id
int64 1
178
| name
stringlengths 10
39
| task
stringlengths 8
300
| init_description
stringlengths 192
1.35k
| important_nodes
listlengths 0
17
| goal_description
stringlengths 191
1.45k
| init_graph
stringlengths 826
6.68k
| goal_graph
stringlengths 825
6.88k
| num_nodes
int64 5
28
| num_important_nodes
int64 0
17
|
|---|---|---|---|---|---|---|---|---|---|
1
|
assembling_gift_baskets-0
|
Place one candle, one butter cookie, one piece of Swiss cheese, and one bow into each of the four wicker baskets, ensuring each basket contains one of each item type.
|
Building has the following places: living_room-1
Agent is located in living_room-1 and holding nothing.
In living_room-1:
Assets: floor-1, table-1, table-2
Objects:
wicker_basket-1 ontop floor-1
wicker_basket-2 ontop floor-1
wicker_basket-3 ontop floor-1
wicker_basket-4 ontop floor-1
candle-1 ontop table-1 in states off
candle-2 ontop table-1 in states off
candle-3 ontop table-1 in states off
candle-4 ontop table-1 in states off
butter_cookie-1 ontop table-1
butter_cookie-2 ontop table-1
butter_cookie-3 ontop table-1
butter_cookie-4 ontop table-1
swiss_cheese-1 ontop table-2
swiss_cheese-2 ontop table-2
swiss_cheese-3 ontop table-2
swiss_cheese-4 ontop table-2
bow-1 ontop table-2
bow-2 ontop table-2
bow-3 ontop table-2
bow-4 ontop table-2
|
[
"candle-4",
"bow-3",
"candle-1",
"butter_cookie-3",
"butter_cookie-4",
"swiss_cheese-2",
"bow-2",
"butter_cookie-2",
"swiss_cheese-1",
"candle-3",
"swiss_cheese-4",
"butter_cookie-1",
"bow-1",
"bow-4",
"candle-2",
"swiss_cheese-3"
] |
Building has the following places: living_room-1
Agent is located in living_room-1 and holding nothing.
In living_room-1:
Assets: floor-1, table-1, table-2
Objects:
wicker_basket-1 ontop floor-1
wicker_basket-2 ontop floor-1
wicker_basket-3 ontop floor-1
wicker_basket-4 ontop floor-1
candle-1 inside wicker_basket-1 in states off
candle-2 inside wicker_basket-2 in states off
candle-3 inside wicker_basket-3 in states off
candle-4 inside wicker_basket-4 in states off
butter_cookie-1 inside wicker_basket-1
butter_cookie-2 inside wicker_basket-2
butter_cookie-3 inside wicker_basket-3
butter_cookie-4 inside wicker_basket-4
swiss_cheese-1 inside wicker_basket-1
swiss_cheese-2 inside wicker_basket-2
swiss_cheese-3 inside wicker_basket-3
swiss_cheese-4 inside wicker_basket-4
bow-1 inside wicker_basket-1
bow-2 inside wicker_basket-2
bow-3 inside wicker_basket-3
bow-4 inside wicker_basket-4
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "assembling_gift_baskets-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('wicker_basket', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('wicker_basket', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('wicker_basket', 3)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('wicker_basket', 4)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candle', 1)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candle', 2)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candle', 3)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candle', 4)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter_cookie', 1)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter_cookie', 2)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter_cookie', 3)"}, {"relation": "ontop_of", "related_to": ["table", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter_cookie', 4)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('swiss_cheese', 1)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('swiss_cheese', 2)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('swiss_cheese', 3)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('swiss_cheese', 4)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bow', 1)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bow', 2)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bow', 3)"}, {"relation": "ontop_of", "related_to": ["table", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bow', 4)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('table', 1)"}, {"source": "('living_room', 1)", "target": "('table', 2)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('wicker_basket', 1)"}, {"source": "('floor', 1)", "target": "('wicker_basket', 2)"}, {"source": "('floor', 1)", "target": "('wicker_basket', 3)"}, {"source": "('floor', 1)", "target": "('wicker_basket', 4)"}, {"source": "('table', 1)", "target": "('candle', 1)"}, {"source": "('table', 1)", "target": "('candle', 2)"}, {"source": "('table', 1)", "target": "('candle', 3)"}, {"source": "('table', 1)", "target": "('candle', 4)"}, {"source": "('table', 1)", "target": "('butter_cookie', 1)"}, {"source": "('table', 1)", "target": "('butter_cookie', 2)"}, {"source": "('table', 1)", "target": "('butter_cookie', 3)"}, {"source": "('table', 1)", "target": "('butter_cookie', 4)"}, {"source": "('table', 2)", "target": "('swiss_cheese', 1)"}, {"source": "('table', 2)", "target": "('swiss_cheese', 2)"}, {"source": "('table', 2)", "target": "('swiss_cheese', 3)"}, {"source": "('table', 2)", "target": "('swiss_cheese', 4)"}, {"source": "('table', 2)", "target": "('bow', 1)"}, {"source": "('table', 2)", "target": "('bow', 2)"}, {"source": "('table', 2)", "target": "('bow', 3)"}, {"source": "('table', 2)", "target": "('bow', 4)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "assembling_gift_baskets-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('table', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('wicker_basket', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('wicker_basket', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('wicker_basket', 3)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('wicker_basket', 4)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candle', 1)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 2], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candle', 2)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 3], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candle', 3)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 4], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candle', 4)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter_cookie', 1)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter_cookie', 2)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 3], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter_cookie', 3)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 4], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('butter_cookie', 4)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('swiss_cheese', 1)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('swiss_cheese', 2)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 3], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('swiss_cheese', 3)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 4], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('swiss_cheese', 4)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bow', 1)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bow', 2)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 3], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bow', 3)"}, {"relation": "inside_of", "related_to": ["wicker_basket", 4], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bow', 4)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('table', 1)"}, {"source": "('living_room', 1)", "target": "('table', 2)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('wicker_basket', 1)"}, {"source": "('floor', 1)", "target": "('wicker_basket', 2)"}, {"source": "('floor', 1)", "target": "('wicker_basket', 3)"}, {"source": "('floor', 1)", "target": "('wicker_basket', 4)"}, {"source": "('wicker_basket', 1)", "target": "('candle', 1)"}, {"source": "('wicker_basket', 1)", "target": "('butter_cookie', 1)"}, {"source": "('wicker_basket', 1)", "target": "('swiss_cheese', 1)"}, {"source": "('wicker_basket', 1)", "target": "('bow', 1)"}, {"source": "('wicker_basket', 2)", "target": "('candle', 2)"}, {"source": "('wicker_basket', 2)", "target": "('butter_cookie', 2)"}, {"source": "('wicker_basket', 2)", "target": "('swiss_cheese', 2)"}, {"source": "('wicker_basket', 2)", "target": "('bow', 2)"}, {"source": "('wicker_basket', 3)", "target": "('candle', 3)"}, {"source": "('wicker_basket', 3)", "target": "('butter_cookie', 3)"}, {"source": "('wicker_basket', 3)", "target": "('swiss_cheese', 3)"}, {"source": "('wicker_basket', 3)", "target": "('bow', 3)"}, {"source": "('wicker_basket', 4)", "target": "('candle', 4)"}, {"source": "('wicker_basket', 4)", "target": "('butter_cookie', 4)"}, {"source": "('wicker_basket', 4)", "target": "('swiss_cheese', 4)"}, {"source": "('wicker_basket', 4)", "target": "('bow', 4)"}]}
| 26
| 16
|
2
|
attach_a_camera_to_a_tripod-0
|
Put camera on tripod.
|
Building has the following places: bedroom-1
Agent is located in bedroom-1 and holding nothing.
In bedroom-1:
Assets: floor-1
Objects:
digital_camera-1 ontop floor-1 in states off
camera_tripod-1 ontop floor-1
|
[
"digital_camera-1"
] |
Building has the following places: bedroom-1
Agent is located in bedroom-1 and holding nothing.
In bedroom-1:
Assets: floor-1
Objects:
digital_camera-1 ontop camera_tripod-1 in states off
camera_tripod-1 ontop floor-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "attach_a_camera_to_a_tripod-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('bedroom', 1)"}, {"place": ["bedroom", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('digital_camera', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('camera_tripod', 1)"}, {"location": ["bedroom", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('bedroom', 1)"}, {"source": "('bedroom', 1)", "target": "('floor', 1)"}, {"source": "('bedroom', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('digital_camera', 1)"}, {"source": "('floor', 1)", "target": "('camera_tripod', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "attach_a_camera_to_a_tripod-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('bedroom', 1)"}, {"place": ["bedroom", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["camera_tripod", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('digital_camera', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('camera_tripod', 1)"}, {"location": ["bedroom", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('bedroom', 1)"}, {"source": "('bedroom', 1)", "target": "('floor', 1)"}, {"source": "('bedroom', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('camera_tripod', 1)"}, {"source": "('digital_camera', 1)", "target": "('camera_tripod', 1)"}]}
| 6
| 1
|
3
|
bag_groceries-0
|
Put the apple and egg in the first sack. Then, place the food and bottle in the second sack.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, floor-1
Objects:
sack-1 ontop checkout-1
sack-2 ontop checkout-1
canned_food-1 ontop checkout-1 in states closed
egg-1 ontop checkout-1
apple-1 ontop checkout-1
bottle__of__orange_juice-1 ontop checkout-1 in states closed
|
[
"bottle__of__orange_juice-1",
"canned_food-1",
"apple-1",
"egg-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, floor-1
Objects:
sack-1 ontop checkout-1
sack-2 ontop checkout-1
canned_food-1 inside sack-2 in states closed
egg-1 inside sack-1
apple-1 inside sack-1
bottle__of__orange_juice-1 inside sack-2 in states closed
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bag_groceries-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 2)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('canned_food', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__orange_juice', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 2)"}, {"source": "('checkout', 1)", "target": "('canned_food', 1)"}, {"source": "('checkout', 1)", "target": "('egg', 1)"}, {"source": "('checkout', 1)", "target": "('apple', 1)"}, {"source": "('checkout', 1)", "target": "('bottle__of__orange_juice', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bag_groceries-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 2)"}, {"relation": "inside_of", "related_to": ["sack", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('canned_food', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('apple', 1)"}, {"relation": "inside_of", "related_to": ["sack", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__orange_juice', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 2)"}, {"source": "('sack', 1)", "target": "('egg', 1)"}, {"source": "('sack', 1)", "target": "('apple', 1)"}, {"source": "('sack', 2)", "target": "('canned_food', 1)"}, {"source": "('sack', 2)", "target": "('bottle__of__orange_juice', 1)"}]}
| 11
| 4
|
4
|
boxing_books_up_for_storage-0
|
Pack all books.
|
Building has the following places: living_room-1
Agent is located in living_room-1 and holding nothing.
In living_room-1:
Assets: floor-1, shelf-1
Objects:
book-1 ontop floor-1 in states closed
book-2 ontop floor-1 in states closed
book-3 ontop floor-1 in states closed
book-4 ontop floor-1 in states closed
book-5 ontop floor-1 in states closed
book-6 ontop shelf-1 in states closed
book-7 ontop shelf-1 in states closed
carton-1 ontop floor-1 in states open
|
[
"book-7",
"book-3",
"book-6",
"book-2",
"book-5",
"book-1",
"book-4"
] |
Building has the following places: living_room-1
Agent is located in living_room-1 and holding nothing.
In living_room-1:
Assets: floor-1, shelf-1
Objects:
book-1 inside carton-1 in states closed
book-2 inside carton-1 in states closed
book-3 inside carton-1 in states closed
book-4 inside carton-1 in states closed
book-5 inside carton-1 in states closed
book-6 inside carton-1 in states closed
book-7 inside carton-1 in states closed
carton-1 ontop floor-1 in states open
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "boxing_books_up_for_storage-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 3)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 4)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 5)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 6)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('book', 7)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["open"], "affordances": ["put_inside"], "properties": [], "type": "object", "id": "('carton', 1)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('shelf', 1)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('book', 1)"}, {"source": "('floor', 1)", "target": "('book', 2)"}, {"source": "('floor', 1)", "target": "('book', 3)"}, {"source": "('floor', 1)", "target": "('book', 4)"}, {"source": "('floor', 1)", "target": "('book', 5)"}, {"source": "('floor', 1)", "target": "('carton', 1)"}, {"source": "('shelf', 1)", "target": "('book', 6)"}, {"source": "('shelf', 1)", "target": "('book', 7)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "boxing_books_up_for_storage-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"relation": "inside_of", "related_to": ["carton", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 1)"}, {"relation": "inside_of", "related_to": ["carton", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 2)"}, {"relation": "inside_of", "related_to": ["carton", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 3)"}, {"relation": "inside_of", "related_to": ["carton", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 4)"}, {"relation": "inside_of", "related_to": ["carton", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 5)"}, {"relation": "inside_of", "related_to": ["carton", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('book', 6)"}, {"relation": "inside_of", "related_to": ["carton", 1], "states": ["closed"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('book', 7)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["open"], "affordances": ["put_inside"], "properties": [], "type": "object", "id": "('carton', 1)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('shelf', 1)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('carton', 1)"}, {"source": "('book', 1)", "target": "('carton', 1)"}, {"source": "('book', 2)", "target": "('carton', 1)"}, {"source": "('book', 3)", "target": "('carton', 1)"}, {"source": "('book', 4)", "target": "('carton', 1)"}, {"source": "('book', 5)", "target": "('carton', 1)"}, {"source": "('book', 6)", "target": "('carton', 1)"}, {"source": "('book', 7)", "target": "('carton', 1)"}]}
| 13
| 7
|
5
|
bringing_glass_to_recycling-0
|
Trow glass into recycling bin.
|
Building has the following places: kitchen-1, garden-1
Agent is located in kitchen-1 and holding nothing.
In kitchen-1:
Assets: floor-1
Objects:
water_glass-1 ontop floor-1
In garden-1:
Assets: floor-2, recycling_bin-1 in states closed
|
[
"water_glass-1"
] |
Building has the following places: kitchen-1, garden-1
Agent is located in kitchen-1 and holding nothing.
In kitchen-1:
Assets: floor-1
In garden-1:
Assets: floor-2, recycling_bin-1 in states closed
Objects:
water_glass-1 inside recycling_bin-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_glass_to_recycling-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('kitchen', 1)"}, {"place": ["kitchen", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"type": "place", "id": "('garden', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('water_glass', 1)"}, {"place": ["garden", 1], "states": ["closed"], "affordances": ["put_inside", "open", "close"], "properties": [], "type": "asset", "id": "('recycling_bin', 1)"}, {"location": ["kitchen", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('kitchen', 1)"}, {"source": "('scene', 1)", "target": "('garden', 1)"}, {"source": "('kitchen', 1)", "target": "('floor', 1)"}, {"source": "('kitchen', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('water_glass', 1)"}, {"source": "('garden', 1)", "target": "('floor', 2)"}, {"source": "('garden', 1)", "target": "('recycling_bin', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_glass_to_recycling-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('kitchen', 1)"}, {"place": ["kitchen", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"type": "place", "id": "('garden', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 2)"}, {"relation": "inside_of", "related_to": ["recycling_bin", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('water_glass', 1)"}, {"place": ["garden", 1], "states": ["closed"], "affordances": ["put_inside", "open", "close"], "properties": [], "type": "asset", "id": "('recycling_bin', 1)"}, {"location": ["kitchen", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('kitchen', 1)"}, {"source": "('scene', 1)", "target": "('garden', 1)"}, {"source": "('kitchen', 1)", "target": "('floor', 1)"}, {"source": "('kitchen', 1)", "target": "('agent', 1)"}, {"source": "('garden', 1)", "target": "('floor', 2)"}, {"source": "('garden', 1)", "target": "('recycling_bin', 1)"}, {"source": "('water_glass', 1)", "target": "('recycling_bin', 1)"}]}
| 8
| 1
|
6
|
bringing_in_mail-0
|
Your goal is to retrieve the mail from the mailbox in the garden and place it on the coffee table in the living room. Dont forget close mailbox.
|
Building has the following places: living_room-1, garden-1
Agent is located in living_room-1 and holding nothing.
In living_room-1:
Assets: coffee_table-1, floor-1
In garden-1:
Assets: lawn-1, mailbox-1 in states closed
Objects:
mail-1 inside mailbox-1 in states closed
|
[
"mail-1"
] |
Building has the following places: living_room-1, garden-1
Agent is located in living_room-1 and holding nothing.
In living_room-1:
Assets: coffee_table-1, floor-1
Objects:
mail-1 ontop coffee_table-1 in states closed
In garden-1:
Assets: lawn-1, mailbox-1 in states closed
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_in_mail-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('coffee_table', 1)"}, {"type": "place", "id": "('garden', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('lawn', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["garden", 1], "states": ["closed"], "affordances": ["put_inside", "open", "close"], "properties": [], "type": "asset", "id": "('mailbox', 1)"}, {"relation": "inside_of", "related_to": ["mailbox", 1], "states": ["closed"], "affordances": ["pick_up", "put_on", "open", "close"], "properties": [], "type": "object", "id": "('mail', 1)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('scene', 1)", "target": "('garden', 1)"}, {"source": "('living_room', 1)", "target": "('coffee_table', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('garden', 1)", "target": "('lawn', 1)"}, {"source": "('garden', 1)", "target": "('mailbox', 1)"}, {"source": "('mailbox', 1)", "target": "('mail', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_in_mail-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('coffee_table', 1)"}, {"type": "place", "id": "('garden', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('lawn', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["garden", 1], "states": ["closed"], "affordances": ["put_inside", "open", "close"], "properties": [], "type": "asset", "id": "('mailbox', 1)"}, {"relation": "ontop_of", "related_to": ["coffee_table", 1], "states": ["closed"], "affordances": ["pick_up", "put_on", "open", "close"], "properties": [], "type": "object", "id": "('mail', 1)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('scene', 1)", "target": "('garden', 1)"}, {"source": "('living_room', 1)", "target": "('coffee_table', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('coffee_table', 1)", "target": "('mail', 1)"}, {"source": "('garden', 1)", "target": "('lawn', 1)"}, {"source": "('garden', 1)", "target": "('mailbox', 1)"}]}
| 9
| 1
|
7
|
bringing_in_wood-0
|
Bring plywood on floor in the kitchen.
|
Building has the following places: living_room-1, kitchen-1
Agent is located in living_room-1 and holding nothing.
In living_room-1:
Assets: floor-1
Objects:
plywood-1 ontop floor-1
plywood-2 ontop floor-1
plywood-3 ontop floor-1
In kitchen-1:
Assets: floor-2
|
[
"plywood-1",
"plywood-2",
"plywood-3"
] |
Building has the following places: living_room-1, kitchen-1
Agent is located in living_room-1 and holding nothing.
In living_room-1:
Assets: floor-1
In kitchen-1:
Assets: floor-2
Objects:
plywood-1 ontop floor-2
plywood-2 ontop floor-2
plywood-3 ontop floor-2
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_in_wood-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"type": "place", "id": "('kitchen', 1)"}, {"place": ["kitchen", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('plywood', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('plywood', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('plywood', 3)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('scene', 1)", "target": "('kitchen', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('plywood', 1)"}, {"source": "('floor', 1)", "target": "('plywood', 2)"}, {"source": "('floor', 1)", "target": "('plywood', 3)"}, {"source": "('kitchen', 1)", "target": "('floor', 2)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_in_wood-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"type": "place", "id": "('kitchen', 1)"}, {"place": ["kitchen", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 2], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('plywood', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 2], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('plywood', 2)"}, {"relation": "ontop_of", "related_to": ["floor", 2], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('plywood', 3)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('scene', 1)", "target": "('kitchen', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('kitchen', 1)", "target": "('floor', 2)"}, {"source": "('floor', 2)", "target": "('plywood', 1)"}, {"source": "('floor', 2)", "target": "('plywood', 2)"}, {"source": "('floor', 2)", "target": "('plywood', 3)"}]}
| 9
| 3
|
8
|
bringing_newspaper_in-0
|
Bring newspaper from the driveway.Put it on coffee table.
|
Building has the following places: garden-1, living_room-1
Agent is located in living_room-1 and holding nothing.
In garden-1:
Assets: driveway-1
Objects:
newspaper-1 ontop driveway-1 in states closed
In living_room-1:
Assets: coffee_table-1, floor-1
|
[
"newspaper-1"
] |
Building has the following places: garden-1, living_room-1
Agent is located in living_room-1 and holding nothing.
In garden-1:
Assets: driveway-1
In living_room-1:
Assets: coffee_table-1, floor-1
Objects:
newspaper-1 ontop coffee_table-1 in states closed
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_newspaper_in-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('garden', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('driveway', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('coffee_table', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["driveway", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('newspaper', 1)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('garden', 1)"}, {"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('garden', 1)", "target": "('driveway', 1)"}, {"source": "('driveway', 1)", "target": "('newspaper', 1)"}, {"source": "('living_room', 1)", "target": "('coffee_table', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_newspaper_in-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('garden', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('driveway', 1)"}, {"type": "place", "id": "('living_room', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('coffee_table', 1)"}, {"place": ["living_room", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["coffee_table", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('newspaper', 1)"}, {"location": ["living_room", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('garden', 1)"}, {"source": "('scene', 1)", "target": "('living_room', 1)"}, {"source": "('garden', 1)", "target": "('driveway', 1)"}, {"source": "('living_room', 1)", "target": "('coffee_table', 1)"}, {"source": "('living_room', 1)", "target": "('floor', 1)"}, {"source": "('living_room', 1)", "target": "('agent', 1)"}, {"source": "('coffee_table', 1)", "target": "('newspaper', 1)"}]}
| 8
| 1
|
9
|
bringing_water-0
|
Move glasses from the garden into kitchen cabinet. Close cabinet.
|
Building has the following places: garden-1, kitchen-1
Agent is located in garden-1 and holding nothing.
In garden-1:
Assets: floor-2, lawn-1
Objects:
water_bottle-1 ontop floor-2 in states closed
water_bottle-2 ontop floor-2 in states closed
In kitchen-1:
Assets: cabinet-1 in states closed, floor-1
|
[
"water_bottle-2",
"water_bottle-1"
] |
Building has the following places: garden-1, kitchen-1
Agent is located in garden-1 and holding nothing.
In garden-1:
Assets: floor-2, lawn-1
In kitchen-1:
Assets: cabinet-1 in states closed, floor-1
Objects:
water_bottle-1 inside cabinet-1 in states closed
water_bottle-2 inside cabinet-1 in states closed
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_water-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('garden', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 2)"}, {"type": "place", "id": "('kitchen', 1)"}, {"place": ["kitchen", 1], "states": ["closed"], "affordances": ["put_on", "put_inside", "open", "close"], "properties": [], "type": "asset", "id": "('cabinet', 1)"}, {"place": ["kitchen", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('lawn', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('water_bottle', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('water_bottle', 2)"}, {"location": ["garden", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('garden', 1)"}, {"source": "('scene', 1)", "target": "('kitchen', 1)"}, {"source": "('garden', 1)", "target": "('floor', 2)"}, {"source": "('garden', 1)", "target": "('lawn', 1)"}, {"source": "('garden', 1)", "target": "('agent', 1)"}, {"source": "('floor', 2)", "target": "('water_bottle', 1)"}, {"source": "('floor', 2)", "target": "('water_bottle', 2)"}, {"source": "('kitchen', 1)", "target": "('cabinet', 1)"}, {"source": "('kitchen', 1)", "target": "('floor', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "bringing_water-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('garden', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 2)"}, {"type": "place", "id": "('kitchen', 1)"}, {"place": ["kitchen", 1], "states": ["closed"], "affordances": ["put_on", "put_inside", "open", "close"], "properties": [], "type": "asset", "id": "('cabinet', 1)"}, {"place": ["kitchen", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["garden", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('lawn', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('water_bottle', 1)"}, {"relation": "inside_of", "related_to": ["cabinet", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('water_bottle', 2)"}, {"location": ["garden", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('garden', 1)"}, {"source": "('scene', 1)", "target": "('kitchen', 1)"}, {"source": "('garden', 1)", "target": "('floor', 2)"}, {"source": "('garden', 1)", "target": "('lawn', 1)"}, {"source": "('garden', 1)", "target": "('agent', 1)"}, {"source": "('kitchen', 1)", "target": "('cabinet', 1)"}, {"source": "('kitchen', 1)", "target": "('floor', 1)"}, {"source": "('cabinet', 1)", "target": "('water_bottle', 1)"}, {"source": "('cabinet', 1)", "target": "('water_bottle', 2)"}]}
| 10
| 2
|
10
|
buy_a_air_conditioner-0
|
Bring conditioner and money to the checkout.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1, shopping_cart-1, floor-1
Objects:
money-1 inside shopping_cart-1
air_conditioner-1 ontop floor-1
|
[
"money-1",
"air_conditioner-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1, shopping_cart-1, floor-1
Objects:
money-1 ontop checkout-1
air_conditioner-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_a_air_conditioner-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('air_conditioner', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('floor', 1)", "target": "('air_conditioner', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_a_air_conditioner-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('air_conditioner', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}, {"source": "('checkout', 1)", "target": "('air_conditioner', 1)"}]}
| 8
| 2
|
11
|
buy_a_belt-0
|
Place the belt and the money on the checkout to purchase the belt.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1, floor-1
Objects:
shopping_basket-1 ontop checkout-1
belt-1 inside shopping_basket-1
money-1 inside shopping_basket-1
|
[
"money-1",
"belt-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1, floor-1
Objects:
shopping_basket-1 ontop checkout-1
belt-1 ontop checkout-1
money-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_a_belt-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('shopping_basket', 1)"}, {"relation": "inside_of", "related_to": ["shopping_basket", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('belt', 1)"}, {"relation": "inside_of", "related_to": ["shopping_basket", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('shopping_basket', 1)"}, {"source": "('shopping_basket', 1)", "target": "('belt', 1)"}, {"source": "('shopping_basket', 1)", "target": "('money', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_a_belt-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('shopping_basket', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('belt', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('shopping_basket', 1)"}, {"source": "('checkout', 1)", "target": "('belt', 1)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}]}
| 8
| 2
|
12
|
buy_a_good_avocado-0
|
Take the avocado and the money out of the shopping cart, then place them on the checkout counter.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shopping_cart-1, floor-1
Objects:
avocado-1 inside shopping_cart-1 in states closed
money-1 inside shopping_cart-1
|
[
"money-1",
"avocado-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shopping_cart-1, floor-1
Objects:
avocado-1 ontop checkout-1 in states closed
money-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_a_good_avocado-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('avocado', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shopping_cart', 1)", "target": "('avocado', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_a_good_avocado-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('avocado', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('avocado', 1)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}]}
| 8
| 2
|
13
|
buy_a_keg-0
|
Place the beer and the credit card on the checkout counter.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shopping_cart-1, floor-1
Objects:
beer_barrel-1 inside shopping_cart-1 in states closed
credit_card-1 inside shopping_cart-1
|
[
"beer_barrel-1",
"credit_card-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shopping_cart-1, floor-1
Objects:
beer_barrel-1 ontop checkout-1 in states closed
credit_card-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_a_keg-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": ["closed"], "affordances": ["pick_up", "put_on", "open", "close"], "properties": [], "type": "object", "id": "('beer_barrel', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('credit_card', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shopping_cart', 1)", "target": "('beer_barrel', 1)"}, {"source": "('shopping_cart', 1)", "target": "('credit_card', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_a_keg-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "put_on", "open", "close"], "properties": [], "type": "object", "id": "('beer_barrel', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('credit_card', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('beer_barrel', 1)"}, {"source": "('checkout', 1)", "target": "('credit_card', 1)"}]}
| 8
| 2
|
14
|
buy_alcohol-0
|
Bring all alcohol drinks and money to checkout.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1, shelf-1, shopping_cart-1, floor-1
Objects:
bottle__of__beer-1 inside shelf-1 in states closed
bottle__of__wine-1 inside shelf-1 in states closed
bottle__of__vodka-1 ontop shelf-1 in states closed
money-1 inside shopping_cart-1
|
[
"bottle__of__beer-1",
"money-1",
"bottle__of__vodka-1",
"bottle__of__wine-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1, shelf-1, shopping_cart-1, floor-1
Objects:
bottle__of__beer-1 ontop checkout-1 in states closed
bottle__of__wine-1 ontop checkout-1 in states closed
bottle__of__vodka-1 ontop checkout-1 in states closed
money-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_alcohol-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottle__of__beer', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottle__of__wine', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottle__of__vodka', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('bottle__of__beer', 1)"}, {"source": "('shelf', 1)", "target": "('bottle__of__wine', 1)"}, {"source": "('shelf', 1)", "target": "('bottle__of__vodka', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_alcohol-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottle__of__beer', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottle__of__wine', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('bottle__of__vodka', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('bottle__of__beer', 1)"}, {"source": "('checkout', 1)", "target": "('bottle__of__wine', 1)"}, {"source": "('checkout', 1)", "target": "('bottle__of__vodka', 1)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}]}
| 11
| 4
|
15
|
buy_basic_garden_tools-0
|
Take the money out of the backpack and place it on the checkout. Move both the shovel and rake from the shelf to the checkout.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shelf-1, floor-1
Objects:
shovel-1 ontop shelf-1
rake-1 ontop shelf-1
money-1 inside backpack-1
backpack-1 ontop floor-1 in states closed
|
[
"rake-1",
"shovel-1",
"money-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shelf-1, floor-1
Objects:
shovel-1 ontop checkout-1
rake-1 ontop checkout-1
money-1 ontop checkout-1
backpack-1 ontop floor-1 in states closed
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_basic_garden_tools-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('shovel', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('rake', 1)"}, {"relation": "inside_of", "related_to": ["backpack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('backpack', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('shovel', 1)"}, {"source": "('shelf', 1)", "target": "('rake', 1)"}, {"source": "('floor', 1)", "target": "('backpack', 1)"}, {"source": "('money', 1)", "target": "('backpack', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_basic_garden_tools-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('shovel', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('rake', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('backpack', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('shovel', 1)"}, {"source": "('checkout', 1)", "target": "('rake', 1)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}, {"source": "('floor', 1)", "target": "('backpack', 1)"}]}
| 10
| 3
|
16
|
buy_boxes_for_packing-0
|
Place the cartons on the checkout counter. Ensure the money is also placed on the checkout to make the payment.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shopping_cart-1, floor-1
Objects:
carton-1 ontop floor-1 in states closed
carton-2 ontop floor-1 in states closed
money-1 inside shopping_cart-1
|
[
"money-1",
"carton-1",
"carton-2"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shopping_cart-1, floor-1
Objects:
carton-1 ontop checkout-1 in states closed
carton-2 ontop checkout-1 in states closed
money-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_boxes_for_packing-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('carton', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('carton', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('floor', 1)", "target": "('carton', 1)"}, {"source": "('floor', 1)", "target": "('carton', 2)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_boxes_for_packing-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('carton', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('carton', 2)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('carton', 1)"}, {"source": "('checkout', 1)", "target": "('carton', 2)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}]}
| 9
| 3
|
17
|
buy_candle_making_supplies-0
|
Your goal is to take the paraffin and both candlesticks from the shelf and place them at the checkout. Don't forget to move the money from the shopping cart to the checkout as well.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shopping_cart-1, shelf-1, floor-1
Objects:
paraffin-1 ontop shelf-1
candlestick-1 ontop shelf-1 in states off
candlestick-2 inside shelf-1 in states off
money-1 inside shopping_cart-1
|
[
"candlestick-2",
"money-1",
"candlestick-1",
"paraffin-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shopping_cart-1, shelf-1, floor-1
Objects:
paraffin-1 ontop checkout-1
candlestick-1 ontop checkout-1 in states off
candlestick-2 ontop checkout-1 in states off
money-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_candle_making_supplies-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('paraffin', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candlestick', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candlestick', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('shelf', 1)", "target": "('paraffin', 1)"}, {"source": "('shelf', 1)", "target": "('candlestick', 1)"}, {"source": "('shelf', 1)", "target": "('candlestick', 2)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_candle_making_supplies-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('paraffin', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candlestick', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('candlestick', 2)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('paraffin', 1)"}, {"source": "('checkout', 1)", "target": "('candlestick', 1)"}, {"source": "('checkout', 1)", "target": "('candlestick', 2)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}]}
| 11
| 4
|
18
|
buy_dog_food-0
|
At the checkout, put the can of dog food and the money on the counter to complete the purchase.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shelf-1, shopping_cart-1, floor-1
Objects:
can__of__dog_food-1 inside shelf-1 in states closed
money-1 inside shopping_cart-1
|
[
"money-1",
"can__of__dog_food-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: checkout-1 in states closed, shelf-1, shopping_cart-1, floor-1
Objects:
can__of__dog_food-1 ontop checkout-1 in states closed
money-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_dog_food-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('can__of__dog_food', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('can__of__dog_food', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_dog_food-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('can__of__dog_food', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('can__of__dog_food', 1)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}]}
| 9
| 2
|
19
|
buy_eggs-0
|
Bring tray with eggs to the counter. Place money on the counter.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: shelf-1, checkout-1 in states closed, shopping_cart-1, floor-1
Objects:
egg-1 ontop tray-1
egg-2 ontop tray-1
egg-3 ontop tray-1
egg-4 ontop tray-1
egg-5 ontop tray-1
egg-6 ontop tray-1
tray-1 inside shelf-1
money-1 inside shopping_cart-1
|
[
"money-1",
"tray-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: shelf-1, checkout-1 in states closed, shopping_cart-1, floor-1
Objects:
egg-1 ontop tray-1
egg-2 ontop tray-1
egg-3 ontop tray-1
egg-4 ontop tray-1
egg-5 ontop tray-1
egg-6 ontop tray-1
tray-1 ontop checkout-1
money-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_eggs-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 1)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 2)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 3)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 4)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 5)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 6)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('tray', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('tray', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('egg', 1)", "target": "('tray', 1)"}, {"source": "('egg', 2)", "target": "('tray', 1)"}, {"source": "('egg', 3)", "target": "('tray', 1)"}, {"source": "('egg', 4)", "target": "('tray', 1)"}, {"source": "('egg', 5)", "target": "('tray', 1)"}, {"source": "('egg', 6)", "target": "('tray', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_eggs-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 1)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 2)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 3)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 4)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 5)"}, {"relation": "ontop_of", "related_to": ["tray", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('egg', 6)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('tray', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('tray', 1)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}, {"source": "('egg', 1)", "target": "('tray', 1)"}, {"source": "('egg', 2)", "target": "('tray', 1)"}, {"source": "('egg', 3)", "target": "('tray', 1)"}, {"source": "('egg', 4)", "target": "('tray', 1)"}, {"source": "('egg', 5)", "target": "('tray', 1)"}, {"source": "('egg', 6)", "target": "('tray', 1)"}]}
| 15
| 2
|
20
|
buy_food_for_a_party-0
|
Bring products on checkout. Put money into cash register and close it.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, checkout-1 in states closed, shelf-1, shelf-2, shelf-3, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
chocolate_cake-1 inside shelf-1
carton__of__milk-1 inside shelf-2
bottle__of__apple_juice-1 inside shelf-2 in states closed
pack__of__pasta-1 inside shelf-3 in states closed
pack__of__pasta-2 inside shelf-3 in states closed
money-1 inside shopping_cart-1
money-2 inside shopping_cart-1
money-3 inside shopping_cart-1
money-4 inside shopping_cart-1
money-5 inside shopping_cart-1
|
[
"chocolate_cake-1",
"money-1",
"pack__of__pasta-1",
"money-4",
"money-3",
"money-5",
"bottle__of__apple_juice-1",
"pack__of__pasta-2",
"carton__of__milk-1",
"money-2"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, checkout-1 in states closed, shelf-1, shelf-2, shelf-3, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
chocolate_cake-1 ontop checkout-1
carton__of__milk-1 ontop checkout-1
bottle__of__apple_juice-1 ontop checkout-1 in states closed
pack__of__pasta-1 ontop checkout-1 in states closed
pack__of__pasta-2 ontop checkout-1 in states closed
money-1 inside cash_register-1
money-2 inside cash_register-1
money-3 inside cash_register-1
money-4 inside cash_register-1
money-5 inside cash_register-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_food_for_a_party-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 3)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('chocolate_cake', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('carton__of__milk', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__apple_juice', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 3], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('pack__of__pasta', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 3], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('pack__of__pasta', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 4)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 5)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 3)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('shelf', 1)", "target": "('chocolate_cake', 1)"}, {"source": "('shelf', 2)", "target": "('carton__of__milk', 1)"}, {"source": "('shelf', 2)", "target": "('bottle__of__apple_juice', 1)"}, {"source": "('shelf', 3)", "target": "('pack__of__pasta', 1)"}, {"source": "('shelf', 3)", "target": "('pack__of__pasta', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 3)"}, {"source": "('shopping_cart', 1)", "target": "('money', 4)"}, {"source": "('shopping_cart', 1)", "target": "('money', 5)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_food_for_a_party-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 3)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_on"], "properties": [], "type": "object", "id": "('chocolate_cake', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('carton__of__milk', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__apple_juice', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('pack__of__pasta', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('pack__of__pasta', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 4)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 5)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 3)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('chocolate_cake', 1)"}, {"source": "('checkout', 1)", "target": "('carton__of__milk', 1)"}, {"source": "('checkout', 1)", "target": "('bottle__of__apple_juice', 1)"}, {"source": "('checkout', 1)", "target": "('pack__of__pasta', 1)"}, {"source": "('checkout', 1)", "target": "('pack__of__pasta', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 3)"}, {"source": "('cash_register', 1)", "target": "('money', 4)"}, {"source": "('cash_register', 1)", "target": "('money', 5)"}]}
| 20
| 10
|
21
|
buy_good_chocolate-0
|
Put chocolates in sack. Put all money into cash register and close it.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, shopping_cart-1, checkout-1 in states closed
Objects:
cash_register-1 ontop checkout-1 in states closed
box__of__chocolates-1 inside shelf-1
bottle__of__cocoa-1 inside shelf-2 in states closed
money-1 inside shopping_cart-1
money-2 inside shopping_cart-1
money-3 inside shopping_cart-1
sack-1 ontop checkout-1
|
[
"money-1",
"bottle__of__cocoa-1",
"money-3",
"box__of__chocolates-1",
"money-2"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, shopping_cart-1, checkout-1 in states closed
Objects:
cash_register-1 ontop checkout-1 in states closed
box__of__chocolates-1 inside sack-1
bottle__of__cocoa-1 inside sack-1 in states closed
money-1 inside cash_register-1
money-2 inside cash_register-1
money-3 inside cash_register-1
sack-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_good_chocolate-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('box__of__chocolates', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__cocoa', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('box__of__chocolates', 1)"}, {"source": "('shelf', 2)", "target": "('bottle__of__cocoa', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 3)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_good_chocolate-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('box__of__chocolates', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__cocoa', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 3)"}, {"source": "('box__of__chocolates', 1)", "target": "('sack', 1)"}, {"source": "('bottle__of__cocoa', 1)", "target": "('sack', 1)"}]}
| 15
| 5
|
22
|
buy_pet_food_for_less-0
|
Bring all canned food onto the checkout counter. Then, pick up the money from your shopping cart and transfer it into cash register to pay for the items.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, shopping_cart-1, checkout-1 in states closed
Objects:
cash_register-1 ontop checkout-1 in states closed
can__of__dog_food-1 ontop shelf-1 in states closed
can__of__dog_food-2 ontop shelf-1 in states closed
money-1 inside shopping_cart-1
money-2 inside shopping_cart-1
money-3 inside shopping_cart-1
canned_food-1 ontop shelf-2 in states closed
canned_food-2 ontop shelf-2 in states closed
|
[
"canned_food-1",
"money-1",
"money-3",
"can__of__dog_food-2",
"can__of__dog_food-1",
"canned_food-2",
"money-2"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, shopping_cart-1, checkout-1 in states closed
Objects:
cash_register-1 ontop checkout-1 in states closed
can__of__dog_food-1 ontop checkout-1 in states closed
can__of__dog_food-2 ontop checkout-1 in states closed
money-1 inside cash_register-1
money-2 inside cash_register-1
money-3 inside cash_register-1
canned_food-1 ontop checkout-1 in states closed
canned_food-2 ontop checkout-1 in states closed
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_pet_food_for_less-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('can__of__dog_food', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('can__of__dog_food', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "ontop_of", "related_to": ["shelf", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('canned_food', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('canned_food', 2)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('can__of__dog_food', 1)"}, {"source": "('shelf', 1)", "target": "('can__of__dog_food', 2)"}, {"source": "('shelf', 2)", "target": "('canned_food', 1)"}, {"source": "('shelf', 2)", "target": "('canned_food', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 3)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_pet_food_for_less-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('can__of__dog_food', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('can__of__dog_food', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('canned_food', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('canned_food', 2)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('can__of__dog_food', 1)"}, {"source": "('checkout', 1)", "target": "('can__of__dog_food', 2)"}, {"source": "('checkout', 1)", "target": "('canned_food', 1)"}, {"source": "('checkout', 1)", "target": "('canned_food', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 3)"}]}
| 16
| 7
|
23
|
buy_rechargeable_batteries-0
|
Place batteries and charger into a sack at the checkout. Use the money inside the shopping cart to pay for the batteries by putting the money into the cash register.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, checkout-1 in states closed, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
battery-1 ontop shelf-1
battery-2 ontop shelf-1
money-1 inside shopping_cart-1
money-2 inside shopping_cart-1
money-3 inside shopping_cart-1
charger-1 ontop shopping_cart-1 in states closed off
sack-1 ontop checkout-1
|
[
"money-1",
"battery-2",
"money-3",
"battery-1",
"money-2",
"charger-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, checkout-1 in states closed, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
battery-1 inside sack-1
battery-2 inside sack-1
money-1 inside cash_register-1
money-2 inside cash_register-1
money-3 inside cash_register-1
charger-1 inside sack-1 in states closed off
sack-1 ontop checkout-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_rechargeable_batteries-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('battery', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('battery', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "ontop_of", "related_to": ["shopping_cart", 1], "states": ["closed", "off"], "affordances": ["pick_up", "open", "close", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('charger', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('battery', 1)"}, {"source": "('shelf', 1)", "target": "('battery', 2)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 3)"}, {"source": "('shopping_cart', 1)", "target": "('charger', 1)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_rechargeable_batteries-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('battery', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('battery', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": ["closed", "off"], "affordances": ["pick_up", "open", "close", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('charger', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 3)"}, {"source": "('battery', 1)", "target": "('sack', 1)"}, {"source": "('battery', 2)", "target": "('sack', 1)"}, {"source": "('charger', 1)", "target": "('sack', 1)"}]}
| 15
| 6
|
24
|
buy_salad_greens-0
|
Pick up the lettuce and spinach from the shelf and place them inside the sack at the checkout. Then, take the money from the checkout and put it inside the cash register.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, checkout-1 in states open
Objects:
cash_register-1 ontop checkout-1 in states open
lettuce-1 ontop shelf-1
spinach-1 ontop shelf-1
sack-1 ontop checkout-1
money-1 ontop checkout-1
money-2 ontop checkout-1
|
[
"money-1",
"spinach-1",
"lettuce-1",
"cash_register-1",
"money-2"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, checkout-1 in states open
Objects:
cash_register-1 ontop checkout-1 in states open
lettuce-1 inside sack-1
spinach-1 inside sack-1
sack-1 ontop checkout-1
money-1 inside cash_register-1
money-2 inside cash_register-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_salad_greens-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": ["open"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["open"], "affordances": ["open"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('lettuce', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('spinach', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('lettuce', 1)"}, {"source": "('shelf', 1)", "target": "('spinach', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('checkout', 1)", "target": "('money', 1)"}, {"source": "('checkout', 1)", "target": "('money', 2)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_salad_greens-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": ["open"], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["open"], "affordances": ["put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('lettuce', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('spinach', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 2)"}, {"source": "('lettuce', 1)", "target": "('sack', 1)"}, {"source": "('spinach', 1)", "target": "('sack', 1)"}]}
| 12
| 5
|
25
|
buy_school_supplies_for_high_school-0
|
Bring school supplies to the checkout. Put money into cash register.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, shelf-3, checkout-1 in states closed, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
backpack-1 ontop shelf-1 in states closed
laptop-1 inside shelf-1 in states closed off
calculator-1 inside shelf-2 in states off
pen-1 inside shelf-3
pencil-1 ontop shelf-3
notebook-1 inside shelf-2 in states closed
money-1 inside shopping_cart-1
money-2 inside shopping_cart-1
money-3 inside shopping_cart-1
money-4 inside shopping_cart-1
|
[
"money-1",
"calculator-1",
"backpack-1",
"money-4",
"money-3",
"pencil-1",
"laptop-1",
"notebook-1",
"money-2",
"pen-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, shelf-3, checkout-1 in states closed, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
backpack-1 ontop checkout-1 in states closed
laptop-1 ontop checkout-1 in states closed off
calculator-1 ontop checkout-1 in states off
pen-1 ontop checkout-1
pencil-1 ontop checkout-1
notebook-1 ontop checkout-1 in states closed
money-1 inside cash_register-1
money-2 inside cash_register-1
money-3 inside cash_register-1
money-4 inside cash_register-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_school_supplies_for_high_school-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 3)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('backpack', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": ["closed", "off"], "affordances": ["pick_up", "put_on", "open", "close", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('laptop', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 2], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('calculator', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 3], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('pen', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 3], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('pencil', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 2], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('notebook', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 4)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 3)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('backpack', 1)"}, {"source": "('shelf', 1)", "target": "('laptop', 1)"}, {"source": "('shelf', 2)", "target": "('calculator', 1)"}, {"source": "('shelf', 2)", "target": "('notebook', 1)"}, {"source": "('shelf', 3)", "target": "('pen', 1)"}, {"source": "('shelf', 3)", "target": "('pencil', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 3)"}, {"source": "('shopping_cart', 1)", "target": "('money', 4)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buy_school_supplies_for_high_school-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 3)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('backpack', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed", "off"], "affordances": ["pick_up", "put_on", "open", "close", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('laptop', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('calculator', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('pen', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('pencil', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "put_inside", "open", "close"], "properties": [], "type": "object", "id": "('notebook', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 4)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 3)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('backpack', 1)"}, {"source": "('checkout', 1)", "target": "('laptop', 1)"}, {"source": "('checkout', 1)", "target": "('calculator', 1)"}, {"source": "('checkout', 1)", "target": "('pen', 1)"}, {"source": "('checkout', 1)", "target": "('pencil', 1)"}, {"source": "('checkout', 1)", "target": "('notebook', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 3)"}, {"source": "('cash_register', 1)", "target": "('money', 4)"}]}
| 20
| 10
|
26
|
buying_cleaning_supplies-0
|
Your goal is to move the bottle of liquid soap, the rag, the scrub brush, and the atomizer onto the checkout counter. Place the vacuum in the shopping cart. Pay for the items by placing all the money from your shopping cart into the cash register.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, checkout-1 in states closed, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
bottle__of__liquid_soap-1 ontop shelf-1 in states closed
vacuum-1 ontop floor-1 in states closed off
rag-1 ontop shelf-2
scrub_brush-1 ontop shelf-2
atomizer-1 ontop shelf-1 in states off
money-1 inside shopping_cart-1
money-2 inside shopping_cart-1
money-3 inside shopping_cart-1
money-4 inside shopping_cart-1
money-5 inside shopping_cart-1
money-6 inside shopping_cart-1
|
[
"money-1",
"money-4",
"rag-1",
"atomizer-1",
"money-3",
"money-6",
"vacuum-1",
"scrub_brush-1",
"money-5",
"money-2",
"bottle__of__liquid_soap-1"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, checkout-1 in states closed, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
bottle__of__liquid_soap-1 ontop checkout-1 in states closed
vacuum-1 ontop shopping_cart-1 in states closed off
rag-1 ontop checkout-1
scrub_brush-1 ontop checkout-1
atomizer-1 ontop checkout-1 in states off
money-1 inside cash_register-1
money-2 inside cash_register-1
money-3 inside cash_register-1
money-4 inside cash_register-1
money-5 inside cash_register-1
money-6 inside cash_register-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buying_cleaning_supplies-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__liquid_soap', 1)"}, {"relation": "ontop_of", "related_to": ["floor", 1], "states": ["closed", "off"], "affordances": ["pick_up", "open", "close", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('vacuum', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('rag', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('scrub_brush', 1)"}, {"relation": "ontop_of", "related_to": ["shelf", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('atomizer', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 4)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 5)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 6)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('floor', 1)", "target": "('vacuum', 1)"}, {"source": "('shelf', 1)", "target": "('bottle__of__liquid_soap', 1)"}, {"source": "('shelf', 1)", "target": "('atomizer', 1)"}, {"source": "('shelf', 2)", "target": "('rag', 1)"}, {"source": "('shelf', 2)", "target": "('scrub_brush', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 3)"}, {"source": "('shopping_cart', 1)", "target": "('money', 4)"}, {"source": "('shopping_cart', 1)", "target": "('money', 5)"}, {"source": "('shopping_cart', 1)", "target": "('money', 6)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buying_cleaning_supplies-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__liquid_soap', 1)"}, {"relation": "ontop_of", "related_to": ["shopping_cart", 1], "states": ["closed", "off"], "affordances": ["pick_up", "open", "close", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('vacuum', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('rag', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('scrub_brush', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["off"], "affordances": ["pick_up", "turn_on", "turn_off"], "properties": [], "type": "object", "id": "('atomizer', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 4)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 5)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 6)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('bottle__of__liquid_soap', 1)"}, {"source": "('checkout', 1)", "target": "('rag', 1)"}, {"source": "('checkout', 1)", "target": "('scrub_brush', 1)"}, {"source": "('checkout', 1)", "target": "('atomizer', 1)"}, {"source": "('shopping_cart', 1)", "target": "('vacuum', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 3)"}, {"source": "('cash_register', 1)", "target": "('money', 4)"}, {"source": "('cash_register', 1)", "target": "('money', 5)"}, {"source": "('cash_register', 1)", "target": "('money', 6)"}]}
| 20
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|
27
|
buying_groceries-0
|
Buy groceries. Put bottles and milk in first sack and other in second sack. Put all money in cash refister to pay.
|
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, shelf-3, shelf-4, checkout-1 in states closed, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
sack-1 ontop checkout-1
sack-2 ontop checkout-1
prawn-1 inside shelf-4
bottle__of__apple_juice-1 inside shelf-1 in states closed
carton__of__milk-1 inside shelf-1
bottle__of__peanut_butter-1 inside shelf-2 in states closed
bag__of__brown_rice-1 inside shelf-2 in states closed
banana-1 inside shelf-3 in states closed
money-1 inside shopping_cart-1
money-2 inside shopping_cart-1
money-3 inside shopping_cart-1
money-4 inside shopping_cart-1
money-5 inside shopping_cart-1
|
[
"money-1",
"money-4",
"bottle__of__peanut_butter-1",
"money-3",
"banana-1",
"prawn-1",
"bottle__of__apple_juice-1",
"money-5",
"carton__of__milk-1",
"bag__of__brown_rice-1",
"money-2"
] |
Building has the following places: grocery_store-1
Agent is located in grocery_store-1 and holding nothing.
In grocery_store-1:
Assets: floor-1, shelf-1, shelf-2, shelf-3, shelf-4, checkout-1 in states closed, shopping_cart-1
Objects:
cash_register-1 ontop checkout-1 in states closed
sack-1 ontop checkout-1
sack-2 ontop checkout-1
prawn-1 inside sack-2
bottle__of__apple_juice-1 inside sack-1 in states closed
carton__of__milk-1 inside sack-1
bottle__of__peanut_butter-1 inside sack-1 in states closed
bag__of__brown_rice-1 inside sack-2 in states closed
banana-1 inside sack-2 in states closed
money-1 inside cash_register-1
money-2 inside cash_register-1
money-3 inside cash_register-1
money-4 inside cash_register-1
money-5 inside cash_register-1
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buying_groceries-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 3)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 4)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 2)"}, {"relation": "inside_of", "related_to": ["shelf", 4], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('prawn', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__apple_juice', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('carton__of__milk', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__peanut_butter', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bag__of__brown_rice', 1)"}, {"relation": "inside_of", "related_to": ["shelf", 3], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('banana', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 4)"}, {"relation": "inside_of", "related_to": ["shopping_cart", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 5)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 3)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 4)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('shelf', 1)", "target": "('bottle__of__apple_juice', 1)"}, {"source": "('shelf', 1)", "target": "('carton__of__milk', 1)"}, {"source": "('shelf', 2)", "target": "('bottle__of__peanut_butter', 1)"}, {"source": "('shelf', 2)", "target": "('bag__of__brown_rice', 1)"}, {"source": "('shelf', 3)", "target": "('banana', 1)"}, {"source": "('shelf', 4)", "target": "('prawn', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 1)"}, {"source": "('shopping_cart', 1)", "target": "('money', 2)"}, {"source": "('shopping_cart', 1)", "target": "('money', 3)"}, {"source": "('shopping_cart', 1)", "target": "('money', 4)"}, {"source": "('shopping_cart', 1)", "target": "('money', 5)"}]}
|
{"directed": false, "multigraph": false, "graph": {}, "nodes": [{"name": "buying_groceries-0", "type": "scene", "id": "('scene', 1)"}, {"type": "place", "id": "('grocery_store', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on"], "properties": [], "type": "asset", "id": "('floor', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 2)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 3)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_on", "put_inside"], "properties": [], "type": "asset", "id": "('shelf', 4)"}, {"place": ["grocery_store", 1], "states": ["closed"], "affordances": ["put_on", "open", "close"], "properties": [], "type": "asset", "id": "('checkout', 1)"}, {"place": ["grocery_store", 1], "states": [], "affordances": ["put_inside"], "properties": [], "type": "asset", "id": "('shopping_cart', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": ["closed"], "affordances": ["open", "close", "put_inside"], "properties": [], "type": "object", "id": "('cash_register', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 1)"}, {"relation": "ontop_of", "related_to": ["checkout", 1], "states": [], "affordances": ["pick_up", "put_inside"], "properties": [], "type": "object", "id": "('sack', 2)"}, {"relation": "inside_of", "related_to": ["sack", 2], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('prawn', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__apple_juice', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('carton__of__milk', 1)"}, {"relation": "inside_of", "related_to": ["sack", 1], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bottle__of__peanut_butter', 1)"}, {"relation": "inside_of", "related_to": ["sack", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('bag__of__brown_rice', 1)"}, {"relation": "inside_of", "related_to": ["sack", 2], "states": ["closed"], "affordances": ["pick_up", "open", "close"], "properties": [], "type": "object", "id": "('banana', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 1)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 2)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 3)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 4)"}, {"relation": "inside_of", "related_to": ["cash_register", 1], "states": [], "affordances": ["pick_up"], "properties": [], "type": "object", "id": "('money', 5)"}, {"location": ["grocery_store", 1], "holding": "", "type": "agent", "id": "('agent', 1)"}], "links": [{"source": "('scene', 1)", "target": "('grocery_store', 1)"}, {"source": "('grocery_store', 1)", "target": "('floor', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 1)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 2)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 3)"}, {"source": "('grocery_store', 1)", "target": "('shelf', 4)"}, {"source": "('grocery_store', 1)", "target": "('checkout', 1)"}, {"source": "('grocery_store', 1)", "target": "('shopping_cart', 1)"}, {"source": "('grocery_store', 1)", "target": "('agent', 1)"}, {"source": "('checkout', 1)", "target": "('cash_register', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 1)"}, {"source": "('checkout', 1)", "target": "('sack', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 1)"}, {"source": "('cash_register', 1)", "target": "('money', 2)"}, {"source": "('cash_register', 1)", "target": "('money', 3)"}, {"source": "('cash_register', 1)", "target": "('money', 4)"}, {"source": "('cash_register', 1)", "target": "('money', 5)"}, {"source": "('sack', 1)", "target": "('bottle__of__apple_juice', 1)"}, {"source": "('sack', 1)", "target": "('carton__of__milk', 1)"}, {"source": "('sack', 1)", "target": "('bottle__of__peanut_butter', 1)"}, {"source": "('sack', 2)", "target": "('prawn', 1)"}, {"source": "('sack', 2)", "target": "('bag__of__brown_rice', 1)"}, {"source": "('sack', 2)", "target": "('banana', 1)"}]}
| 24
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|
End of preview. Expand
in Data Studio
GraSIF Repository
This folder contains three graph datasets saved as pickle files, used for the evaluation of methods. Each dataset is a list of dictionaries containing the task name, initial state, and goal state represented as NetworkX graphs. Additionally, each dictionary includes specific information relevant to the dataset.
| Data | Number of Tasks | Mean nodes | Actions |
|---|---|---|---|
| SayPlan Office | 25 | 202.6 | 2.1 |
| Behaviour-1K | 186 | 12.1 | 4.9 |
| VirtualHome | 347 | 195.7 | 1.6 |
Table 1: Dataset comparison. Actions represent the mean number of nodes changed between the initial and goal graph.
To load a dataset, use the following code snippet:
import pickle
with open('./datasets/<name>.pkl', 'rb') as file:
tasks = pickle.load(file)
SayPlan Office
The SayPlan Office dataset represents graphs and tasks defined in SayPlan. Each task consists of a dictionary with the following structure:
name: The name of the task.human: Human-readable task description (same asnamefor SayPlan).detailed: Detailed task description (same asnamefor SayPlan).init: Initial state as a NetworkX graph.goal: Goal state as a NetworkX graph.actions: A list of ground-truth actions to complete the task.
Behaviour-1K
The Behaviour-1K dataset represents tasks defined in Behaviour1K. For each task defined in BDDL, a subgraph was constructed to represent the environment. Using this subgraph, the goal graph was created, and human-readable as well as detailed task descriptions were added.
The dataset contains a total of 186 tasks, each represented by a dictionary with the following structure:
name: The name of the task from Behaviour1K.human: Human-readable task description.detailed: Detailed task description.init: Initial state as a NetworkX graph.goal: Goal state as a NetworkX graph.
VirtualHome RobotHow
The VirtualHome dataset represents tasks from the RobotHow dataset. For each task, the VirtualHome graph was reconstructed into a structure compatible with our methods. This was achieved using the graph_parser.py script available in the utils folder of the repository.
Additionally, an ids dictionary maps nodes from the initial NetworkX graph to VirtualHome IDs. For example, the node ('fridge', 1) in the initial graph corresponds to the fridge node with ID 67 in the VirtualHome backend graph. This mapping is useful when using the dataset with the VirtualHome simulator.
Each task is represented by a dictionary with the following structure:
name: The name of the task from RobotHow.human: Human-readable task description. (Same as name for RobotHow)detailed: Detailed task description.init: Initial state as a NetworkX graph.goal: Goal state as a NetworkX graph.ids: Mapping of nodes to VirtualHome IDs.
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