"chest_of_drawers_32↔glass_3",
"chair_20↔box_5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "apple_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "apple"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy airplane and toy fire truck to a living room stand and place them next to each other.
|
[
"78878",
"28623",
"121521",
"121469",
"28474"
] | 22 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔spoon_1",
"table_18↔cushion_1",
"table_26↔bread_1",
"table_26↔milk_frother_cup_1",
"table_26↔cake_pan_1",
"stand_12↔multiport_hub_1",
"table_16↔hammer_1",
"table_16↔toy_cactus_1",
"stand_12↔clock_1",
"table_27↔stuffed_toy_1",
"stand_12↔picture_frame_1",
"table_16↔lamp_1",
"stand_12↔glass_1",
"table_26↔box_1",
"stand_12↔book_1",
"chair_20↔box_2",
"bed_10↔glass_2",
"table_18↔plate_1",
"table_18↔cup_1",
"table_18↔jug_1",
"table_18↔vase_1",
"microwave_29↔clock_2",
"cabinet_30↔box_3",
"chair_14↔bottle_1",
"microwave_29↔soap_dispenser_1",
"bed_21↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hammer_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hammer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_cactus_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "toy_cactus"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the spoon from the bedroom table to the kitchen table, clean the bedroom table.
|
[
"121285",
"121373",
"80006",
"121554",
"13246"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔spoon_1",
"table_18↔cushion_1",
"table_26↔bread_1",
"table_26↔milk_frother_cup_1",
"table_26↔cake_pan_1",
"stand_12↔multiport_hub_1",
"table_16↔hammer_1",
"table_16↔toy_cactus_1",
"stand_12↔clock_1",
"table_27↔stuffed_toy_1",
"stand_12↔picture_frame_1",
"table_16↔lamp_1",
"stand_12↔glass_1",
"table_26↔box_1",
"stand_12↔book_1",
"chair_20↔box_2",
"bed_10↔glass_2",
"table_18↔plate_1",
"table_18↔cup_1",
"table_18↔jug_1",
"table_18↔vase_1",
"microwave_29↔clock_2",
"cabinet_30↔box_3",
"chair_14↔bottle_1",
"microwave_29↔soap_dispenser_1",
"bed_21↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hammer_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hammer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_cactus_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "toy_cactus"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the bread, milk frother cup, and cake pan from the table in the bedroom to the kitchen and clean the table.
|
[
"121285",
"121373",
"80006",
"121554",
"13246"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔spoon_1",
"table_18↔cushion_1",
"table_26↔bread_1",
"table_26↔milk_frother_cup_1",
"table_26↔cake_pan_1",
"stand_12↔multiport_hub_1",
"table_16↔hammer_1",
"table_16↔toy_cactus_1",
"stand_12↔clock_1",
"table_27↔stuffed_toy_1",
"stand_12↔picture_frame_1",
"table_16↔lamp_1",
"stand_12↔glass_1",
"table_26↔box_1",
"stand_12↔book_1",
"chair_20↔box_2",
"bed_10↔glass_2",
"table_18↔plate_1",
"table_18↔cup_1",
"table_18↔jug_1",
"table_18↔vase_1",
"microwave_29↔clock_2",
"cabinet_30↔box_3",
"chair_14↔bottle_1",
"microwave_29↔soap_dispenser_1",
"bed_21↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hammer_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hammer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_cactus_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "toy_cactus"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the hammer and toy cactus from the living room table to the bedroom shelves. Place them next to each other on the shelves.
|
[
"121285",
"121373",
"80006",
"121554",
"13246"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔spoon_1",
"table_18↔cushion_1",
"table_26↔bread_1",
"table_26↔milk_frother_cup_1",
"table_26↔cake_pan_1",
"stand_12↔multiport_hub_1",
"table_16↔hammer_1",
"table_16↔toy_cactus_1",
"stand_12↔clock_1",
"table_27↔stuffed_toy_1",
"stand_12↔picture_frame_1",
"table_16↔lamp_1",
"stand_12↔glass_1",
"table_26↔box_1",
"stand_12↔book_1",
"chair_20↔box_2",
"bed_10↔glass_2",
"table_18↔plate_1",
"table_18↔cup_1",
"table_18↔jug_1",
"table_18↔vase_1",
"microwave_29↔clock_2",
"cabinet_30↔box_3",
"chair_14↔bottle_1",
"microwave_29↔soap_dispenser_1",
"bed_21↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hammer_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hammer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_cactus_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "toy_cactus"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the lamp from the table to the shelves , then turn it on.
|
[
"121285",
"121373",
"80006",
"121554",
"13246"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_26↔spoon_1",
"table_18↔cushion_1",
"table_26↔bread_1",
"table_26↔milk_frother_cup_1",
"table_26↔cake_pan_1",
"stand_12↔multiport_hub_1",
"table_16↔hammer_1",
"table_16↔toy_cactus_1",
"stand_12↔clock_1",
"table_27↔stuffed_toy_1",
"stand_12↔picture_frame_1",
"table_16↔lamp_1",
"stand_12↔glass_1",
"table_26↔box_1",
"stand_12↔book_1",
"chair_20↔box_2",
"bed_10↔glass_2",
"table_18↔plate_1",
"table_18↔cup_1",
"table_18↔jug_1",
"table_18↔vase_1",
"microwave_29↔clock_2",
"cabinet_30↔box_3",
"chair_14↔bottle_1",
"microwave_29↔soap_dispenser_1",
"bed_21↔bottle_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "milk_frother_cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "milk_frother_cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hammer_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hammer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_cactus_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "toy_cactus"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the plate, cup, jug, and vase from the table in the kitchen to the shelves in the bedroom.
|
[
"121285",
"121373",
"80006",
"121554",
"13246"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔toy_bee_1",
"table_16↔toy_construction_set_1",
"shelves_7↔glass_1",
"stand_12↔glass_2",
"stand_12↔squeezer_1",
"microwave_29↔cup_1",
"microwave_29↔jug_1",
"microwave_29↔plate_1",
"cabinet_30↔cushion_1",
"table_16↔glass_3",
"table_16↔candle_1",
"table_16↔vase_1",
"unknown_28↔bowl_1",
"bed_10↔clock_1",
"bed_21↔cup_2",
"cabinet_9↔cup_3",
"table_26↔box_1",
"table_26↔clock_2",
"table_26↔cellphone_1",
"table_26↔bath_towel_1",
"bed_21↔bottle_1",
"stand_12↔shoe_1",
"microwave_29↔glass_4",
"toilet_11↔sponge_1",
"toilet_11↔tape_1",
"cabinet_30↔plate_2",
"bed_21↔box_2",
"stand_12↔cup_4",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cellphone_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "cellphone"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_4",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "sponge_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "sponge"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy bee and toy construction set from the living room table to the bedroom chest of drawers. Place them next to each other on the chest of drawers.
|
[
"80367",
"80057",
"79988",
"79447",
"80163"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔toy_bee_1",
"table_16↔toy_construction_set_1",
"shelves_7↔glass_1",
"stand_12↔glass_2",
"stand_12↔squeezer_1",
"microwave_29↔cup_1",
"microwave_29↔jug_1",
"microwave_29↔plate_1",
"cabinet_30↔cushion_1",
"table_16↔glass_3",
"table_16↔candle_1",
"table_16↔vase_1",
"unknown_28↔bowl_1",
"bed_10↔clock_1",
"bed_21↔cup_2",
"cabinet_9↔cup_3",
"table_26↔box_1",
"table_26↔clock_2",
"table_26↔cellphone_1",
"table_26↔bath_towel_1",
"bed_21↔bottle_1",
"stand_12↔shoe_1",
"microwave_29↔glass_4",
"toilet_11↔sponge_1",
"toilet_11↔tape_1",
"cabinet_30↔plate_2",
"bed_21↔box_2",
"stand_12↔cup_4",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cellphone_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "cellphone"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_4",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "sponge_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "sponge"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me organize the kitchen by placing a cup next to the jug, a plate close to the spoon. Move the cup, jug, and plate to the table in the kitchen.
|
[
"80367",
"80057",
"79988",
"79447",
"80163"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔toy_bee_1",
"table_16↔toy_construction_set_1",
"shelves_7↔glass_1",
"stand_12↔glass_2",
"stand_12↔squeezer_1",
"microwave_29↔cup_1",
"microwave_29↔jug_1",
"microwave_29↔plate_1",
"cabinet_30↔cushion_1",
"table_16↔glass_3",
"table_16↔candle_1",
"table_16↔vase_1",
"unknown_28↔bowl_1",
"bed_10↔clock_1",
"bed_21↔cup_2",
"cabinet_9↔cup_3",
"table_26↔box_1",
"table_26↔clock_2",
"table_26↔cellphone_1",
"table_26↔bath_towel_1",
"bed_21↔bottle_1",
"stand_12↔shoe_1",
"microwave_29↔glass_4",
"toilet_11↔sponge_1",
"toilet_11↔tape_1",
"cabinet_30↔plate_2",
"bed_21↔box_2",
"stand_12↔cup_4",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cellphone_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "cellphone"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_4",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "sponge_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "sponge"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the glass, candle, and vase from the living room table to the bedroom shelves? Then move them all to the bed in the bedroom, placing them close by each other.
|
[
"80367",
"80057",
"79988",
"79447",
"80163"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔toy_bee_1",
"table_16↔toy_construction_set_1",
"shelves_7↔glass_1",
"stand_12↔glass_2",
"stand_12↔squeezer_1",
"microwave_29↔cup_1",
"microwave_29↔jug_1",
"microwave_29↔plate_1",
"cabinet_30↔cushion_1",
"table_16↔glass_3",
"table_16↔candle_1",
"table_16↔vase_1",
"unknown_28↔bowl_1",
"bed_10↔clock_1",
"bed_21↔cup_2",
"cabinet_9↔cup_3",
"table_26↔box_1",
"table_26↔clock_2",
"table_26↔cellphone_1",
"table_26↔bath_towel_1",
"bed_21↔bottle_1",
"stand_12↔shoe_1",
"microwave_29↔glass_4",
"toilet_11↔sponge_1",
"toilet_11↔tape_1",
"cabinet_30↔plate_2",
"bed_21↔box_2",
"stand_12↔cup_4",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cellphone_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "cellphone"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_4",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "sponge_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "sponge"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, place the clock, cellphone, and bath towel on the table in the bedroom. Then, move them next to each other on the bed in the bedroom.
|
[
"80367",
"80057",
"79988",
"79447",
"80163"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔toy_bee_1",
"table_16↔toy_construction_set_1",
"shelves_7↔glass_1",
"stand_12↔glass_2",
"stand_12↔squeezer_1",
"microwave_29↔cup_1",
"microwave_29↔jug_1",
"microwave_29↔plate_1",
"cabinet_30↔cushion_1",
"table_16↔glass_3",
"table_16↔candle_1",
"table_16↔vase_1",
"unknown_28↔bowl_1",
"bed_10↔clock_1",
"bed_21↔cup_2",
"cabinet_9↔cup_3",
"table_26↔box_1",
"table_26↔clock_2",
"table_26↔cellphone_1",
"table_26↔bath_towel_1",
"bed_21↔bottle_1",
"stand_12↔shoe_1",
"microwave_29↔glass_4",
"toilet_11↔sponge_1",
"toilet_11↔tape_1",
"cabinet_30↔plate_2",
"bed_21↔box_2",
"stand_12↔cup_4",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "squeezer_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "squeezer"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_3",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bowl_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bowl"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cellphone_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "cellphone"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bath_towel_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "bath_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_4",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "sponge_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "sponge"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the sponge and tape from the bathroom toilet to the kitchen cabinet. Place them next to each other on the shelves.
|
[
"80367",
"80057",
"79988",
"79447",
"80163"
] | 29 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔lamp_1",
"stand_12↔book_1",
"table_18↔cup_1",
"table_18↔teapot_1",
"bed_10↔stuffed_toy_1",
"bed_21↔tennis_racquet_1",
"unknown_15↔clock_1",
"chair_14↔stuffed_toy_2",
"table_26↔stuffed_toy_3",
"table_26↔vase_1",
"table_26↔clock_2",
"stool_22↔shoe_1",
"table_18↔jug_1",
"table_18↔cup_2",
"stool_22↔box_1",
"chair_14↔plate_1",
"table_18↔bread_1",
"table_18↔pitcher_1",
"table_18↔fork_1",
"stand_12↔hand_towel_1",
"stand_12↔box_2",
"shelves_7↔toy_fire_truck_1",
"table_27↔action_figure_1",
"bed_10↔picture_frame_1",
"bed_10↔box_3",
"cabinet_9↔clock_3",
"couch_17↔glass_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pitcher_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "pitcher"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Turn off the lamp on table in the living room. Then, bring a book from the stand in the living room, a filled cup of water from the kitchen, and a teapot from the kitchen to the bedroom. Finally, clean the table in the living room.
|
[
"121317",
"13187",
"80209",
"79993",
"79554"
] | 27 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔lamp_1",
"stand_12↔book_1",
"table_18↔cup_1",
"table_18↔teapot_1",
"bed_10↔stuffed_toy_1",
"bed_21↔tennis_racquet_1",
"unknown_15↔clock_1",
"chair_14↔stuffed_toy_2",
"table_26↔stuffed_toy_3",
"table_26↔vase_1",
"table_26↔clock_2",
"stool_22↔shoe_1",
"table_18↔jug_1",
"table_18↔cup_2",
"stool_22↔box_1",
"chair_14↔plate_1",
"table_18↔bread_1",
"table_18↔pitcher_1",
"table_18↔fork_1",
"stand_12↔hand_towel_1",
"stand_12↔box_2",
"shelves_7↔toy_fire_truck_1",
"table_27↔action_figure_1",
"bed_10↔picture_frame_1",
"bed_10↔box_3",
"cabinet_9↔clock_3",
"couch_17↔glass_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pitcher_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "pitcher"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me create a relaxing atmosphere in the bedroom. Place the stuffed toy, vase, and clock on the shelves.
|
[
"121317",
"13187",
"80209",
"79993",
"79554"
] | 27 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔lamp_1",
"stand_12↔book_1",
"table_18↔cup_1",
"table_18↔teapot_1",
"bed_10↔stuffed_toy_1",
"bed_21↔tennis_racquet_1",
"unknown_15↔clock_1",
"chair_14↔stuffed_toy_2",
"table_26↔stuffed_toy_3",
"table_26↔vase_1",
"table_26↔clock_2",
"stool_22↔shoe_1",
"table_18↔jug_1",
"table_18↔cup_2",
"stool_22↔box_1",
"chair_14↔plate_1",
"table_18↔bread_1",
"table_18↔pitcher_1",
"table_18↔fork_1",
"stand_12↔hand_towel_1",
"stand_12↔box_2",
"shelves_7↔toy_fire_truck_1",
"table_27↔action_figure_1",
"bed_10↔picture_frame_1",
"bed_10↔box_3",
"cabinet_9↔clock_3",
"couch_17↔glass_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pitcher_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "pitcher"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the jug and cup to the same kitchen counter. Then, place them next to each other on the dining table.
|
[
"121317",
"13187",
"80209",
"79993",
"79554"
] | 27 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔lamp_1",
"stand_12↔book_1",
"table_18↔cup_1",
"table_18↔teapot_1",
"bed_10↔stuffed_toy_1",
"bed_21↔tennis_racquet_1",
"unknown_15↔clock_1",
"chair_14↔stuffed_toy_2",
"table_26↔stuffed_toy_3",
"table_26↔vase_1",
"table_26↔clock_2",
"stool_22↔shoe_1",
"table_18↔jug_1",
"table_18↔cup_2",
"stool_22↔box_1",
"chair_14↔plate_1",
"table_18↔bread_1",
"table_18↔pitcher_1",
"table_18↔fork_1",
"stand_12↔hand_towel_1",
"stand_12↔box_2",
"shelves_7↔toy_fire_truck_1",
"table_27↔action_figure_1",
"bed_10↔picture_frame_1",
"bed_10↔box_3",
"cabinet_9↔clock_3",
"couch_17↔glass_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pitcher_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "pitcher"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me prepare a snack. First, bring the bread, the pitcher, and the fork to the dining table. Then, move them to the shelves in the bedroom and place them next to each other.
|
[
"121317",
"13187",
"80209",
"79993",
"79554"
] | 27 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔lamp_1",
"stand_12↔book_1",
"table_18↔cup_1",
"table_18↔teapot_1",
"bed_10↔stuffed_toy_1",
"bed_21↔tennis_racquet_1",
"unknown_15↔clock_1",
"chair_14↔stuffed_toy_2",
"table_26↔stuffed_toy_3",
"table_26↔vase_1",
"table_26↔clock_2",
"stool_22↔shoe_1",
"table_18↔jug_1",
"table_18↔cup_2",
"stool_22↔box_1",
"chair_14↔plate_1",
"table_18↔bread_1",
"table_18↔pitcher_1",
"table_18↔fork_1",
"stand_12↔hand_towel_1",
"stand_12↔box_2",
"shelves_7↔toy_fire_truck_1",
"table_27↔action_figure_1",
"bed_10↔picture_frame_1",
"bed_10↔box_3",
"cabinet_9↔clock_3",
"couch_17↔glass_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": true
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tennis_racquet_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tennis_racquet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_2",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pitcher_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "pitcher"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_fire_truck_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_fire_truck"
},
{
"affordances": [
"pickup",
"release"
],
"id": "action_figure_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "action_figure"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_3",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move all the toy fire truck to the other shelves in the bedroom. Then, place them next to each other on the table in the living room.
|
[
"121317",
"13187",
"80209",
"79993",
"79554"
] | 27 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔cup_1",
"chair_14↔box_1",
"couch_17↔box_2",
"cabinet_30↔laptop_1",
"stand_12↔soap_dispenser_1",
"table_26↔shoe_1",
"shelves_23↔toy_airplane_1",
"bed_21↔laptop_cover_1",
"chest_of_drawers_31↔spoon_1",
"bed_10↔glass_1",
"table_18↔spoon_2",
"table_18↔fork_1",
"table_18↔knife_1",
"washer_dryer_8↔shoe_2",
"bed_21↔glass_2",
"cabinet_9↔soap_dispenser_2",
"stand_12↔spectacles_1",
"chair_20↔hand_towel_1",
"cabinet_30↔kettle_1",
"cabinet_30↔kettle_2",
"cabinet_30↔jug_1",
"cabinet_30↔jug_2",
"cabinet_30↔jug_3",
"table_18↔pan_1",
"cabinet_9↔cup_2",
"table_26↔picture_frame_1",
"table_26↔statue_1",
"table_27↔cushion_1",
"cabinet_30↔clock_1",
"chair_19↔lamp_1",
"table_27↔bottle_1",
"bed_21↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Place the cup on the shelves in the bedroom.
|
[
"79394",
"13352",
"28556",
"28561",
"80047"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔cup_1",
"chair_14↔box_1",
"couch_17↔box_2",
"cabinet_30↔laptop_1",
"stand_12↔soap_dispenser_1",
"table_26↔shoe_1",
"shelves_23↔toy_airplane_1",
"bed_21↔laptop_cover_1",
"chest_of_drawers_31↔spoon_1",
"bed_10↔glass_1",
"table_18↔spoon_2",
"table_18↔fork_1",
"table_18↔knife_1",
"washer_dryer_8↔shoe_2",
"bed_21↔glass_2",
"cabinet_9↔soap_dispenser_2",
"stand_12↔spectacles_1",
"chair_20↔hand_towel_1",
"cabinet_30↔kettle_1",
"cabinet_30↔kettle_2",
"cabinet_30↔jug_1",
"cabinet_30↔jug_2",
"cabinet_30↔jug_3",
"table_18↔pan_1",
"cabinet_9↔cup_2",
"table_26↔picture_frame_1",
"table_26↔statue_1",
"table_27↔cushion_1",
"cabinet_30↔clock_1",
"chair_19↔lamp_1",
"table_27↔bottle_1",
"bed_21↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Bring the toy airplane, laptop cover, and spoon from the bedroom to the living room and place them on the table.
|
[
"79394",
"13352",
"28556",
"28561",
"80047"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔cup_1",
"chair_14↔box_1",
"couch_17↔box_2",
"cabinet_30↔laptop_1",
"stand_12↔soap_dispenser_1",
"table_26↔shoe_1",
"shelves_23↔toy_airplane_1",
"bed_21↔laptop_cover_1",
"chest_of_drawers_31↔spoon_1",
"bed_10↔glass_1",
"table_18↔spoon_2",
"table_18↔fork_1",
"table_18↔knife_1",
"washer_dryer_8↔shoe_2",
"bed_21↔glass_2",
"cabinet_9↔soap_dispenser_2",
"stand_12↔spectacles_1",
"chair_20↔hand_towel_1",
"cabinet_30↔kettle_1",
"cabinet_30↔kettle_2",
"cabinet_30↔jug_1",
"cabinet_30↔jug_2",
"cabinet_30↔jug_3",
"table_18↔pan_1",
"cabinet_9↔cup_2",
"table_26↔picture_frame_1",
"table_26↔statue_1",
"table_27↔cushion_1",
"cabinet_30↔clock_1",
"chair_19↔lamp_1",
"table_27↔bottle_1",
"bed_21↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the spoon, then the fork, and finally the knife from the kitchen table to the dining table. Place them next to each other on the table.
|
[
"79394",
"13352",
"28556",
"28561",
"80047"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔cup_1",
"chair_14↔box_1",
"couch_17↔box_2",
"cabinet_30↔laptop_1",
"stand_12↔soap_dispenser_1",
"table_26↔shoe_1",
"shelves_23↔toy_airplane_1",
"bed_21↔laptop_cover_1",
"chest_of_drawers_31↔spoon_1",
"bed_10↔glass_1",
"table_18↔spoon_2",
"table_18↔fork_1",
"table_18↔knife_1",
"washer_dryer_8↔shoe_2",
"bed_21↔glass_2",
"cabinet_9↔soap_dispenser_2",
"stand_12↔spectacles_1",
"chair_20↔hand_towel_1",
"cabinet_30↔kettle_1",
"cabinet_30↔kettle_2",
"cabinet_30↔jug_1",
"cabinet_30↔jug_2",
"cabinet_30↔jug_3",
"table_18↔pan_1",
"cabinet_9↔cup_2",
"table_26↔picture_frame_1",
"table_26↔statue_1",
"table_27↔cushion_1",
"cabinet_30↔clock_1",
"chair_19↔lamp_1",
"table_27↔bottle_1",
"bed_21↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me move kettles, jugs, and pan from the kitchen to the laundry room.
|
[
"79394",
"13352",
"28556",
"28561",
"80047"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔cup_1",
"chair_14↔box_1",
"couch_17↔box_2",
"cabinet_30↔laptop_1",
"stand_12↔soap_dispenser_1",
"table_26↔shoe_1",
"shelves_23↔toy_airplane_1",
"bed_21↔laptop_cover_1",
"chest_of_drawers_31↔spoon_1",
"bed_10↔glass_1",
"table_18↔spoon_2",
"table_18↔fork_1",
"table_18↔knife_1",
"washer_dryer_8↔shoe_2",
"bed_21↔glass_2",
"cabinet_9↔soap_dispenser_2",
"stand_12↔spectacles_1",
"chair_20↔hand_towel_1",
"cabinet_30↔kettle_1",
"cabinet_30↔kettle_2",
"cabinet_30↔jug_1",
"cabinet_30↔jug_2",
"cabinet_30↔jug_3",
"table_18↔pan_1",
"cabinet_9↔cup_2",
"table_26↔picture_frame_1",
"table_26↔statue_1",
"table_27↔cushion_1",
"cabinet_30↔clock_1",
"chair_19↔lamp_1",
"table_27↔bottle_1",
"bed_21↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_cover_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "laptop_cover"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "fork_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "fork"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spectacles_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "spectacles"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_3",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the picture frame and statue from the bedroom table to the living room couch. Place them next to each other on the couch.
|
[
"79394",
"13352",
"28556",
"28561",
"80047"
] | 32 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔vase_1",
"table_18↔statue_1",
"chest_of_drawers_32↔stuffed_toy_1",
"shelves_7↔shoe_1",
"shelves_7↔watch_1",
"chair_19↔tape_1",
"stand_12↔box_1",
"table_26↔soap_dish_1",
"cabinet_30↔can_opener_1",
"stand_12↔glass_1",
"chair_20↔pencil_case_1",
"stand_12↔bottle_1",
"table_18↔box_2",
"bed_10↔picture_frame_1",
"table_16↔teapot_1",
"table_16↔cup_1",
"table_16↔multiport_hub_1",
"table_26↔cushion_1",
"chest_of_drawers_31↔dumbbell_1",
"table_16↔toy_airplane_1",
"table_16↔toy_vehicle_1",
"cabinet_30↔egg_1",
"cabinet_30↔cup_2",
"cabinet_30↔bottle_2",
"bed_21↔bottle_3",
"table_26↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dish_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dish"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the vase and statue next to the statue that is alone on the table.
|
[
"80133",
"79302",
"78906",
"79243",
"28390"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔vase_1",
"table_18↔statue_1",
"chest_of_drawers_32↔stuffed_toy_1",
"shelves_7↔shoe_1",
"shelves_7↔watch_1",
"chair_19↔tape_1",
"stand_12↔box_1",
"table_26↔soap_dish_1",
"cabinet_30↔can_opener_1",
"stand_12↔glass_1",
"chair_20↔pencil_case_1",
"stand_12↔bottle_1",
"table_18↔box_2",
"bed_10↔picture_frame_1",
"table_16↔teapot_1",
"table_16↔cup_1",
"table_16↔multiport_hub_1",
"table_26↔cushion_1",
"chest_of_drawers_31↔dumbbell_1",
"table_16↔toy_airplane_1",
"table_16↔toy_vehicle_1",
"cabinet_30↔egg_1",
"cabinet_30↔cup_2",
"cabinet_30↔bottle_2",
"bed_21↔bottle_3",
"table_26↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dish_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dish"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the shoe and watch to the shelves in the bedroom. Then, place them next to each other on the table in the kitchen.
|
[
"80133",
"79302",
"78906",
"79243",
"28390"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔vase_1",
"table_18↔statue_1",
"chest_of_drawers_32↔stuffed_toy_1",
"shelves_7↔shoe_1",
"shelves_7↔watch_1",
"chair_19↔tape_1",
"stand_12↔box_1",
"table_26↔soap_dish_1",
"cabinet_30↔can_opener_1",
"stand_12↔glass_1",
"chair_20↔pencil_case_1",
"stand_12↔bottle_1",
"table_18↔box_2",
"bed_10↔picture_frame_1",
"table_16↔teapot_1",
"table_16↔cup_1",
"table_16↔multiport_hub_1",
"table_26↔cushion_1",
"chest_of_drawers_31↔dumbbell_1",
"table_16↔toy_airplane_1",
"table_16↔toy_vehicle_1",
"cabinet_30↔egg_1",
"cabinet_30↔cup_2",
"cabinet_30↔bottle_2",
"bed_21↔bottle_3",
"table_26↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dish_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dish"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the can opener from the cabinet in the kitchen to the washer dryer in the laundryroom/mudroom? Then, place it on the top.
|
[
"80133",
"79302",
"78906",
"79243",
"28390"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔vase_1",
"table_18↔statue_1",
"chest_of_drawers_32↔stuffed_toy_1",
"shelves_7↔shoe_1",
"shelves_7↔watch_1",
"chair_19↔tape_1",
"stand_12↔box_1",
"table_26↔soap_dish_1",
"cabinet_30↔can_opener_1",
"stand_12↔glass_1",
"chair_20↔pencil_case_1",
"stand_12↔bottle_1",
"table_18↔box_2",
"bed_10↔picture_frame_1",
"table_16↔teapot_1",
"table_16↔cup_1",
"table_16↔multiport_hub_1",
"table_26↔cushion_1",
"chest_of_drawers_31↔dumbbell_1",
"table_16↔toy_airplane_1",
"table_16↔toy_vehicle_1",
"cabinet_30↔egg_1",
"cabinet_30↔cup_2",
"cabinet_30↔bottle_2",
"bed_21↔bottle_3",
"table_26↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dish_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dish"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, make sure that the teapot is next to the cup on the table in the living room. Then, move the multiport hub to the chair in the bedroom and place it there.
|
[
"80133",
"79302",
"78906",
"79243",
"28390"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"cabinet_30↔vase_1",
"table_18↔statue_1",
"chest_of_drawers_32↔stuffed_toy_1",
"shelves_7↔shoe_1",
"shelves_7↔watch_1",
"chair_19↔tape_1",
"stand_12↔box_1",
"table_26↔soap_dish_1",
"cabinet_30↔can_opener_1",
"stand_12↔glass_1",
"chair_20↔pencil_case_1",
"stand_12↔bottle_1",
"table_18↔box_2",
"bed_10↔picture_frame_1",
"table_16↔teapot_1",
"table_16↔cup_1",
"table_16↔multiport_hub_1",
"table_26↔cushion_1",
"chest_of_drawers_31↔dumbbell_1",
"table_16↔toy_airplane_1",
"table_16↔toy_vehicle_1",
"cabinet_30↔egg_1",
"cabinet_30↔cup_2",
"cabinet_30↔bottle_2",
"bed_21↔bottle_3",
"table_26↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "statue_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "statue"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tape_1",
"parent": "chair_19",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "tape"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dish_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dish"
},
{
"affordances": [
"pickup",
"release"
],
"id": "can_opener_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "can_opener"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "multiport_hub_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "multiport_hub"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "dumbbell_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "dumbbell"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_airplane_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "toy_airplane"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_vehicle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "toy_vehicle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the toy airplane and then the toy vehicle from the living room to the bedroom. Place them next to each other on the shelves.
|
[
"80133",
"79302",
"78906",
"79243",
"28390"
] | 26 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔plate_1",
"table_18↔pan_1",
"bed_21↔glass_1",
"washer_dryer_8↔box_1",
"table_26↔clock_1",
"shelves_23↔bottle_1",
"toilet_11↔box_2",
"table_18↔cup_1",
"shelves_7↔teapot_1",
"shelves_7↔plate_2",
"chair_14↔cushion_1",
"cabinet_30↔knife_1",
"cabinet_30↔knife_2",
"table_26↔toy_animal_1",
"shelves_7↔toy_animal_2",
"shelves_7↔stuffed_toy_1",
"shelves_7↔doll_1",
"chair_24↔vase_1",
"stand_12↔vase_2",
"table_26↔cup_2",
"cabinet_30↔phone_stand_1",
"table_25↔picture_frame_1",
"couch_17↔bottle_2",
"stand_12↔picture_frame_2",
"chair_24↔carrying_case_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "carrying_case_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "carrying_case"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Bring the plate and pan from the kitchen table to the bedroom shelves and place them next to each other.
|
[
"28486",
"121312",
"13503",
"1418",
"80507"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔plate_1",
"table_18↔pan_1",
"bed_21↔glass_1",
"washer_dryer_8↔box_1",
"table_26↔clock_1",
"shelves_23↔bottle_1",
"toilet_11↔box_2",
"table_18↔cup_1",
"shelves_7↔teapot_1",
"shelves_7↔plate_2",
"chair_14↔cushion_1",
"cabinet_30↔knife_1",
"cabinet_30↔knife_2",
"table_26↔toy_animal_1",
"shelves_7↔toy_animal_2",
"shelves_7↔stuffed_toy_1",
"shelves_7↔doll_1",
"chair_24↔vase_1",
"stand_12↔vase_2",
"table_26↔cup_2",
"cabinet_30↔phone_stand_1",
"table_25↔picture_frame_1",
"couch_17↔bottle_2",
"stand_12↔picture_frame_2",
"chair_24↔carrying_case_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "carrying_case_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "carrying_case"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the clock from the bedroom table to the living room table and turn it off. Then clean the bedroom table.
|
[
"28486",
"121312",
"13503",
"1418",
"80507"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔plate_1",
"table_18↔pan_1",
"bed_21↔glass_1",
"washer_dryer_8↔box_1",
"table_26↔clock_1",
"shelves_23↔bottle_1",
"toilet_11↔box_2",
"table_18↔cup_1",
"shelves_7↔teapot_1",
"shelves_7↔plate_2",
"chair_14↔cushion_1",
"cabinet_30↔knife_1",
"cabinet_30↔knife_2",
"table_26↔toy_animal_1",
"shelves_7↔toy_animal_2",
"shelves_7↔stuffed_toy_1",
"shelves_7↔doll_1",
"chair_24↔vase_1",
"stand_12↔vase_2",
"table_26↔cup_2",
"cabinet_30↔phone_stand_1",
"table_25↔picture_frame_1",
"couch_17↔bottle_2",
"stand_12↔picture_frame_2",
"chair_24↔carrying_case_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "carrying_case_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "carrying_case"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me prepare a snack in the living room. Place the teapot and plate on the table. Also bring knives from the cabinet in the kitchen to the table.
|
[
"28486",
"121312",
"13503",
"1418",
"80507"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔plate_1",
"table_18↔pan_1",
"bed_21↔glass_1",
"washer_dryer_8↔box_1",
"table_26↔clock_1",
"shelves_23↔bottle_1",
"toilet_11↔box_2",
"table_18↔cup_1",
"shelves_7↔teapot_1",
"shelves_7↔plate_2",
"chair_14↔cushion_1",
"cabinet_30↔knife_1",
"cabinet_30↔knife_2",
"table_26↔toy_animal_1",
"shelves_7↔toy_animal_2",
"shelves_7↔stuffed_toy_1",
"shelves_7↔doll_1",
"chair_24↔vase_1",
"stand_12↔vase_2",
"table_26↔cup_2",
"cabinet_30↔phone_stand_1",
"table_25↔picture_frame_1",
"couch_17↔bottle_2",
"stand_12↔picture_frame_2",
"chair_24↔carrying_case_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "carrying_case_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "carrying_case"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the toy animal, stuffed toy, and doll to another shelf in the bedroom. Then, place all these items next to each other on the couch in the living room.
|
[
"28486",
"121312",
"13503",
"1418",
"80507"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_18↔plate_1",
"table_18↔pan_1",
"bed_21↔glass_1",
"washer_dryer_8↔box_1",
"table_26↔clock_1",
"shelves_23↔bottle_1",
"toilet_11↔box_2",
"table_18↔cup_1",
"shelves_7↔teapot_1",
"shelves_7↔plate_2",
"chair_14↔cushion_1",
"cabinet_30↔knife_1",
"cabinet_30↔knife_2",
"table_26↔toy_animal_1",
"shelves_7↔toy_animal_2",
"shelves_7↔stuffed_toy_1",
"shelves_7↔doll_1",
"chair_24↔vase_1",
"stand_12↔vase_2",
"table_26↔cup_2",
"cabinet_30↔phone_stand_1",
"table_25↔picture_frame_1",
"couch_17↔bottle_2",
"stand_12↔picture_frame_2",
"chair_24↔carrying_case_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pan_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "toilet_11",
"room": "bathroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "chair_14",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "knife_2",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "knife"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_animal_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_animal"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "phone_stand_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "phone_stand"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "carrying_case_1",
"parent": "chair_24",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "carrying_case"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Put the phone stand on top of a different cabinet in the kitchen. Then, place it on the floor in the living room next to a table.
|
[
"28486",
"121312",
"13503",
"1418",
"80507"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_25↔book_1",
"table_25↔laptop_1",
"unknown_28↔box_1",
"bed_21↔cup_1",
"table_16↔teapot_1",
"table_16↔vase_1",
"table_16↔jug_1",
"table_16↔hand_towel_1",
"bed_21↔cushion_1",
"stand_12↔shoe_1",
"bed_10↔baseballbat_1",
"table_18↔kettle_1",
"table_18↔jug_2",
"table_18↔teapot_2",
"table_16↔lamp_1",
"chest_of_drawers_32↔cup_2",
"bed_21↔egg_1",
"cabinet_9↔shoe_2",
"cabinet_9↔watch_1",
"shelves_7↔box_2",
"couch_17↔box_3",
"table_26↔cup_3",
"stand_12↔box_4",
"table_26↔book_2",
"table_16↔cup_4",
"bed_10↔stuffed_toy_1",
"chair_20↔box_5",
"chest_of_drawers_32↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the book and laptop from the table in the living room to the table. Clean the table.
|
[
"121441",
"79500",
"121375",
"80379",
"121160"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_25↔book_1",
"table_25↔laptop_1",
"unknown_28↔box_1",
"bed_21↔cup_1",
"table_16↔teapot_1",
"table_16↔vase_1",
"table_16↔jug_1",
"table_16↔hand_towel_1",
"bed_21↔cushion_1",
"stand_12↔shoe_1",
"bed_10↔baseballbat_1",
"table_18↔kettle_1",
"table_18↔jug_2",
"table_18↔teapot_2",
"table_16↔lamp_1",
"chest_of_drawers_32↔cup_2",
"bed_21↔egg_1",
"cabinet_9↔shoe_2",
"cabinet_9↔watch_1",
"shelves_7↔box_2",
"couch_17↔box_3",
"table_26↔cup_3",
"stand_12↔box_4",
"table_26↔book_2",
"table_16↔cup_4",
"bed_10↔stuffed_toy_1",
"chair_20↔box_5",
"chest_of_drawers_32↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, make sure that the vase is next to the jug on the table in the living room. Then, move the hand towel to the chair in the bedroom and place it there.
|
[
"121441",
"79500",
"121375",
"80379",
"121160"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_25↔book_1",
"table_25↔laptop_1",
"unknown_28↔box_1",
"bed_21↔cup_1",
"table_16↔teapot_1",
"table_16↔vase_1",
"table_16↔jug_1",
"table_16↔hand_towel_1",
"bed_21↔cushion_1",
"stand_12↔shoe_1",
"bed_10↔baseballbat_1",
"table_18↔kettle_1",
"table_18↔jug_2",
"table_18↔teapot_2",
"table_16↔lamp_1",
"chest_of_drawers_32↔cup_2",
"bed_21↔egg_1",
"cabinet_9↔shoe_2",
"cabinet_9↔watch_1",
"shelves_7↔box_2",
"couch_17↔box_3",
"table_26↔cup_3",
"stand_12↔box_4",
"table_26↔book_2",
"table_16↔cup_4",
"bed_10↔stuffed_toy_1",
"chair_20↔box_5",
"chest_of_drawers_32↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the kettle, jug, and teapot from the kitchen table to the living room table and fill the kettle with water. Turn on the lamp, and clean the living room table.
|
[
"121441",
"79500",
"121375",
"80379",
"121160"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_25↔book_1",
"table_25↔laptop_1",
"unknown_28↔box_1",
"bed_21↔cup_1",
"table_16↔teapot_1",
"table_16↔vase_1",
"table_16↔jug_1",
"table_16↔hand_towel_1",
"bed_21↔cushion_1",
"stand_12↔shoe_1",
"bed_10↔baseballbat_1",
"table_18↔kettle_1",
"table_18↔jug_2",
"table_18↔teapot_2",
"table_16↔lamp_1",
"chest_of_drawers_32↔cup_2",
"bed_21↔egg_1",
"cabinet_9↔shoe_2",
"cabinet_9↔watch_1",
"shelves_7↔box_2",
"couch_17↔box_3",
"table_26↔cup_3",
"stand_12↔box_4",
"table_26↔book_2",
"table_16↔cup_4",
"bed_10↔stuffed_toy_1",
"chair_20↔box_5",
"chest_of_drawers_32↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the shoe and watch from the closet cabinet to the laundryroom/mudroom washer dryer. Place them next to each other on the washer dryer.
|
[
"121441",
"79500",
"121375",
"80379",
"121160"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_25↔book_1",
"table_25↔laptop_1",
"unknown_28↔box_1",
"bed_21↔cup_1",
"table_16↔teapot_1",
"table_16↔vase_1",
"table_16↔jug_1",
"table_16↔hand_towel_1",
"bed_21↔cushion_1",
"stand_12↔shoe_1",
"bed_10↔baseballbat_1",
"table_18↔kettle_1",
"table_18↔jug_2",
"table_18↔teapot_2",
"table_16↔lamp_1",
"chest_of_drawers_32↔cup_2",
"bed_21↔egg_1",
"cabinet_9↔shoe_2",
"cabinet_9↔watch_1",
"shelves_7↔box_2",
"couch_17↔box_3",
"table_26↔cup_3",
"stand_12↔box_4",
"table_26↔book_2",
"table_16↔cup_4",
"bed_10↔stuffed_toy_1",
"chair_20↔box_5",
"chest_of_drawers_32↔cushion_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "hand_towel_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "hand_towel"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "baseballbat_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "baseballbat"
},
{
"affordances": [
"pickup",
"release"
],
"id": "kettle_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "egg_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "egg"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_2",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "watch_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "watch"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_4",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_4",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_5",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the cup from the table in the living room to the table in the kitchen, then fill it with water. After that, clean the table.
|
[
"121441",
"79500",
"121375",
"80379",
"121160"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"bed_10↔toy_swing_1",
"bed_10↔helmet_1",
"stand_12↔cushion_1",
"chest_of_drawers_32↔bottle_1",
"stand_12↔vase_1",
"stand_12↔candle_1",
"stand_12↔lamp_1",
"stool_22↔bottle_2",
"stand_12↔toy_construction_set_1",
"stand_12↔basketball_1",
"washer_dryer_13↔box_1",
"stand_12↔toy_bee_1",
"stand_12↔toy_construction_set_2",
"stand_12↔glass_1",
"couch_17↔cup_1",
"stand_12↔glass_2",
"microwave_29↔box_2",
"bed_21↔candle_2",
"table_18↔bread_1",
"table_18↔plate_1",
"table_18↔spoon_1",
"bed_10↔cup_2",
"unknown_15↔cup_3",
"stand_12↔bottle_3",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy swing and helmet from the bed in the bedroom to the stand in the living room. Place them next to each other on the stand.
|
[
"79920",
"121192",
"80012",
"80345",
"121528"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"bed_10↔toy_swing_1",
"bed_10↔helmet_1",
"stand_12↔cushion_1",
"chest_of_drawers_32↔bottle_1",
"stand_12↔vase_1",
"stand_12↔candle_1",
"stand_12↔lamp_1",
"stool_22↔bottle_2",
"stand_12↔toy_construction_set_1",
"stand_12↔basketball_1",
"washer_dryer_13↔box_1",
"stand_12↔toy_bee_1",
"stand_12↔toy_construction_set_2",
"stand_12↔glass_1",
"couch_17↔cup_1",
"stand_12↔glass_2",
"microwave_29↔box_2",
"bed_21↔candle_2",
"table_18↔bread_1",
"table_18↔plate_1",
"table_18↔spoon_1",
"bed_10↔cup_2",
"unknown_15↔cup_3",
"stand_12↔bottle_3",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the vase and candle from the stand to the table and turn on the lamp.
|
[
"79920",
"121192",
"80012",
"80345",
"121528"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"bed_10↔toy_swing_1",
"bed_10↔helmet_1",
"stand_12↔cushion_1",
"chest_of_drawers_32↔bottle_1",
"stand_12↔vase_1",
"stand_12↔candle_1",
"stand_12↔lamp_1",
"stool_22↔bottle_2",
"stand_12↔toy_construction_set_1",
"stand_12↔basketball_1",
"washer_dryer_13↔box_1",
"stand_12↔toy_bee_1",
"stand_12↔toy_construction_set_2",
"stand_12↔glass_1",
"couch_17↔cup_1",
"stand_12↔glass_2",
"microwave_29↔box_2",
"bed_21↔candle_2",
"table_18↔bread_1",
"table_18↔plate_1",
"table_18↔spoon_1",
"bed_10↔cup_2",
"unknown_15↔cup_3",
"stand_12↔bottle_3",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy construction set and the basketball from the living room stand to the bedroom shelves. Place them next to each other on the shelves.
|
[
"79920",
"121192",
"80012",
"80345",
"121528"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"bed_10↔toy_swing_1",
"bed_10↔helmet_1",
"stand_12↔cushion_1",
"chest_of_drawers_32↔bottle_1",
"stand_12↔vase_1",
"stand_12↔candle_1",
"stand_12↔lamp_1",
"stool_22↔bottle_2",
"stand_12↔toy_construction_set_1",
"stand_12↔basketball_1",
"washer_dryer_13↔box_1",
"stand_12↔toy_bee_1",
"stand_12↔toy_construction_set_2",
"stand_12↔glass_1",
"couch_17↔cup_1",
"stand_12↔glass_2",
"microwave_29↔box_2",
"bed_21↔candle_2",
"table_18↔bread_1",
"table_18↔plate_1",
"table_18↔spoon_1",
"bed_10↔cup_2",
"unknown_15↔cup_3",
"stand_12↔bottle_3",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the toy bee and toy construction set to the same living room stand. Then, place them next to each other on the bed in the bedroom.
|
[
"79920",
"121192",
"80012",
"80345",
"121528"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"bed_10↔toy_swing_1",
"bed_10↔helmet_1",
"stand_12↔cushion_1",
"chest_of_drawers_32↔bottle_1",
"stand_12↔vase_1",
"stand_12↔candle_1",
"stand_12↔lamp_1",
"stool_22↔bottle_2",
"stand_12↔toy_construction_set_1",
"stand_12↔basketball_1",
"washer_dryer_13↔box_1",
"stand_12↔toy_bee_1",
"stand_12↔toy_construction_set_2",
"stand_12↔glass_1",
"couch_17↔cup_1",
"stand_12↔glass_2",
"microwave_29↔box_2",
"bed_21↔candle_2",
"table_18↔bread_1",
"table_18↔plate_1",
"table_18↔spoon_1",
"bed_10↔cup_2",
"unknown_15↔cup_3",
"stand_12↔bottle_3",
"stand_12↔box_3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "toy_swing_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_swing"
},
{
"affordances": [
"pickup",
"release"
],
"id": "helmet_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "helmet"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "chest_of_drawers_32",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "lamp_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "lamp"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_2",
"parent": "stool_22",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "basketball_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "basketball"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_2",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bread_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": null
},
"type": "bread"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_3",
"parent": "unknown_15",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_3",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the bread, plate, and spoon from the table to the kitchen and place them on the table. Clean the table.
|
[
"79920",
"121192",
"80012",
"80345",
"121528"
] | 25 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔laptop_1",
"table_27↔folder_1",
"table_27↔credit_card_1",
"washer_dryer_13↔cushion_1",
"bed_10↔clock_1",
"stand_12↔box_1",
"couch_17↔cake_pan_1",
"couch_17↔backpack_1",
"washer_dryer_8↔box_2",
"cabinet_30↔stuffed_toy_1",
"couch_17↔bottle_1",
"chair_20↔canister_1",
"cabinet_30↔glass_1",
"table_27↔pencil_case_1",
"table_27↔electric_kettle_1",
"microwave_29↔cup_1",
"stand_12↔glass_2",
"stand_12↔book_1",
"table_18↔teapot_1",
"table_18↔spoon_1",
"table_18↔vase_1",
"stand_12↔clock_2",
"shelves_7↔book_2",
"table_25↔vase_2",
"bed_10↔cushion_2",
"unknown_28↔jug_1",
"bed_10↔plate_1",
"table_18↔cup_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "electric_kettle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "electric_kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the laptop, folder, and credit card from the table to the living room and place them on the couch. Clean the table.
|
[
"121531",
"80338",
"79840",
"79578",
"121220"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔laptop_1",
"table_27↔folder_1",
"table_27↔credit_card_1",
"washer_dryer_13↔cushion_1",
"bed_10↔clock_1",
"stand_12↔box_1",
"couch_17↔cake_pan_1",
"couch_17↔backpack_1",
"washer_dryer_8↔box_2",
"cabinet_30↔stuffed_toy_1",
"couch_17↔bottle_1",
"chair_20↔canister_1",
"cabinet_30↔glass_1",
"table_27↔pencil_case_1",
"table_27↔electric_kettle_1",
"microwave_29↔cup_1",
"stand_12↔glass_2",
"stand_12↔book_1",
"table_18↔teapot_1",
"table_18↔spoon_1",
"table_18↔vase_1",
"stand_12↔clock_2",
"shelves_7↔book_2",
"table_25↔vase_2",
"bed_10↔cushion_2",
"unknown_28↔jug_1",
"bed_10↔plate_1",
"table_18↔cup_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "electric_kettle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "electric_kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the cake pan and backpack from the living room couch to the laundryroom/mudroom washer dryer. Place them next to each other on the washer dryer.
|
[
"121531",
"80338",
"79840",
"79578",
"121220"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔laptop_1",
"table_27↔folder_1",
"table_27↔credit_card_1",
"washer_dryer_13↔cushion_1",
"bed_10↔clock_1",
"stand_12↔box_1",
"couch_17↔cake_pan_1",
"couch_17↔backpack_1",
"washer_dryer_8↔box_2",
"cabinet_30↔stuffed_toy_1",
"couch_17↔bottle_1",
"chair_20↔canister_1",
"cabinet_30↔glass_1",
"table_27↔pencil_case_1",
"table_27↔electric_kettle_1",
"microwave_29↔cup_1",
"stand_12↔glass_2",
"stand_12↔book_1",
"table_18↔teapot_1",
"table_18↔spoon_1",
"table_18↔vase_1",
"stand_12↔clock_2",
"shelves_7↔book_2",
"table_25↔vase_2",
"bed_10↔cushion_2",
"unknown_28↔jug_1",
"bed_10↔plate_1",
"table_18↔cup_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "electric_kettle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "electric_kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
First, move the pencil case and electric kettle from the living room table to the kitchen cabinet. Then place them next to each other on the shelves in bedroom.
|
[
"121531",
"80338",
"79840",
"79578",
"121220"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔laptop_1",
"table_27↔folder_1",
"table_27↔credit_card_1",
"washer_dryer_13↔cushion_1",
"bed_10↔clock_1",
"stand_12↔box_1",
"couch_17↔cake_pan_1",
"couch_17↔backpack_1",
"washer_dryer_8↔box_2",
"cabinet_30↔stuffed_toy_1",
"couch_17↔bottle_1",
"chair_20↔canister_1",
"cabinet_30↔glass_1",
"table_27↔pencil_case_1",
"table_27↔electric_kettle_1",
"microwave_29↔cup_1",
"stand_12↔glass_2",
"stand_12↔book_1",
"table_18↔teapot_1",
"table_18↔spoon_1",
"table_18↔vase_1",
"stand_12↔clock_2",
"shelves_7↔book_2",
"table_25↔vase_2",
"bed_10↔cushion_2",
"unknown_28↔jug_1",
"bed_10↔plate_1",
"table_18↔cup_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "electric_kettle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "electric_kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me prepare a snack. First, bring the teapot, the spoon, and the vase to the dining table. Then, move them to the shelves in the bedroom and place them next to each other.
|
[
"121531",
"80338",
"79840",
"79578",
"121220"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_27↔laptop_1",
"table_27↔folder_1",
"table_27↔credit_card_1",
"washer_dryer_13↔cushion_1",
"bed_10↔clock_1",
"stand_12↔box_1",
"couch_17↔cake_pan_1",
"couch_17↔backpack_1",
"washer_dryer_8↔box_2",
"cabinet_30↔stuffed_toy_1",
"couch_17↔bottle_1",
"chair_20↔canister_1",
"cabinet_30↔glass_1",
"table_27↔pencil_case_1",
"table_27↔electric_kettle_1",
"microwave_29↔cup_1",
"stand_12↔glass_2",
"stand_12↔book_1",
"table_18↔teapot_1",
"table_18↔spoon_1",
"table_18↔vase_1",
"stand_12↔clock_2",
"shelves_7↔book_2",
"table_25↔vase_2",
"bed_10↔cushion_2",
"unknown_28↔jug_1",
"bed_10↔plate_1",
"table_18↔cup_2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "laptop_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "laptop"
},
{
"affordances": [
"pickup",
"release"
],
"id": "folder_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "folder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "credit_card_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "credit_card"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "washer_dryer_13",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cake_pan_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cake_pan"
},
{
"affordances": [
"pickup",
"release"
],
"id": "backpack_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "backpack"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "washer_dryer_8",
"room": "laundryroom_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "canister_1",
"parent": "chair_20",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "canister"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "pencil_case_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "pencil_case"
},
{
"affordances": [
"pickup",
"release"
],
"id": "electric_kettle_1",
"parent": "table_27",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "electric_kettle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "glass_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "glass"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_1",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "teapot_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": false
},
"type": "teapot"
},
{
"affordances": [
"pickup",
"release"
],
"id": "spoon_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "spoon"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_1",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "clock_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": false
},
"type": "clock"
},
{
"affordances": [
"pickup",
"release"
],
"id": "book_2",
"parent": "shelves_7",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "book"
},
{
"affordances": [
"pickup",
"release"
],
"id": "vase_2",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "vase"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "jug_1",
"parent": "unknown_28",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "jug"
},
{
"affordances": [
"pickup",
"release"
],
"id": "plate_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "plate"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_2",
"parent": "table_18",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the book from the shelves in the bedroom to the table in the living room.
|
[
"121531",
"80338",
"79840",
"79578",
"121220"
] | 28 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔candle_1",
"table_16↔candle_holder_1",
"cabinet_30↔cushion_1",
"microwave_29↔shoe_1",
"table_26↔cup_1",
"table_26↔tray_1",
"chest_of_drawers_31↔picture_frame_1",
"bed_21↔box_1",
"bed_10↔toy_bee_1",
"table_25↔toy_construction_set_1",
"cabinet_9↔soap_dispenser_1",
"couch_17↔doll_1",
"couch_17↔stuffed_toy_1",
"stand_12↔cushion_2",
"bed_10↔cushion_3",
"shelves_23↔box_2",
"bed_21↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_holder_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "candle_holder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the candle and candle holder from the living room table to the bedroom bed? Place them next to each other on the bed.
|
[
"79863",
"13071",
"79698",
"80406",
"80162"
] | 17 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔candle_1",
"table_16↔candle_holder_1",
"cabinet_30↔cushion_1",
"microwave_29↔shoe_1",
"table_26↔cup_1",
"table_26↔tray_1",
"chest_of_drawers_31↔picture_frame_1",
"bed_21↔box_1",
"bed_10↔toy_bee_1",
"table_25↔toy_construction_set_1",
"cabinet_9↔soap_dispenser_1",
"couch_17↔doll_1",
"couch_17↔stuffed_toy_1",
"stand_12↔cushion_2",
"bed_10↔cushion_3",
"shelves_23↔box_2",
"bed_21↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_holder_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "candle_holder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Help me move my cup and tray from the bedroom to the living room. Place them on the stand.
|
[
"79863",
"13071",
"79698",
"80406",
"80162"
] | 17 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔candle_1",
"table_16↔candle_holder_1",
"cabinet_30↔cushion_1",
"microwave_29↔shoe_1",
"table_26↔cup_1",
"table_26↔tray_1",
"chest_of_drawers_31↔picture_frame_1",
"bed_21↔box_1",
"bed_10↔toy_bee_1",
"table_25↔toy_construction_set_1",
"cabinet_9↔soap_dispenser_1",
"couch_17↔doll_1",
"couch_17↔stuffed_toy_1",
"stand_12↔cushion_2",
"bed_10↔cushion_3",
"shelves_23↔box_2",
"bed_21↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_holder_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "candle_holder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the toy bee and toy construction set next to the toy construction set that is alone on the table.
|
[
"79863",
"13071",
"79698",
"80406",
"80162"
] | 17 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔candle_1",
"table_16↔candle_holder_1",
"cabinet_30↔cushion_1",
"microwave_29↔shoe_1",
"table_26↔cup_1",
"table_26↔tray_1",
"chest_of_drawers_31↔picture_frame_1",
"bed_21↔box_1",
"bed_10↔toy_bee_1",
"table_25↔toy_construction_set_1",
"cabinet_9↔soap_dispenser_1",
"couch_17↔doll_1",
"couch_17↔stuffed_toy_1",
"stand_12↔cushion_2",
"bed_10↔cushion_3",
"shelves_23↔box_2",
"bed_21↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_holder_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "candle_holder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the tray and mouse pad to the washer dryer in the laundryroom/mudroom. Then, place them next to each other on the shelves in the bedroom. Leave the vase and stuffed toy as they are.
|
[
"79863",
"13071",
"79698",
"80406",
"80162"
] | 17 |
train
|
hssd_104862660_172226844
|
{
"links": [
"hssd↔floor_A",
"floor_A↔bathroom_1",
"bathroom_1↔floor_bathroom_1",
"bathroom_1↔toilet_11",
"bedroom_1↔bed_10",
"bedroom_1↔chest_of_drawers_32",
"bedroom_1↔floor_bedroom_1",
"bedroom_1↔shelves_7",
"bedroom_2↔bed_21",
"bedroom_2↔chair_14",
"bedroom_2↔chest_of_drawers_31",
"bedroom_2↔floor_bedroom_2",
"bedroom_2↔shelves_23",
"bedroom_2↔table_26",
"closet_2↔cabinet_9",
"closet_2↔floor_closet_2",
"hallway_1↔floor_hallway_1",
"kitchen_1↔cabinet_30",
"kitchen_1↔chair_19",
"kitchen_1↔chair_20",
"kitchen_1↔floor_kitchen_1",
"kitchen_1↔fridge_33",
"kitchen_1↔microwave_29",
"kitchen_1↔table_18",
"kitchen_1↔unknown_15",
"kitchen_1↔unknown_28",
"laundryroom_1↔washer_dryer_13",
"laundryroom_1↔washer_dryer_8",
"living_room_1↔chair_24",
"living_room_1↔couch_17",
"living_room_1↔floor_living_room_1",
"living_room_1↔stand_12",
"living_room_1↔stool_22",
"living_room_1↔table_16",
"living_room_1↔table_25",
"living_room_1↔table_27",
"table_16↔candle_1",
"table_16↔candle_holder_1",
"cabinet_30↔cushion_1",
"microwave_29↔shoe_1",
"table_26↔cup_1",
"table_26↔tray_1",
"chest_of_drawers_31↔picture_frame_1",
"bed_21↔box_1",
"bed_10↔toy_bee_1",
"table_25↔toy_construction_set_1",
"cabinet_9↔soap_dispenser_1",
"couch_17↔doll_1",
"couch_17↔stuffed_toy_1",
"stand_12↔cushion_2",
"bed_10↔cushion_3",
"shelves_23↔box_2",
"bed_21↔bottle_1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom_1"
}
],
"asset": [
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bathroom_1",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "toilet_11",
"room": "bathroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_10",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_32",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_1",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_7",
"room": "bedroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "bed_21",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_14",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chest_of_drawers_31",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_bedroom_2",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "shelves_23",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_26",
"room": "bedroom_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_9",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_closet_2",
"room": "closet_2"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_hallway_1",
"room": "hallway_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "cabinet_30",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_19",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_20",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_kitchen_1",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "fridge_33",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "microwave_29",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_18",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_15",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "unknown_28",
"room": "kitchen_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_13",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "washer_dryer_8",
"room": "laundryroom_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "chair_24",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "couch_17",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "floor_living_room_1",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stand_12",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "stool_22",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_16",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_25",
"room": "living_room_1"
},
{
"affordances": [
"place"
],
"attributes": [],
"id": "table_27",
"room": "living_room_1"
}
],
"building": [
{
"id": "hssd"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"id": "candle_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": null,
"is_filled": null,
"is_powered_on": false
},
"type": "candle"
},
{
"affordances": [
"pickup",
"release"
],
"id": "candle_holder_1",
"parent": "table_16",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "candle_holder"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_1",
"parent": "cabinet_30",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "shoe_1",
"parent": "microwave_29",
"room": "kitchen_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "shoe"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cup_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "cup"
},
{
"affordances": [
"pickup",
"release"
],
"id": "tray_1",
"parent": "table_26",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "tray"
},
{
"affordances": [
"pickup",
"release"
],
"id": "picture_frame_1",
"parent": "chest_of_drawers_31",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "picture_frame"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_bee_1",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_bee"
},
{
"affordances": [
"pickup",
"release"
],
"id": "toy_construction_set_1",
"parent": "table_25",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "toy_construction_set"
},
{
"affordances": [
"pickup",
"release"
],
"id": "soap_dispenser_1",
"parent": "cabinet_9",
"room": "closet_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "soap_dispenser"
},
{
"affordances": [
"pickup",
"release"
],
"id": "doll_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "doll"
},
{
"affordances": [
"pickup",
"release"
],
"id": "stuffed_toy_1",
"parent": "couch_17",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "stuffed_toy"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_2",
"parent": "stand_12",
"room": "living_room_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "cushion_3",
"parent": "bed_10",
"room": "bedroom_1",
"states": {
"is_clean": false,
"is_filled": null,
"is_powered_on": null
},
"type": "cushion"
},
{
"affordances": [
"pickup",
"release"
],
"id": "box_2",
"parent": "shelves_23",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "box"
},
{
"affordances": [
"pickup",
"release"
],
"id": "bottle_1",
"parent": "bed_21",
"room": "bedroom_2",
"states": {
"is_clean": false,
"is_filled": false,
"is_powered_on": null
},
"type": "bottle"
}
],
"room": [
{
"id": "bathroom_1"
},
{
"id": "bedroom_1"
},
{
"id": "bedroom_2"
},
{
"id": "closet_1"
},
{
"id": "closet_2"
},
{
"id": "closet_3"
},
{
"id": "hallway_1"
},
{
"id": "kitchen_1"
},
{
"id": "laundryroom_1"
},
{
"id": "living_room_1"
},
{
"id": "unknown_room"
}
]
}
}
|
Move the doll and stuffed toy from the living room couch to the bedroom bed. Place them next to each other on the bed.
|
[
"79863",
"13071",
"79698",
"80406",
"80162"
] | 17 |
train
|
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