-
Notifications
You must be signed in to change notification settings - Fork 2
/
Copy pathsuccessful_skills.txt
9295 lines (7512 loc) · 463 KB
/
successful_skills.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
DIALOGUE:
<Commander> Hi. <Driver> First task? <Commander> put all the remote controls on one chair. <Commander> check the drawers under the TV. <Driver> the remotes are in the box i just put on the couch. <Driver> 2. <Commander> Put on the chair near the dining table. <Commander> There is one remote on the dining table chair already. <Driver> next. <Driver> next. <Commander> done thank you. <Driver> cool.
SUMMARY:
The revised script will collect all remote controls and place them on the chair near the dining table, then check the drawers under the TV.
OBJECT STATE:
"RemoteControl_0": {"label": "RemoteControl", "holding": False, "supported_by": ["Chair"]}
"RemoteControl_4": {"label": "RemoteControl", "holding": False, "supported_by": ["Box", "Floor"]}
"Box_6": {"label": "Box", "holding": False, "open": True, "supported_by": ["Floor"]}
"RemoteControl_20": {"label": "RemoteControl", "holding": False, "supported_by": ["Box", "Floor"]}
"Drawer_24": {"label": "Drawer", "open": False}
"Drawer_25": {"label": "Drawer", "open": False}
"Drawer_27": {"label": "Drawer", "open": False}
"Drawer_28": {"label": "Drawer", "open": False}
"Chair_29": {"label": "Chair"}
"Sofa_30": {"label": "Sofa"}
"Chair_32": {"label": "Chair"}
"Chair_33": {"label": "Chair"}
"Chair_34": {"label": "Chair"}
"Chair_35": {"label": "Chair"}
"Chair_38": {"label": "Chair"}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for remote controls and the chair near the dining table
remote_control_0 = InteractionObject("RemoteControl", object_instance="RemoteControl_0")
remote_control_4 = InteractionObject("RemoteControl", object_instance="RemoteControl_4")
remote_control_20 = InteractionObject("RemoteControl", object_instance="RemoteControl_20")
chair_near_dining_table = InteractionObject("Chair", object_instance="Chair_38") # Assuming this is the chair near the dining table
# (causal abstraction) Pick up each remote control and place it on the chair near the dining table
remote_control_0.go_to()
remote_control_0.pickup()
chair_near_dining_table.go_to()
remote_control_0.place(chair_near_dining_table)
remote_control_4.go_to()
remote_control_4.pickup()
chair_near_dining_table.go_to()
remote_control_4.place(chair_near_dining_table)
remote_control_20.go_to()
remote_control_20.pickup()
chair_near_dining_table.go_to()
remote_control_20.place(chair_near_dining_table)
# Define InteractionObject instances for the drawers under the TV
drawer_24 = InteractionObject("Drawer", object_instance="Drawer_24")
drawer_25 = InteractionObject("Drawer", object_instance="Drawer_25")
drawer_27 = InteractionObject("Drawer", object_instance="Drawer_27")
drawer_28 = InteractionObject("Drawer", object_instance="Drawer_28")
# (causal abstraction) Check each drawer under the TV
drawer_24.go_to()
drawer_24.open()
drawer_24.close()
drawer_25.go_to()
drawer_25.open()
drawer_25.close()
drawer_27.go_to()
drawer_27.open()
drawer_27.close()
drawer_28.go_to()
drawer_28.open()
drawer_28.close()
DIALOGUE:
<Driver> hi how can i help. <Commander> Today can you serve 5 slices of tomato in a clean bowl. <Commander> There should be a knife in the fridge. <Commander> and there is a bowl to the left of the stove. <Commander> if you can, try and fit 5 slices in the bowl. <Driver> done. <Commander> Amazing thank you.
SUMMARY:
The script is intended to clean a bowl, slice a tomato using a knife from the fridge, and serve five slices of tomato in the cleaned bowl.
OBJECT STATE:
"Apple_3": {"label": "Apple", "holding": False, "sliced": False, "dirty": False, "cooked": False, "supported_by": ["CounterTop"]}
"PaperTowelRoll_6": {"label": "PaperTowelRoll", "holding": False, "supported_by": ["CounterTop"]}
"Tomato_8": {"label": "Tomato", "holding": False, "sliced": True, "cooked": False, "supported_by": ["Stool"]}
"Plate_9": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["Fridge"]}
"Plate_16": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["Cabinet"]}
"Tomato_17": {"label": "Tomato", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Fridge"]}
"Tomato_18": {"label": "Tomato", "holding": False, "sliced": False, "cooked": False, "supported_by": ["CounterTop"]}
"Tomato_19": {"label": "Tomato", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Drawer"]}
"Bottle_22": {"label": "Bottle", "holding": False, "filled": False, "fillLiquid": None, "supported_by": ["CounterTop"]}
"CounterTop_28": {"label": "CounterTop"}
"CounterTop_30": {"label": "CounterTop"}
"CounterTop_53": {"label": "CounterTop"}
"Knife_55": {"label": "Knife", "holding": False, "supported_by": ["CounterTop"]}
"Shelf_65": {"label": "Shelf"}
"Plate_67": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["Drawer"]}
"Tomato_68": {"label": "Tomato", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Shelf"]}
"Fridge_80": {"label": "Fridge", "open": False}
"Bowl_82": {"label": "Bowl", "holding": False, "dirty": False, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"SinkBasin_83": {"label": "SinkBasin"}
"Knife_87": {"label": "Knife", "holding": False, "supported_by": ["CounterTop"]}
"Mug_92": {"label": "Mug", "holding": False, "dirty": False, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"Faucet_97": {"label": "Faucet", "toggled": False}
"TomatoSliced_98": {"label": "TomatoSliced", "holding": False, "cooked": False, "supported_by": ["CounterTop", "Bowl"]}
"TomatoSliced_99": {"label": "TomatoSliced", "holding": False, "cooked": False, "supported_by": ["CounterTop", "Bowl"]}
"TomatoSliced_100": {"label": "TomatoSliced", "holding": False, "cooked": False, "supported_by": ["CounterTop", "Bowl"]}
"TomatoSliced_101": {"label": "TomatoSliced", "holding": False, "cooked": False, "supported_by": ["CounterTop", "Bowl"]}
"TomatoSliced_102": {"label": "TomatoSliced", "holding": False, "cooked": False, "supported_by": ["Stool"]}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for the bowl, knife, and tomato
bowl_to_clean = InteractionObject("Bowl", object_instance="Bowl_82") # Bowl to the left of the stove
knife_from_fridge = InteractionObject("Knife", object_instance="Knife_55") # Knife in the fridge
tomato_to_slice = InteractionObject("Tomato", object_instance="Tomato_8") # Correctly reference the tomato instance
# Clean the bowl
sink_basin = InteractionObject("SinkBasin", object_instance="SinkBasin_83")
faucet = InteractionObject("Faucet", object_instance="Faucet_97")
bowl_to_clean.go_to()
bowl_to_clean.pickup()
sink_basin.go_to()
bowl_to_clean.place(sink_basin)
faucet.go_to()
faucet.toggle_on() # Turn on the faucet to clean the bowl
faucet.toggle_off() # Turn off the faucet after cleaning
# Update the bowl's state to reflect that it is clean and filled with water
bowl_to_clean.change_state("dirty", False)
bowl_to_clean.change_state("filled", True)
bowl_to_clean.change_state("fillLiquid", "water")
bowl_to_clean.pickup() # Pick up the clean bowl
bowl_to_clean.place(InteractionObject("CounterTop", object_instance="CounterTop_53")) # Place the bowl on the countertop
# Retrieve the knife from the fridge
fridge = InteractionObject("Fridge", object_instance="Fridge_80")
fridge.go_to()
fridge.open()
knife_from_fridge.go_to()
knife_from_fridge.pickup()
fridge.close()
# Ensure the agent is holding the knife before slicing the tomato
knife_from_fridge.go_to() # Go to the knife's location
knife_from_fridge.pickup() # Pick up the knife
# Slice the tomato into pieces
tomato_to_slice.go_to()
tomato_to_slice.slice() # Slice the tomato with the knife in hand
# Serve five slices of tomato in the clean bowl
# Instantiate new sliced objects from the sliced tomato parent
for i in range(5):
tomato_sliced = InteractionObject("TomatoSliced", parent_object=tomato_to_slice.object_instance)
tomato_sliced.pickup()
bowl_to_clean.go_to()
tomato_sliced.place(bowl_to_clean) # Place a slice in the bowl
DIALOGUE:
<Driver> What should I do today? <Commander> Hi. <Commander> Slice the lettuce. <Commander> knife is on a chair. <Commander> Good. <Driver> Lettuce is sliced. <Commander> Slice tomato. <Driver> Anything else? <Commander> Cook potato. <Commander> You can microwave it whole. <Commander> Then slice. <Driver> Where is the potato? <Commander> On the plate. <Commander> On the round table. <Commander> 2 lettuce, one tomato and one potato on the plate. <Commander> Hello. <Driver> Anything else? <Commander> . <Commander> 2 lettuce. <Driver> I did. <Commander> 1 tomato and 1 potato on the plate. <Driver> I did all that. <Driver> Oh is that not a plate? <Commander> Not that plate. <Commander> The plate on the table. <Commander> Where you took the potato from. <Driver> They look the same? <Commander> Okay. <Commander> Check the microwave and pick the plate there. <Commander> Good job.
SUMMARY:
The script slices lettuce, tomato, and potato, cooks the potato, and arranges two lettuce slices, one tomato slice, and one potato slice on a plate.
OBJECT STATE:
"Pan_1": {"label": "Pan", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Lettuce_5": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["Chair"]}
"Pot_7": {"label": "Pot", "holding": False, "dirty": False, "filled": True, "fillLiquid": "water", "supported_by": ["StoveBurner"]}
"Tomato_10": {"label": "Tomato", "holding": False, "sliced": True, "cooked": False, "supported_by": ["Chair"]}
"Lettuce_15": {"label": "Lettuce", "holding": False, "sliced": True, "supported_by": ["DiningTable"]}
"CounterTop_20": {"label": "CounterTop"}
"DiningTable_22": {"label": "DiningTable"}
"CounterTop_40": {"label": "CounterTop"}
"Tomato_42": {"label": "Tomato", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Chair"]}
"Microwave_48": {"label": "Microwave", "toggled": False, "open": True}
"Fridge_49": {"label": "Fridge", "open": False}
"Plate_55": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Potato_57": {"label": "Potato", "holding": False, "sliced": True, "cooked": True, "supported_by": ["Microwave_48"]}
"Pot_58": {"label": "Pot", "holding": False, "dirty": True, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"Knife_60": {"label": "Knife", "holding": True, "supported_by": ["Stool"]}
"Lettuce_65": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["Cabinet"]}
"Knife_66": {"label": "Knife", "holding": False, "supported_by": ["CounterTop"]}
"Pan_76": {"label": "Pan", "holding": False, "dirty": False, "supported_by": ["DiningTable"]}
"Chair_77": {"label": "Chair"}
"CoffeeMachine_79": {"label": "CoffeeMachine", "toggled": False}
"Stool_87": {"label": "Stool"}
"Stool_88": {"label": "Stool"}
"LettuceSliced_92": {"label": "LettuceSliced", "holding": False, "supported_by": ["DiningTable"]}
"LettuceSliced_93": {"label": "LettuceSliced", "holding": False, "supported_by": ["DiningTable"]}
"TomatoSliced_94": {"label": "TomatoSliced", "holding": False, "cooked": False, "supported_by": ["Chair"]}
"PotatoSliced_95": {"label": "PotatoSliced", "holding": False, "cooked": True, "supported_by": ["CounterTop"]}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for the knife, lettuce, tomato, potato, and plate
knife = InteractionObject("Knife", object_instance="Knife_60") # Knife is on a chair
lettuce_dining_table = InteractionObject("Lettuce", object_instance="Lettuce_15") # Lettuce is on the dining table
tomato_chair = InteractionObject("Tomato", object_instance="Tomato_10") # Tomato is on a chair
potato_plate_dining_table = InteractionObject("Potato", object_instance="Potato_57") # Potato is on the plate on the dining table
plate_dining_table = InteractionObject("Plate", object_instance="Plate_55") # Plate is on the microwave
# Slice the lettuce
knife.go_to()
knife.pickup()
lettuce_dining_table.go_to()
lettuce_dining_table.slice()
lettuce_sliced_1 = InteractionObject("LettuceSliced", parent_object=lettuce_dining_table.object_instance) # Initialize new sliced object from sliced parent
lettuce_sliced_2 = InteractionObject("LettuceSliced", parent_object=lettuce_dining_table.object_instance) # Initialize new sliced object from sliced parent
# Slice the tomato
tomato_chair.go_to()
tomato_chair.slice()
tomato_sliced = InteractionObject("TomatoSliced", parent_object=tomato_chair.object_instance) # Initialize new sliced object from sliced parent
# Cook the potato in the microwave (incorrect method based on dialogue, should be on stove)
microwave = InteractionObject("Microwave", object_instance="Microwave_48")
potato_plate_dining_table.go_to()
potato_plate_dining_table.pickup()
microwave.go_to()
microwave.open()
potato_plate_dining_table.place(microwave)
microwave.close()
microwave.toggle_on()
microwave.toggle_off()
microwave.open()
potato_plate_dining_table.pickup()
potato_plate_dining_table.slice()
potato_sliced = InteractionObject("PotatoSliced", parent_object=potato_plate_dining_table.object_instance) # Initialize new sliced object from sliced parent
# Update the cooked state of the potato and sliced potato
potato_plate_dining_table.change_state("cooked", True)
potato_sliced.change_state("cooked", True)
# Arrange the food on the plate
plate_dining_table.go_to()
lettuce_sliced_1.pickup()
lettuce_sliced_1.place(plate_dining_table)
lettuce_sliced_2.pickup()
lettuce_sliced_2.place(plate_dining_table)
tomato_sliced.pickup()
tomato_sliced.place(plate_dining_table)
potato_sliced.pickup()
potato_sliced.place(plate_dining_table)
DIALOGUE:
<Driver> first task? <Commander> water plant please. <Commander> done thanks. <Driver> next.
SUMMARY:
The script waters a houseplant using a pot filled with water.
OBJECT STATE:
"DishSponge_6": {"label": "DishSponge", "holding": False, "dirty": False, "supported_by": ["CounterTop", "Pot"]}
"CounterTop_41": {"label": "CounterTop"}
"DiningTable_43": {"label": "DiningTable"}
"Drawer_56": {"label": "Drawer", "open": False}
"Pot_79": {"label": "Pot", "holding": False, "dirty": True, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"SinkBasin_82": {"label": "SinkBasin"}
"HousePlant_101": {"label": "HousePlant", "filled": False, "fillLiquid": None}
"Faucet_104": {"label": "Faucet", "toggled": True}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for the pot, faucet, sink, and houseplant
clean_pot = InteractionObject("Pot", object_instance="Pot_79") # Selecting the pot that is already filled with water
faucet = InteractionObject("Faucet", object_instance="Faucet_104")
sink_basin = InteractionObject("SinkBasin", object_instance="SinkBasin_82")
houseplant = InteractionObject("HousePlant", object_instance="HousePlant_101")
# (causal abstraction) Check if the faucet is on; if it is, toggle it off to prevent water wastage
if faucet.check_attribute("toggled", True):
faucet.go_to()
faucet.toggle_off()
# (causal abstraction) Since the selected pot is already filled with water, we can directly use it to water the plant
# Go to the pot and pick it up
clean_pot.go_to()
clean_pot.pickup()
# (causal abstraction) Navigate to the houseplant and pour water from the pot to water it
houseplant.go_to()
clean_pot.pour(houseplant)
# (causal abstraction) After pouring, the pot is no longer filled with water, so update its state
clean_pot.change_state("filled", False)
clean_pot.change_state("fillLiquid", None)
# (causal abstraction) Update the houseplant's state to reflect that it has been watered
houseplant.change_state("filled", True)
houseplant.change_state("fillLiquid", "water")
DIALOGUE:
<Driver> how can I assist you? <Commander> please make a plate of toast. <Driver> anything else? <Commander> nope, thanks!
SUMMARY:
The script is intended to toast a slice of bread and serve it on a clean plate.
OBJECT STATE:
"Spoon_2": {"label": "Spoon", "holding": False, "dirty": False, "supported_by": ["Drawer"]}
"Bread_6": {"label": "Bread", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Drawer"]}
"Knife_7": {"label": "Knife", "holding": False, "supported_by": ["Fridge"]}
"SaltShaker_10": {"label": "SaltShaker", "holding": False, "supported_by": ["Chair"]}
"Lettuce_12": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["CounterTop"]}
"Plate_14": {"label": "Plate", "holding": False, "dirty": True, "supported_by": ["CounterTop"]}
"Egg_15": {"label": "Egg", "holding": False, "supported_by": ["Sink"]}
"Fork_18": {"label": "Fork", "holding": False, "dirty": False, "supported_by": ["Fridge"]}
"Cup_20": {"label": "Cup", "holding": False, "dirty": False, "filled": True, "fillLiquid": "water", "supported_by": ["Sink"]}
"Egg_24": {"label": "Egg", "holding": False, "supported_by": ["Cabinet"]}
"Bread_26": {"label": "Bread", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Fridge"]}
"Spoon_29": {"label": "Spoon", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"SaltShaker_34": {"label": "SaltShaker", "holding": False, "supported_by": ["Chair"]}
"Egg_35": {"label": "Egg", "holding": False, "supported_by": ["Plate", "Cabinet"]}
"Spoon_37": {"label": "Spoon", "holding": False, "dirty": False, "supported_by": ["Fridge"]}
"Plate_38": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["Cabinet"]}
"SaltShaker_39": {"label": "SaltShaker", "holding": False, "supported_by": ["Drawer"]}
"Spoon_41": {"label": "Spoon", "holding": False, "dirty": False, "supported_by": ["Drawer"]}
"Bread_44": {"label": "Bread", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Cabinet"]}
"SaltShaker_45": {"label": "SaltShaker", "holding": False, "supported_by": ["CounterTop"]}
"Plate_47": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Cup_50": {"label": "Cup", "holding": False, "dirty": False, "filled": False, "fillLiquid": None, "supported_by": ["Chair"]}
"SaltShaker_52": {"label": "SaltShaker", "holding": False, "supported_by": ["Plate", "CounterTop"]}
"Spoon_53": {"label": "Spoon", "holding": False, "dirty": False, "supported_by": ["Fridge"]}
"Lettuce_58": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["CounterTop"]}
"Fork_59": {"label": "Fork", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Fork_61": {"label": "Fork", "holding": False, "dirty": False, "supported_by": ["Drawer"]}
"Lettuce_63": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["Sink"]}
"Spoon_64": {"label": "Spoon", "holding": False, "dirty": False, "supported_by": ["Chair"]}
"Spoon_67": {"label": "Spoon", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Fork_69": {"label": "Fork", "holding": False, "dirty": False, "supported_by": ["Drawer"]}
"Plate_70": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Plate_75": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Fork_76": {"label": "Fork", "holding": False, "dirty": False, "supported_by": ["Sink"]}
"Cup_78": {"label": "Cup", "holding": False, "dirty": True, "filled": False, "fillLiquid": None, "supported_by": ["Fridge"]}
"Egg_81": {"label": "Egg", "holding": False, "supported_by": ["Fridge"]}
"Lettuce_82": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["Drawer"]}
"SaltShaker_84": {"label": "SaltShaker", "holding": False, "supported_by": ["CounterTop"]}
"DishSponge_86": {"label": "DishSponge", "holding": False, "dirty": False, "supported_by": ["Sink"]}
"Lettuce_88": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["CounterTop"]}
"SaltShaker_90": {"label": "SaltShaker", "holding": False, "supported_by": ["CounterTop"]}
"Cup_91": {"label": "Cup", "holding": False, "dirty": True, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop", "Microwave"]}
"Cabinet_94": {"label": "Cabinet", "open": False}
"CounterTop_115": {"label": "CounterTop"}
"Cabinet_117": {"label": "Cabinet", "open": False}
"CounterTop_122": {"label": "CounterTop"}
"Cup_128": {"label": "Cup", "holding": False, "dirty": True, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"Fork_138": {"label": "Fork", "holding": False, "dirty": False, "supported_by": ["Drawer"]}
"Egg_142": {"label": "Egg", "holding": False, "supported_by": ["Cabinet"]}
"Plate_143": {"label": "Plate", "holding": False, "dirty": True, "supported_by": ["CounterTop"]}
"Lettuce_145": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["CounterTop"]}
"Fridge_148": {"label": "Fridge", "open": False}
"Knife_150": {"label": "Knife", "holding": False, "supported_by": ["CounterTop"]}
"SinkBasin_151": {"label": "SinkBasin"}
"SaltShaker_152": {"label": "SaltShaker", "holding": False, "supported_by": ["Drawer"]}
"PepperShaker_153": {"label": "PepperShaker", "holding": False, "supported_by": ["Sink"]}
"Knife_155": {"label": "Knife", "holding": False, "supported_by": ["Cabinet"]}
"Bread_156": {"label": "Bread", "holding": False, "sliced": True, "cooked": False, "supported_by": ["CounterTop"]}
"Toaster_160": {"label": "Toaster", "toggled": True}
"Spoon_161": {"label": "Spoon", "holding": False, "dirty": False, "supported_by": ["Microwave"]}
"Faucet_164": {"label": "Faucet", "toggled": True}
"BreadSliced_166": {"label": "BreadSliced", "holding": False, "cooked": False, "supported_by": ["CounterTop"]}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for the bread, toaster, knife, and plate
bread_to_toast = InteractionObject("Bread", object_instance="Bread_156") # Assuming Bread_156 is the bread to be toasted
toaster = InteractionObject("Toaster", object_instance="Toaster_160") # Toaster to toast the bread
knife_to_slice = InteractionObject("Knife", object_instance="Knife_150") # Knife to slice the bread
plate_for_serving = InteractionObject("Plate", object_instance="Plate_143") # Plate to serve the toast on
# Ensure the toaster is on
toaster.go_to()
if not toaster.check_attribute("toggled", True):
toaster.toggle_on()
# Slice the bread before toasting
knife_to_slice.go_to() # Go to the knife
knife_to_slice.pickup() # Pick up the knife
bread_to_toast.go_to() # Go to the bread
bread_to_toast.slice() # Slice the bread
knife_to_slice.put_down() # Put down the knife
# Initialize a new InteractionObject for a slice of bread
bread_slice = InteractionObject("BreadSliced", object_instance=None, parent_object="Bread_156") # Initialize new sliced object from sliced parent
# Toast the bread slice
bread_slice.pickup() # Pick up a slice of bread
bread_slice.place(toaster) # Place the bread slice in the toaster
# Simulate waiting for the bread to be toasted (this would be simulated in a real scenario)
# After the bread is toasted, update the state to reflect that it is cooked
bread_slice.change_state("cooked", True) # Update the bread slice's state to toasted
# Check if the plate is clean, if not, clean it
if plate_for_serving.check_attribute("dirty", True):
sink_basin = InteractionObject("SinkBasin", object_instance="SinkBasin_151")
faucet = InteractionObject("Faucet", object_instance="Faucet_164")
plate_for_serving.go_to()
plate_for_serving.pickup()
sink_basin.go_to()
plate_for_serving.place(sink_basin)
faucet.go_to()
faucet.toggle_on() # Turn on the faucet to clean the plate
faucet.toggle_off() # Turn off the faucet after cleaning
plate_for_serving.change_state("dirty", False) # Update the plate's state to clean
# Serve the toast on the plate
bread_slice.go_to() # Assuming the bread slice is now toasted
bread_slice.pickup() # Pick up the toasted bread slice
plate_for_serving.go_to()
bread_slice.place(plate_for_serving) # Place the toast on the clean plate
DIALOGUE:
<Commander> hello. <Driver> Hello. <Driver> What should I do today? <Commander> clean the dirty mug. <Commander> mug is beside the stove. <Commander> left side. <Commander> rinse the mug in the basin. <Commander> turn off the tap first. <Commander> place the mug beside. <Commander> remove extra items from the basin. <Commander> now rinse the mug. <Commander> done, thank you!!
SUMMARY:
The script cleans a dirty mug by turning off the tap, removing extra items from the basin, rinsing the mug, and placing it beside the basin.
OBJECT STATE:
"Mug_0": {"label": "Mug", "holding": False, "dirty": True, "filled": False, "fillLiquid": None, "supported_by": ["CounterTop"]}
"Apple_2": {"label": "Apple", "holding": False, "sliced": False, "dirty": False, "cooked": False, "supported_by": ["DiningTable"]}
"CounterTop_21": {"label": "CounterTop"}
"CounterTop_41": {"label": "CounterTop"}
"SinkBasin_62": {"label": "SinkBasin"}
"Apple_76": {"label": "Apple", "holding": False, "sliced": False, "dirty": False, "cooked": False, "supported_by": ["Sink"]}
"Mug_83": {"label": "Mug", "holding": False, "dirty": False, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop", "CoffeeMachine"]}
"Faucet_84": {"label": "Faucet", "toggled": True}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for the mug, sink basin, and faucet
mug_to_clean = InteractionObject("Mug", object_instance="Mug_0") # Dirty mug beside the stove on the left side
sink_basin = InteractionObject("SinkBasin", object_instance="SinkBasin_62")
faucet = InteractionObject("Faucet", object_instance="Faucet_84")
# Turn off the faucet before rinsing the mug
faucet.go_to()
faucet.toggle_off() # Turn off the tap as instructed
# Remove extra items from the sink basin
apple_in_sink = InteractionObject("Apple", object_instance="Apple_76") # Extra item in the sink basin
apple_in_sink.pickup()
apple_in_sink.place(InteractionObject("CounterTop", object_instance="CounterTop_21")) # Place the apple on the countertop
# Rinse the mug in the sink basin
mug_to_clean.go_to()
mug_to_clean.pickup()
sink_basin.go_to()
mug_to_clean.place(sink_basin) # Place the mug in the sink basin
faucet.go_to()
faucet.toggle_on() # Turn on the faucet to rinse the mug
# Update the mug's state to reflect that it is no longer dirty and is filled with water
mug_to_clean.change_state("dirty", False)
mug_to_clean.change_state("filled", True)
mug_to_clean.change_state("fillLiquid", "water")
faucet.toggle_off() # Turn off the faucet after rinsing
# Place the mug beside the basin as instructed
mug_to_clean.pickup()
mug_to_clean.place(InteractionObject("CounterTop", object_instance="CounterTop_21")) # Place the mug on the countertop beside the basin
DIALOGUE:
<Driver> what do i need to do? <Commander> put all the newspaper on one furniture.
SUMMARY:
The revised script will collect all newspapers and place them on a single piece of furniture, as instructed by the dialogue.
OBJECT STATE:
"Newspaper_4": {"label": "Newspaper", "holding": False, "supported_by": ["DiningTable"]}
"Newspaper_12": {"label": "Newspaper", "holding": False, "supported_by": ["CoffeeTable"]}
"CreditCard_14": {"label": "CreditCard", "holding": False, "supported_by": ["Floor", "GarbageCan"]}
"CoffeeTable_40": {"label": "CoffeeTable"}
"DiningTable_41": {"label": "DiningTable"}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for newspapers and the selected furniture
newspaper_4 = InteractionObject("Newspaper", object_instance="Newspaper_4")
newspaper_12 = InteractionObject("Newspaper", object_instance="Newspaper_12")
selected_furniture = InteractionObject("DiningTable", object_instance="DiningTable_41") # Choosing the dining table as the furniture to consolidate newspapers
# (causal abstraction) Pick up each newspaper and place it on the selected furniture
# Move newspaper_4 to the dining table
newspaper_4.go_to()
newspaper_4.pickup()
selected_furniture.go_to()
newspaper_4.place(selected_furniture)
# Move newspaper_12 to the dining table
newspaper_12.go_to()
newspaper_12.pickup()
selected_furniture.go_to()
newspaper_12.place(selected_furniture)
# The newspapers are now consolidated on the dining table as per the Commander's instruction
DIALOGUE:
<Driver> what's first. <Commander> get the credit card that is inside a box next to the chair. <Commander> and place on the desk.
SUMMARY:
The script retrieves a credit card from inside a box next to a chair and places it on the desk.
OBJECT STATE:
"CreditCard_0": {"label": "CreditCard", "holding": False, "supported_by": ["Box", "Floor"]}
"Pen_4": {"label": "Pen", "holding": False, "supported_by": ["Box", "Floor"]}
"Box_8": {"label": "Box", "holding": False, "open": True, "supported_by": ["Floor"]}
"Pen_11": {"label": "Pen", "holding": False, "supported_by": ["Bed"]}
"CreditCard_19": {"label": "CreditCard", "holding": False, "supported_by": ["Desk"]}
"Desk_33": {"label": "Desk"}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for the box, credit card, and desk
box_next_to_chair = InteractionObject("Box", object_instance="Box_8") # The box that is open and next to the chair
credit_card_in_box = InteractionObject("CreditCard", object_instance="CreditCard_0") # The credit card inside the box
desk_to_place_card = InteractionObject("Desk", object_instance="Desk_33") # The desk where the credit card should be placed
# (causal abstraction) Navigate to the box next to the chair to retrieve the credit card
box_next_to_chair.go_to()
# (causal abstraction) Pick up the credit card from inside the box
credit_card_in_box.pickup()
# (causal abstraction) Navigate to the desk to place the credit card
desk_to_place_card.go_to()
# (causal abstraction) Place the credit card on the desk as instructed
credit_card_in_box.place(desk_to_place_card)
DIALOGUE:
<Driver> hi. <Commander> make a slice of lettuce. <Driver> what should i do today? <Commander> lettuce is in the fridge. <Driver> where can i find the knife. <Commander> in the microwave. <Commander> switch it off first. <Commander> on your left there is microwave. <Driver> ok. <Commander> try to hurry up. <Driver> done. <Commander> good. now make a slice f tomato. <Commander> good. now slice a piece of tomato. <Commander> potato that is. <Commander> sorry. <Commander> potato is in the bin. <Commander> bin is on the right side of fridge. <Commander> good. <Commander> now put all salad items on a plate. <Commander> the plate on the table. <Driver> where can i find the plate? <Commander> countertop that is. <Driver> done. <Commander> have only 1 piece of potato in the plate. <Commander> and 2 pieces of lettuce. <Driver> 2 slices were there. <Commander> good job. <Commander> .
SUMMARY:
The script is intended to turn off the microwave, retrieve a knife, slice lettuce from the fridge, slice a tomato and a potato, cook a potato slice, clean a plate if necessary, and then arrange the salad items on the plate.
OBJECT STATE:
"Pot_5": {"label": "Pot", "holding": False, "dirty": True, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"Pan_7": {"label": "Pan", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Lettuce_12": {"label": "Lettuce", "holding": False, "sliced": True, "supported_by": ["Fridge"]}
"Plate_13": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["Cabinet"]}
"Tomato_14": {"label": "Tomato", "holding": False, "sliced": True, "cooked": False, "supported_by": ["CounterTop", "Plate"]}
"Pot_18": {"label": "Pot", "holding": False, "dirty": False, "filled": True, "fillLiquid": "water", "supported_by": ["Cabinet"]}
"CounterTop_42": {"label": "CounterTop"}
"CounterTop_44": {"label": "CounterTop"}
"CounterTop_46": {"label": "CounterTop"}
"CounterTop_50": {"label": "CounterTop"}
"Tomato_56": {"label": "Tomato", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Cabinet"]}
"Knife_63": {"label": "Knife", "holding": True, "supported_by": ["Microwave"]}
"Plate_64": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"Ladle_66": {"label": "Ladle", "holding": False, "dirty": False, "supported_by": ["Drawer"]}
"GarbageCan_67": {"label": "GarbageCan"}
"Potato_68": {"label": "Potato", "holding": False, "sliced": True, "cooked": False, "supported_by": ["GarbageCan"]}
"Lettuce_69": {"label": "Lettuce", "holding": False, "sliced": False, "supported_by": ["Fridge"]}
"Fridge_72": {"label": "Fridge", "open": False}
"Pan_81": {"label": "Pan", "holding": False, "dirty": False, "supported_by": ["StoveBurner"]}
"Pot_84": {"label": "Pot", "holding": False, "dirty": True, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"Knife_85": {"label": "Knife", "holding": False, "supported_by": ["Cabinet"]}
"Microwave_86": {"label": "Microwave", "toggled": False, "open": False}
"LettuceSliced_96": {"label": "LettuceSliced", "holding": False, "supported_by": ["CounterTop"]}
"LettuceSliced_97": {"label": "LettuceSliced", "holding": False, "supported_by": ["CounterTop"]}
"TomatoSliced_98": {"label": "TomatoSliced", "holding": False, "cooked": False, "supported_by": ["CounterTop", "Plate"]}
"PotatoSliced_99": {"label": "PotatoSliced", "holding": False, "cooked": False, "supported_by": ["CounterTop"]}
SUCCESSES:
[True]
FUNCTION:
# Turn off the microwave and retrieve the knife
microwave = InteractionObject("Microwave", object_instance="Microwave_86")
microwave.go_to()
microwave.toggle_off()
knife = InteractionObject("Knife", object_instance="Knife_63")
knife.go_to()
knife.pickup()
# Retrieve the lettuce from the fridge, slice it, and create an instance for the sliced lettuce
fridge = InteractionObject("Fridge", object_instance="Fridge_72")
fridge.go_to()
fridge.open()
lettuce = InteractionObject("Lettuce", object_instance="Lettuce_12")
lettuce.go_to()
lettuce.pickup()
fridge.close()
lettuce.slice()
lettuce_sliced_1 = InteractionObject("LettuceSliced", parent_object=lettuce.object_instance) # Initialize new sliced object from sliced parent
lettuce_sliced_2 = InteractionObject("LettuceSliced", parent_object=lettuce.object_instance) # Initialize new sliced object from sliced parent
# Retrieve the tomato from the countertop, slice it, and create an instance for the sliced tomato
tomato = InteractionObject("Tomato", object_instance="Tomato_14")
tomato.go_to()
tomato.slice()
tomato_sliced = InteractionObject("TomatoSliced", parent_object=tomato.object_instance) # Initialize new sliced object from sliced parent
# Retrieve the potato from the garbage can, slice it, and create an instance for the sliced potato
garbage_can = InteractionObject("GarbageCan", object_instance="GarbageCan_67")
potato = InteractionObject("Potato", object_instance="Potato_68")
potato.go_to()
potato.pickup()
potato.slice()
potato_sliced = InteractionObject("PotatoSliced", parent_object=potato.object_instance) # Initialize new sliced object from sliced parent
# Cook one slice of potato by placing it in the microwave
microwave.go_to()
potato_sliced.pickup()
microwave.open()
potato_sliced.place(microwave)
microwave.toggle_on()
microwave.toggle_off()
microwave.open()
potato_sliced.pickup() # Retrieve the now cooked potato slice
potato_sliced.change_state("cooked", True) # Update the potato slice's state to cooked
# Check if the plate is dirty and clean it if necessary
plate = InteractionObject("Plate", object_instance="Plate_64")
plate.go_to()
if plate.check_attribute("dirty", True):
sink = InteractionObject("SinkBasin", object_instance="SinkBasin_83")
faucet = InteractionObject("Faucet", object_instance="Faucet_95")
plate.pickup()
sink.go_to()
plate.place(sink)
faucet.go_to()
faucet.toggle_on()
faucet.toggle_off()
plate.pickup() # Pick up the clean plate
# Arrange two slices of lettuce and one cooked slice of potato on the clean plate
lettuce_sliced_1.pickup()
lettuce_sliced_1.place(plate)
lettuce_sliced_2.pickup()
lettuce_sliced_2.place(plate)
potato_sliced.place(plate) # Place the cooked potato slice on the plate
DIALOGUE:
<Driver> What should I do today? <Commander> hi. <Commander> today we make sandwich. <Driver> ok. What should I do first? <Commander> slice a bread using a knife. <Driver> Ok the bread is sliced. <Driver> What should I do next? <Commander> 2 slices of bread need to be toasted. <Driver> Ok. I have toasted the bread. <Commander> make a slice of tomato. <Driver> I have sliced the tomato. Anything else? <Commander> 2 slices of toast and slice of tomato on a clean plate. <Driver> Where is a plate? <Commander> plate is next to the sink. <Driver> Anything else? <Commander> done. <Commander> thank you. <Driver> Thanks. <Driver> .
SUMMARY:
The script is intended to slice bread, toast two slices, slice a tomato, and assemble a sandwich on a clean plate.
OBJECT STATE:
"Knife_2": {"label": "Knife", "holding": False, "supported_by": ["Cabinet"]}
"Knife_9": {"label": "Knife", "holding": False, "supported_by": ["Stool"]}
"Bread_10": {"label": "Bread", "holding": False, "sliced": True, "cooked": False, "supported_by": ["CounterTop"]}
"Knife_11": {"label": "Knife", "holding": False, "supported_by": ["Drawer"]}
"Cabinet_13": {"label": "Cabinet", "open": False}
"Cabinet_16": {"label": "Cabinet", "open": False}
"CounterTop_17": {"label": "CounterTop"}
"CounterTop_18": {"label": "CounterTop"}
"Cabinet_25": {"label": "Cabinet", "open": False}
"Cabinet_26": {"label": "Cabinet", "open": False}
"Cabinet_27": {"label": "Cabinet", "open": False}
"Cabinet_28": {"label": "Cabinet", "open": False}
"Cabinet_29": {"label": "Cabinet", "open": False}
"Cabinet_32": {"label": "Cabinet", "open": False}
"CounterTop_33": {"label": "CounterTop"}
"Cabinet_34": {"label": "Cabinet", "open": False}
"Cabinet_35": {"label": "Cabinet", "open": False}
"Bread_36": {"label": "Bread", "holding": False, "sliced": False, "cooked": False, "supported_by": ["Cabinet"]}
"Knife_37": {"label": "Knife", "holding": True, "supported_by": ["DiningTable"]}
"Toaster_38": {"label": "Toaster", "toggled": True}
"Bowl_40": {"label": "Bowl", "holding": False, "dirty": True, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"Tomato_43": {"label": "Tomato", "holding": False, "sliced": True, "cooked": False, "supported_by": ["Stool"]}
"Plate_45": {"label": "Plate", "holding": False, "dirty": False, "supported_by": ["CounterTop"]}
"SinkBasin_55": {"label": "SinkBasin"}
"SaltShaker_56": {"label": "SaltShaker", "holding": False, "supported_by": ["Floor", "GarbageCan"]}
"PepperShaker_58": {"label": "PepperShaker", "holding": False, "supported_by": ["CounterTop", "Plate"]}
"Knife_60": {"label": "Knife", "holding": False, "supported_by": ["DiningTable"]}
"Fridge_70": {"label": "Fridge", "open": False}
"Faucet_72": {"label": "Faucet", "toggled": True}
"Stool_73": {"label": "Stool"}
"DiningTable_74": {"label": "DiningTable"}
"BreadSliced_75": {"label": "BreadSliced", "holding": False, "cooked": True, "supported_by": ["CounterTop"]}
"BreadSliced_76": {"label": "BreadSliced", "holding": False, "cooked": True, "supported_by": ["CounterTop"]}
"TomatoSliced_77": {"label": "TomatoSliced", "holding": False, "cooked": False, "supported_by": ["CounterTop"]}
SUCCESSES:
[True]
FUNCTION:
# Initialize InteractionObject instances for the bread, knife, toaster, tomato, and plate
bread = InteractionObject("Bread", object_instance="Bread_10") # Bread on the countertop
knife = InteractionObject("Knife", object_instance="Knife_37") # Knife on the dining table
toaster = InteractionObject("Toaster", object_instance="Toaster_38") # Toaster is already toggled on
tomato = InteractionObject("Tomato", object_instance="Tomato_43") # Tomato on the stool
plate = InteractionObject("Plate", object_instance="Plate_45") # Plate on the countertop
# Slice the bread
knife.go_to()
knife.pickup()
bread.go_to()
bread.slice()
bread_sliced_1 = InteractionObject("BreadSliced", parent_object=bread.object_instance) # Initialize new sliced object from sliced parent
bread_sliced_2 = InteractionObject("BreadSliced", parent_object=bread.object_instance) # Initialize new sliced object from sliced parent
# Toast the first slice of bread
bread_sliced_1.pickup()
bread_sliced_1.place(toaster)
# Simulate waiting for the bread to toast (this would be simulated in a real scenario)
# After the bread is toasted, update the state to reflect that it is cooked
bread_sliced_1.change_state("cooked", True) # Update the bread slice's state to toasted
bread_sliced_1.pickup() # Remove the toasted bread slice from the toaster
bread_sliced_1.put_down() # Put down the toasted bread slice
# Toast the second slice of bread
bread_sliced_2.pickup()
bread_sliced_2.place(toaster)
# Simulate waiting for the bread to toast (this would be simulated in a real scenario)
# After the bread is toasted, update the state to reflect that it is cooked
bread_sliced_2.change_state("cooked", True) # Update the bread slice's state to toasted
bread_sliced_2.pickup() # Remove the toasted bread slice from the toaster
bread_sliced_2.put_down() # Put down the toasted bread slice
# Slice the tomato
tomato.go_to()
tomato.pickup()
knife.go_to()
tomato.slice()
tomato_sliced = InteractionObject("TomatoSliced", parent_object=tomato.object_instance) # Initialize new sliced object from sliced parent
# Check if the plate is clean, if not, clean it
sink = InteractionObject("SinkBasin", object_instance="SinkBasin_55")
faucet = InteractionObject("Faucet", object_instance="Faucet_72")
if plate.check_attribute("dirty", True):
plate.go_to()
plate.pickup()
sink.go_to()
plate.place(sink)
faucet.go_to()
faucet.toggle_on() # Turn on the faucet to clean the plate
faucet.toggle_off() # Turn off the faucet after cleaning
plate.pickup() # Pick up the clean plate
plate.change_state("dirty", False) # Update the plate's state to clean
# Assemble the sandwich on the clean plate
bread_sliced_1.go_to()
bread_sliced_1.pickup()
plate.go_to()
bread_sliced_1.place(plate)
bread_sliced_2.pickup()
bread_sliced_2.place(plate)
tomato_sliced.pickup()
tomato_sliced.place(plate)
DIALOGUE:
<Commander> Hi. <Driver> First task? <Commander> put all the remote controls on one chair. <Commander> check the drawers under the TV. <Driver> the remotes are in the box i just put on the couch. <Driver> 2. <Commander> Put on the chair near the dining table. <Commander> There is one remote on the dining table chair already. <Driver> next. <Driver> next. <Commander> done thank you. <Driver> cool.
SUMMARY:
The revised script will collect all remote controls and place them on the chair near the dining table, then check the drawers under the TV.
OBJECT STATE:
"RemoteControl_0": {"label": "RemoteControl", "holding": False, "supported_by": ["Chair"]}
"RemoteControl_4": {"label": "RemoteControl", "holding": False, "supported_by": ["Box", "Floor"]}
"Box_6": {"label": "Box", "holding": False, "open": True, "supported_by": ["Floor"]}
"RemoteControl_20": {"label": "RemoteControl", "holding": False, "supported_by": ["Box", "Floor"]}
"Drawer_24": {"label": "Drawer", "open": False}
"Drawer_25": {"label": "Drawer", "open": False}
"Drawer_27": {"label": "Drawer", "open": False}
"Drawer_28": {"label": "Drawer", "open": False}
"Chair_29": {"label": "Chair"}
"Sofa_30": {"label": "Sofa"}
"Chair_32": {"label": "Chair"}
"Chair_33": {"label": "Chair"}
"Chair_34": {"label": "Chair"}
"Chair_35": {"label": "Chair"}
"Chair_38": {"label": "Chair"}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for remote controls and the chair near the dining table
remote_control_0 = InteractionObject("RemoteControl", object_instance="RemoteControl_0")
remote_control_4 = InteractionObject("RemoteControl", object_instance="RemoteControl_4")
remote_control_20 = InteractionObject("RemoteControl", object_instance="RemoteControl_20")
chair_near_dining_table = InteractionObject("Chair", object_instance="Chair_38") # Assuming this is the chair near the dining table
# (causal abstraction) Pick up each remote control and place it on the chair near the dining table
# Move remote_control_0 to the chair
remote_control_0.go_to()
remote_control_0.pickup()
chair_near_dining_table.go_to()
remote_control_0.place(chair_near_dining_table)
# Move remote_control_4 to the chair
remote_control_4.go_to()
remote_control_4.pickup()
chair_near_dining_table.go_to()
remote_control_4.place(chair_near_dining_table)
# Move remote_control_20 to the chair
remote_control_20.go_to()
remote_control_20.pickup()
chair_near_dining_table.go_to()
remote_control_20.place(chair_near_dining_table)
# Define InteractionObject instances for the drawers under the TV
drawer_24 = InteractionObject("Drawer", object_instance="Drawer_24")
drawer_25 = InteractionObject("Drawer", object_instance="Drawer_25")
drawer_27 = InteractionObject("Drawer", object_instance="Drawer_27")
drawer_28 = InteractionObject("Drawer", object_instance="Drawer_28")
# (causal abstraction) Check each drawer under the TV
drawer_24.go_to()
drawer_24.open()
drawer_24.close()
drawer_25.go_to()
drawer_25.open()
drawer_25.close()
drawer_27.go_to()
drawer_27.open()
drawer_27.close()
drawer_28.go_to()
drawer_28.open()
drawer_28.close()
# The task of placing all remote controls on one chair and checking the drawers is now complete
DIALOGUE:
<Driver> what's first. <Commander> get the credit card that is inside a box next to the chair. <Commander> and place on the desk.
SUMMARY:
The script retrieves a credit card from inside a box next to a chair and places it on the desk.
OBJECT STATE:
"CreditCard_0": {"label": "CreditCard", "holding": False, "supported_by": ["Box", "Floor"]}
"Pen_4": {"label": "Pen", "holding": False, "supported_by": ["Box", "Floor"]}
"Box_8": {"label": "Box", "holding": False, "open": True, "supported_by": ["Floor"]}
"Pen_11": {"label": "Pen", "holding": False, "supported_by": ["Bed"]}
"CreditCard_19": {"label": "CreditCard", "holding": False, "supported_by": ["Desk"]}
"Desk_33": {"label": "Desk"}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for the box, credit card, and desk
box_next_to_chair = InteractionObject("Box", object_instance="Box_8") # The box that is open and next to the chair
credit_card_in_box = InteractionObject("CreditCard", object_instance="CreditCard_0") # The credit card inside the box
desk_to_place_card = InteractionObject("Desk", object_instance="Desk_33") # The desk where the credit card should be placed
# (causal abstraction) Navigate to the box next to the chair to retrieve the credit card
box_next_to_chair.go_to()
# (causal abstraction) Pick up the credit card from inside the box
credit_card_in_box.pickup()
# (causal abstraction) Navigate to the desk to place the credit card
desk_to_place_card.go_to()
# (causal abstraction) Place the credit card on the desk as instructed
credit_card_in_box.place(desk_to_place_card)
DIALOGUE:
<Driver> first task? <Commander> water plant please. <Commander> done thanks. <Driver> next.
SUMMARY:
The script waters a houseplant using a pot filled with water.
OBJECT STATE:
"DishSponge_6": {"label": "DishSponge", "holding": False, "dirty": False, "supported_by": ["CounterTop", "Pot"]}
"CounterTop_41": {"label": "CounterTop"}
"DiningTable_43": {"label": "DiningTable"}
"Drawer_56": {"label": "Drawer", "open": False}
"Pot_79": {"label": "Pot", "holding": False, "dirty": True, "filled": True, "fillLiquid": "water", "supported_by": ["CounterTop"]}
"HousePlant_101": {"label": "HousePlant", "filled": False, "fillLiquid": None}
"Faucet_104": {"label": "Faucet", "toggled": True}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for the pot, faucet, and houseplant
pot = InteractionObject("Pot", object_instance="Pot_79") # Selecting the pot that is already filled with water
faucet = InteractionObject("Faucet", object_instance="Faucet_104")
houseplant = InteractionObject("HousePlant", object_instance="HousePlant_101")
# (causal abstraction) Check if the faucet is on; if it is, toggle it off to prevent water wastage
if faucet.check_attribute("toggled", True):
faucet.go_to()
faucet.toggle_off()
# (causal abstraction) Since the selected pot is already filled with water, we can directly use it to water the plant
# Go to the pot and pick it up
pot.go_to()
pot.pickup()
# (causal abstraction) Navigate to the houseplant and pour water from the pot to water it
houseplant.go_to()
pot.pour(houseplant)
# (causal abstraction) After pouring, the pot is no longer filled with water, so update its state
pot.change_state("filled", False)
pot.change_state("fillLiquid", None)
# (causal abstraction) Update the houseplant's state to reflect that it has been watered
houseplant.change_state("filled", True)
houseplant.change_state("fillLiquid", "water")
DIALOGUE:
<Commander> Hi. <Driver> First task? <Commander> put all the remote controls on one chair. <Commander> check the drawers under the TV. <Driver> the remotes are in the box i just put on the couch. <Driver> 2. <Commander> Put on the chair near the dining table. <Commander> There is one remote on the dining table chair already. <Driver> next. <Driver> next. <Commander> done thank you. <Driver> cool.
SUMMARY:
The script collects all remote controls and places them on a chair near the dining table, then checks the drawers under the TV.
OBJECT STATE:
"RemoteControl_0": {"label": "RemoteControl", "holding": False, "supported_by": ["Chair"]}
"RemoteControl_4": {"label": "RemoteControl", "holding": False, "supported_by": ["Box", "Floor"]}
"Box_6": {"label": "Box", "holding": False, "open": True, "supported_by": ["Floor"]}
"RemoteControl_20": {"label": "RemoteControl", "holding": False, "supported_by": ["Box", "Floor"]}
"Drawer_24": {"label": "Drawer", "open": False}
"Drawer_25": {"label": "Drawer", "open": False}
"Drawer_27": {"label": "Drawer", "open": False}
"Drawer_28": {"label": "Drawer", "open": False}
"Chair_29": {"label": "Chair"}
"Sofa_30": {"label": "Sofa"}
"Chair_32": {"label": "Chair"}
"Chair_33": {"label": "Chair"}
"Chair_34": {"label": "Chair"}
"Chair_35": {"label": "Chair"}
"Chair_38": {"label": "Chair"}
SUCCESSES:
[True]
FUNCTION:
# Define InteractionObject instances for remote controls and the chair near the dining table
remote_control_0 = InteractionObject("RemoteControl", object_instance="RemoteControl_0")
remote_control_4 = InteractionObject("RemoteControl", object_instance="RemoteControl_4")
remote_control_20 = InteractionObject("RemoteControl", object_instance="RemoteControl_20")
chair_near_dining_table = InteractionObject("Chair", object_instance="Chair_38") # Assuming this is the chair near the dining table