validation.jsonl

{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Newspaper_4\": {\"label\": \"Newspaper\", \"holding\": False, \"supported_by\": [\"DiningTable\"]}\n\"Newspaper_12\": {\"label\": \"Newspaper\", \"holding\": False, \"supported_by\": [\"CoffeeTable\"]}\n\"CoffeeTable_40\": {\"label\": \"CoffeeTable\"}\n\"DiningTable_41\": {\"label\": \"DiningTable\"}\n\n\nDialogue: \n<Driver> what do i need to do? <Commander> put all the newspaper on one furniture. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for newspapers and the selected furniture\nnewspaper_4 = InteractionObject(\"Newspaper\", object_instance=\"Newspaper_4\")\nnewspaper_12 = InteractionObject(\"Newspaper\", object_instance=\"Newspaper_12\")\nselected_furniture = InteractionObject(\"DiningTable\", object_instance=\"DiningTable_41\")  # Choosing the dining table as the furniture to consolidate newspapers\n\n# (causal abstraction) Pick up each newspaper and place it on the selected furniture\n# Move newspaper_4 to the dining table\nnewspaper_4.go_to()\nnewspaper_4.pickup()\nselected_furniture.go_to()\nnewspaper_4.place(selected_furniture)\n\n# Move newspaper_12 to the dining table\nnewspaper_12.go_to()\nnewspaper_12.pickup()\nselected_furniture.go_to()\nnewspaper_12.place(selected_furniture)\n\n# The newspapers are now consolidated on the dining table as per the Commander's instruction\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"RemoteControl_0\": {\"label\": \"RemoteControl\", \"holding\": False, \"supported_by\": [\"Chair\"]}\n\"RemoteControl_4\": {\"label\": \"RemoteControl\", \"holding\": False, \"supported_by\": [\"Box\", \"Floor\"]}\n\"Box_6\": {\"label\": \"Box\", \"holding\": False, \"open\": True, \"supported_by\": [\"Floor\"]}\n\"RemoteControl_20\": {\"label\": \"RemoteControl\", \"holding\": False, \"supported_by\": [\"Box\", \"Floor\"]}\n\"Drawer_24\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_25\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_27\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_28\": {\"label\": \"Drawer\", \"open\": False}\n\"Chair_29\": {\"label\": \"Chair\"}\n\"Chair_32\": {\"label\": \"Chair\"}\n\"Chair_33\": {\"label\": \"Chair\"}\n\"Chair_34\": {\"label\": \"Chair\"}\n\"Chair_35\": {\"label\": \"Chair\"}\n\"Chair_38\": {\"label\": \"Chair\"}\n\n\nDialogue: \n<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. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for remote controls and the chair near the dining table\nremote_control_0 = InteractionObject(\"RemoteControl\", object_instance=\"RemoteControl_0\")\nremote_control_4 = InteractionObject(\"RemoteControl\", object_instance=\"RemoteControl_4\")\nremote_control_20 = InteractionObject(\"RemoteControl\", object_instance=\"RemoteControl_20\")\nchair_near_dining_table = InteractionObject(\"Chair\", object_instance=\"Chair_38\")  # Assuming this is the chair near the dining table\n\n# (causal abstraction) Pick up each remote control and place it on the chair near the dining table\n# Move remote_control_0 to the chair\nremote_control_0.go_to()\nremote_control_0.pickup()\nchair_near_dining_table.go_to()\nremote_control_0.place(chair_near_dining_table)\n\n# Move remote_control_4 to the chair\nremote_control_4.go_to()\nremote_control_4.pickup()\nchair_near_dining_table.go_to()\nremote_control_4.place(chair_near_dining_table)\n\n# Move remote_control_20 to the chair\nremote_control_20.go_to()\nremote_control_20.pickup()\nchair_near_dining_table.go_to()\nremote_control_20.place(chair_near_dining_table)\n\n# Define InteractionObject instances for the drawers under the TV\ndrawer_24 = InteractionObject(\"Drawer\", object_instance=\"Drawer_24\")\ndrawer_25 = InteractionObject(\"Drawer\", object_instance=\"Drawer_25\")\ndrawer_27 = InteractionObject(\"Drawer\", object_instance=\"Drawer_27\")\ndrawer_28 = InteractionObject(\"Drawer\", object_instance=\"Drawer_28\")\n\n# (causal abstraction) Check each drawer under the TV\ndrawer_24.go_to()\ndrawer_24.open()\ndrawer_24.close()\n\ndrawer_25.go_to()\ndrawer_25.open()\ndrawer_25.close()\n\ndrawer_27.go_to()\ndrawer_27.open()\ndrawer_27.close()\n\ndrawer_28.go_to()\ndrawer_28.open()\ndrawer_28.close()\n\n# The task of placing all remote controls on one chair and checking the drawers is now complete\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"SaltShaker_3\": {\"label\": \"SaltShaker\", \"holding\": False, \"supported_by\": [\"Cabinet\", \"Pan\"]}\n\"SaltShaker_11\": {\"label\": \"SaltShaker\", \"holding\": False, \"supported_by\": [\"Sink\"]}\n\"CounterTop_17\": {\"label\": \"CounterTop\"}\n\"DiningTable_18\": {\"label\": \"DiningTable\"}\n\"CounterTop_20\": {\"label\": \"CounterTop\"}\n\"Knife_63\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Cabinet\"]}\n\"Fridge_64\": {\"label\": \"Fridge\", \"open\": False}\n\"Plate_82\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"DiningTable\"]}\n\"Toaster_88\": {\"label\": \"Toaster\", \"toggled\": False}\n\"SinkBasin_89\": {\"label\": \"SinkBasin\"}\n\"SaltShaker_91\": {\"label\": \"SaltShaker\", \"holding\": False, \"supported_by\": [\"CounterTop\"]}\n\"PepperShaker_92\": {\"label\": \"PepperShaker\", \"holding\": False, \"supported_by\": [\"DiningTable\", \"Plate\"]}\n\"Knife_93\": {\"label\": \"Knife\", \"holding\": True, \"supported_by\": [\"CounterTop\"]}\n\"Bread_94\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": True, \"cooked\": False, \"supported_by\": [\"DiningTable\"]}\n\"Faucet_101\": {\"label\": \"Faucet\", \"toggled\": True}\n\"BreadSliced_103\": {\"label\": \"BreadSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"DiningTable\"]}\n\n\nDialogue: \n<Commander> hi. <Driver> hi. <Commander> please slice bread and toast 1 slice. <Driver> done. <Commander> did you toast a slice? <Commander> after toasted, please place toast on the clean plate. <Driver> plate. <Driver> . <Commander> table. <Commander> under salt. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the knife, bread, toaster, and plate\nknife = InteractionObject(\"Knife\", object_instance=\"Knife_93\")\nbread = InteractionObject(\"Bread\", object_instance=\"Bread_94\")\ntoaster = InteractionObject(\"Toaster\", object_instance=\"Toaster_88\")\nplate = InteractionObject(\"Plate\", object_instance=\"Plate_82\")\nsalt_shaker = InteractionObject(\"SaltShaker\", object_instance=\"SaltShaker_91\")\ndining_table = InteractionObject(\"DiningTable\", object_instance=\"DiningTable_18\")\n\n# Pick up the knife and slice the bread\nknife.go_to()\nknife.pickup()\nbread.go_to()\nbread.slice()\nbread_sliced = InteractionObject(\"BreadSliced\", parent_object=bread.object_instance)  # Initialize new sliced object from sliced parent\n\n# Toast one slice of bread\ntoaster.go_to()\nbread_sliced.pickup()\nbread_sliced.place(toaster)  # Place the bread slice in the toaster\ntoaster.toggle_on()  # Start toasting the bread slice\n# Wait for the bread to toast (this step is abstracted in the script)\ntoaster.toggle_off()  # Stop toasting after it's done\nbread_sliced.change_state(\"cooked\", True)  # Update the bread slice's state to cooked (toasted)\n\n# Check if the plate is clean and clean it if necessary\nsink_basin = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_89\")\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_101\")\nif plate.check_attribute(\"dirty\", True):\n    plate.go_to()\n    plate.pickup()\n    sink_basin.go_to()\n    plate.place(sink_basin)\n    faucet.go_to()\n    if faucet.check_attribute(\"toggled\", False):  # Ensure the faucet is on before cleaning\n        faucet.toggle_on()\n    faucet.toggle_off()  # Turn off the faucet after cleaning\n    plate.pickup()  # Pick up the clean plate\n    plate.change_state(\"dirty\", False)  # Update the plate's state to clean\n\n# Place the toasted bread slice on the clean plate under the salt shaker on the dining table\ndining_table.go_to()\nsalt_shaker.go_to()  # Locate the salt shaker to place the plate under it\nbread_sliced.place(plate)\n\n# Causal abstraction comments:\n# The knife is picked up to slice the bread, which is necessary to create slices for toasting.\n# The toaster is used to toast a slice of bread, fulfilling the requirement to toast one slice.\n# The \"toasted\" attribute is not valid, so \"cooked\" is used to represent the toasted state of the bread.\n# The plate's cleanliness is checked, and it is cleaned if dirty, to ensure hygiene before placing food on it.\n# The toasted bread slice is placed on the clean plate under the salt shaker on the dining table, as instructed by the Commander.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"DishSponge_6\": {\"label\": \"DishSponge\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"CounterTop\", \"Pot\"]}\n\"CounterTop_41\": {\"label\": \"CounterTop\"}\n\"DiningTable_43\": {\"label\": \"DiningTable\"}\n\"Drawer_56\": {\"label\": \"Drawer\", \"open\": False}\n\"Pot_79\": {\"label\": \"Pot\", \"holding\": False, \"dirty\": True, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"CounterTop\"]}\n\"HousePlant_101\": {\"label\": \"HousePlant\", \"filled\": False, \"fillLiquid\": None}\n\"Faucet_104\": {\"label\": \"Faucet\", \"toggled\": True}\n\n\nDialogue: \n<Driver> how can I help? <Commander> i'd like my plant watered. <Driver> sure thing found some water in this pot. <Commander> great. <Driver> done. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the pot, faucet, and houseplant\npot = InteractionObject(\"Pot\", object_instance=\"Pot_79\")  # Selecting the pot that is already filled with water\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_104\")\nhouseplant = InteractionObject(\"HousePlant\", object_instance=\"HousePlant_101\")\n\n# (causal abstraction) Check if the faucet is on; if it is, toggle it off to prevent water wastage\nif faucet.check_attribute(\"toggled\", True):\n    faucet.go_to()\n    faucet.toggle_off()\n\n# (causal abstraction) Since the selected pot is already filled with water, we can directly use it to water the plant\n# Go to the pot and pick it up\npot.go_to()\npot.pickup()\n\n# (causal abstraction) Navigate to the houseplant and pour water from the pot to water it\nhouseplant.go_to()\npot.pour(houseplant)\n\n# (causal abstraction) After pouring, the pot is no longer filled with water, so update its state\npot.change_state(\"filled\", False)\npot.change_state(\"fillLiquid\", None)\n\n# (causal abstraction) Update the houseplant's state to reflect that it has been watered\nhouseplant.change_state(\"filled\", True)\nhouseplant.change_state(\"fillLiquid\", \"water\")\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Cabinet_31\": {\"label\": \"Cabinet\", \"open\": False}\n\"CounterTop_32\": {\"label\": \"CounterTop\"}\n\"CounterTop_39\": {\"label\": \"CounterTop\"}\n\"CoffeeMachine_64\": {\"label\": \"CoffeeMachine\", \"toggled\": False}\n\"Apple_66\": {\"label\": \"Apple\", \"holding\": False, \"sliced\": False, \"dirty\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"SinkBasin_68\": {\"label\": \"SinkBasin\"}\n\"Mug_79\": {\"label\": \"Mug\", \"holding\": False, \"dirty\": True, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"CounterTop\", \"CoffeeMachine\"]}\n\"Faucet_81\": {\"label\": \"Faucet\", \"toggled\": True}\n\n\nDialogue: \n<Commander> clean all mugs. <Driver> Ok. <Driver> How many? <Commander> there is one next to the tomato on the center island. <Driver> That was the one I washed. <Commander> it's not completed yet. <Commander> . <Commander> there is no other. <Driver> how many am I supposed to wash. <Commander> only that one. <Driver> washed twice already. <Commander> done. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the mug, sink basin, and faucet\nmug_to_clean = InteractionObject(\"Mug\", object_instance=\"Mug_79\")  # Dirty mug next to the tomato on the center island\nsink_basin = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_68\")\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_81\")\n\n# Go to the dirty mug and pick it up\nmug_to_clean.go_to()\nmug_to_clean.pickup()\n\n# Go to the sink basin\nsink_basin.go_to()\n\n# Turn off the faucet if it is on\nif faucet.check_attribute(\"toggled\", True):\n    faucet.toggle_off()\n\n# Pour out the contents of the mug into the sink basin\nmug_to_clean.pour(sink_basin)\n\n# Place the mug under the faucet to rinse it\nmug_to_clean.place(sink_basin)\n\n# Rinse the mug by turning on the faucet\nfaucet.toggle_on()\n\n# Wait for the mug to be rinsed (this step simulates the rinsing process)\n# In a real-world scenario, this would be a time delay or a sensor-based check to ensure the mug is rinsed\n# For the purpose of this script, we assume the mug is being rinsed while the faucet is on\n\n# Turn off the faucet after rinsing the mug\nfaucet.toggle_off()\n\n# Update the mug's state to reflect that it is no longer dirty\nmug_to_clean.change_state(\"dirty\", False)\n\n# Place the clean mug on the countertop\ncountertop = InteractionObject(\"CounterTop\", object_instance=\"CounterTop_39\")  # Assuming the center island is the last countertop instance\nmug_to_clean.place(countertop)\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Knife_1\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Shelf\"]}\n\"Lettuce_2\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": False, \"supported_by\": [\"Drawer\"]}\n\"Plate_10\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": True, \"supported_by\": [\"CounterTop\"]}\n\"Knife_12\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Cabinet\"]}\n\"Lettuce_13\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": False, \"supported_by\": [\"Floor\", \"GarbageCan\"]}\n\"Plate_16\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": True, \"supported_by\": [\"CounterTop\"]}\n\"CounterTop_24\": {\"label\": \"CounterTop\"}\n\"CounterTop_47\": {\"label\": \"CounterTop\"}\n\"Knife_49\": {\"label\": \"Knife\", \"holding\": True, \"supported_by\": [\"Sink\"]}\n\"Bread_51\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"Potato_54\": {\"label\": \"Potato\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"Plate_61\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Stool\"]}\n\"WineBottle_67\": {\"label\": \"WineBottle\", \"holding\": False, \"filled\": True, \"fillLiquid\": None, \"supported_by\": [\"Sink\"]}\n\"SinkBasin_77\": {\"label\": \"SinkBasin\"}\n\"Lettuce_80\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": True, \"supported_by\": [\"CounterTop\"]}\n\"Knife_81\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Fridge\"]}\n\"Faucet_91\": {\"label\": \"Faucet\", \"toggled\": False}\n\"LettuceSliced_92\": {\"label\": \"LettuceSliced\", \"holding\": False, \"supported_by\": [\"Plate\", \"CounterTop\"]}\n\"LettuceSliced_93\": {\"label\": \"LettuceSliced\", \"holding\": False, \"supported_by\": [\"CounterTop\"]}\n\n\nDialogue: \n<Commander> hello! <Driver> What shall I do today? <Commander> Get a knife and cut 2 slices of lettuce. <Driver> Can you help me find knife? <Commander> I believe it is in the sink. <Driver> Where is lettuce? <Driver> Done. <Commander> . <Commander> I\u2019m not sure. You will have to search for it. <Commander> Once you find it, the slices need to be placed on a clean plate. <Driver> Do we need to clean the plate? <Commander> no. <Commander> it's clean already. <Commander> one more! <Driver> How many slices shall I put? <Driver> Okay. <Commander> two slices of lettuce. <Commander> Done! Thank you!! <Driver> Thanks. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the knife, lettuce, and plate\nknife_sink = InteractionObject(\"Knife\", object_instance=\"Knife_49\")  # Knife is in the sink\nlettuce_counter_top = InteractionObject(\"Lettuce\", object_instance=\"Lettuce_80\")  # Lettuce is on the countertop\nplate_counter_top = InteractionObject(\"Plate\", object_instance=\"Plate_10\")  # Plate is on the countertop\n\n# Go to the knife and pick it up\nknife_sink.go_to()\nknife_sink.pickup()\n\n# Go to the lettuce, slice it, and initialize lettuce slices\nlettuce_counter_top.go_to()\nlettuce_counter_top.slice()\nlettuce_sliced_1 = InteractionObject(\"LettuceSliced\", parent_object=lettuce_counter_top.object_instance)  # Initialize new sliced object from sliced parent\nlettuce_sliced_2 = InteractionObject(\"LettuceSliced\", parent_object=lettuce_counter_top.object_instance)  # Initialize new sliced object from sliced parent\n\n# Check if the plate is clean, even though the Commander said it is clean, we should still verify it\nif not plate_counter_top.check_attribute(\"dirty\", False):\n    # If the plate is not clean, clean it at the sink\n    sink = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_77\")\n    faucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_91\")\n    plate_counter_top.go_to()\n    plate_counter_top.pickup()\n    sink.go_to()\n    plate_counter_top.place(sink)\n    faucet.go_to()\n    faucet.toggle_on()  # Turn on the faucet to clean the plate\n    faucet.toggle_off()  # Turn off the faucet after cleaning\n    plate_counter_top.pickup()  # Pick up the clean plate\n    plate_counter_top.change_state(\"dirty\", False)  # Update the plate's state to clean\n\n# Place the two lettuce slices on the clean plate\nlettuce_sliced_1.pickup()\nlettuce_sliced_1.place(plate_counter_top)\nlettuce_sliced_2.pickup()\nlettuce_sliced_2.place(plate_counter_top)\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Bread_3\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": True, \"cooked\": False, \"supported_by\": [\"Fridge\"]}\n\"Knife_4\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Sink\"]}\n\"Lettuce_5\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": True, \"supported_by\": [\"Sink\"]}\n\"Knife_7\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"DiningTable\"]}\n\"Plate_10\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Chair\"]}\n\"Knife_16\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Fridge\"]}\n\"CounterTop_23\": {\"label\": \"CounterTop\"}\n\"DiningTable_25\": {\"label\": \"DiningTable\"}\n\"Drawer_42\": {\"label\": \"Drawer\", \"open\": False}\n\"Shelf_46\": {\"label\": \"Shelf\"}\n\"Fridge_52\": {\"label\": \"Fridge\", \"open\": False}\n\"WineBottle_57\": {\"label\": \"WineBottle\", \"holding\": False, \"filled\": True, \"fillLiquid\": None, \"supported_by\": [\"CounterTop\"]}\n\"Plate_58\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"CounterTop\"]}\n\"Knife_63\": {\"label\": \"Knife\", \"holding\": True, \"supported_by\": [\"DiningTable\"]}\n\"SinkBasin_64\": {\"label\": \"SinkBasin\"}\n\"Lettuce_68\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": False, \"supported_by\": [\"CounterTop\"]}\n\"Knife_69\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Drawer\"]}\n\"Bread_74\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Fridge\"]}\n\"Toaster_76\": {\"label\": \"Toaster\", \"toggled\": False}\n\"Faucet_86\": {\"label\": \"Faucet\", \"toggled\": False}\n\"Stool_91\": {\"label\": \"Stool\"}\n\"BreadSliced_95\": {\"label\": \"BreadSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\"BreadSliced_96\": {\"label\": \"BreadSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\"LettuceSliced_97\": {\"label\": \"LettuceSliced\", \"holding\": False, \"supported_by\": [\"CounterTop\"]}\n\n\nDialogue: \n<Driver> what can i do. <Commander> make a slice of toast. <Driver> where is the bread? <Commander> bread is on top of the fridge. <Commander> grab a knife. <Commander> knife is where the bread was. <Driver> ok. <Commander> slice the bread. <Driver> sliced the bread. <Driver> now what. <Commander> slice 2 bread. <Driver> can't slice it again. <Driver> but i have 3 pieces. <Commander> grab plate on the chair. <Commander> only 2 slice. <Commander> chair in the corner. <Commander> after that toast the 2 sliced bread. <Commander> no. <Commander> in the corner. <Commander> left. <Commander> place on the counter and go toast the breads. <Driver> picked up the plate. <Commander> place lettuce on plate also. <Driver> how do i toast the bread. <Commander> in the toaster. <Commander> easy. <Commander> both slices and then place on plate. <Commander> along with lettuce. <Commander> not toasted. <Commander> make sure you turn the toaster on. <Commander> grab bread. <Commander> place the other bread in the toaster now. <Commander> one more bread to be toasted. <Driver> toasting. <Commander> place all components on the plate. <Commander> 2 toasted bread and 1 lettuce. <Commander> right on. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the bread, knife, lettuce, plate, and toaster\nfridge = InteractionObject(\"Fridge\", object_instance=\"Fridge_52\")\nbread = InteractionObject(\"Bread\", object_instance=\"Bread_3\")  # Bread is on top of the fridge\nknife = InteractionObject(\"Knife\", object_instance=\"Knife_16\")  # Knife is where the bread was\nlettuce = InteractionObject(\"Lettuce\", object_instance=\"Lettuce_5\")  # Lettuce is on the sink\ndirty_plate = InteractionObject(\"Plate\", object_instance=\"Plate_58\")  # Dirty plate is on the shelf\ntoaster = InteractionObject(\"Toaster\", object_instance=\"Toaster_76\")  # Toaster for toasting bread\nsink = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_64\")  # Sink for cleaning the plate\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_86\")  # Faucet for cleaning the plate\n\n# Retrieve the bread from the fridge and slice it\nfridge.go_to()\nfridge.open()\nbread.go_to()\nbread.pickup()\nfridge.close()\nbread.slice()\nbread_sliced_1 = InteractionObject(\"BreadSliced\", parent_object=bread.object_instance)  # Initialize new sliced object from sliced parent\nbread_sliced_2 = InteractionObject(\"BreadSliced\", parent_object=bread.object_instance)  # Initialize new sliced object from sliced parent\n\n# Clean the dirty plate\ndirty_plate.go_to()\ndirty_plate.pickup()\nsink.go_to()\ndirty_plate.place(sink)\nfaucet.go_to()\nfaucet.toggle_on()\nfaucet.toggle_off()\ndirty_plate.pickup()  # Pick up the clean plate\ndirty_plate.change_state(\"dirty\", False)  # Update the plate's state to clean\n\n# Retrieve the lettuce and slice it\nlettuce.go_to()\nlettuce.pickup()\nlettuce.slice()\nlettuce_sliced = InteractionObject(\"LettuceSliced\", parent_object=lettuce.object_instance)  # Initialize new sliced object from sliced parent\n\n# Toast two slices of bread in the toaster\ntoaster.go_to()\nbread_sliced_1.pickup()\nbread_sliced_1.place(toaster)\ntoaster.toggle_on()  # Start toasting the first bread slice\n# Wait for the bread to toast (this step is abstracted in the script)\ntoaster.toggle_off()  # Stop toasting after it's done\nbread_sliced_1.change_state(\"cooked\", True)  # Update the bread slice's state to toasted\nbread_sliced_1.pickup()  # Remove the toasted bread slice from the toaster\n\nbread_sliced_2.pickup()\nbread_sliced_2.place(toaster)\ntoaster.toggle_on()  # Start toasting the second bread slice\n# Wait for the bread to toast (this step is abstracted in the script)\ntoaster.toggle_off()  # Stop toasting after it's done\nbread_sliced_2.change_state(\"cooked\", True)  # Update the bread slice's state to toasted\nbread_sliced_2.pickup()  # Remove the toasted bread slice from the toaster\n\n# Assemble the toasted bread and a slice of lettuce on the clean plate\ndirty_plate.go_to()\nbread_sliced_1.place(dirty_plate)\nbread_sliced_2.place(dirty_plate)\nlettuce_sliced.pickup()\nlettuce_sliced.place(dirty_plate)\n\n# Causal abstraction comments:\n# The bread is sliced to create individual pieces that can be toasted.\n# The toaster is used to toast the bread, which is necessary for making toast.\n# The lettuce is sliced to provide a fresh component for the meal.\n# The dirty plate is cleaned to ensure a hygienic surface for the food.\n# The toasted bread and lettuce are placed on the plate to assemble the final dish.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Pan_3\": {\"label\": \"Pan\", \"holding\": False, \"dirty\": True, \"supported_by\": [\"StoveBurner\", \"StoveBurner\"]}\n\"Egg_17\": {\"label\": \"Egg\", \"holding\": False, \"supported_by\": [\"Sink\"]}\n\"Egg_19\": {\"label\": \"Egg\", \"holding\": False, \"supported_by\": [\"Fridge\"]}\n\"Egg_21\": {\"label\": \"Egg\", \"holding\": False, \"supported_by\": [\"Pan\", \"StoveBurner\"]}\n\"Egg_31\": {\"label\": \"Egg\", \"holding\": False, \"supported_by\": [\"Pot\", \"DiningTable\"]}\n\"StoveBurner_45\": {\"label\": \"StoveBurner\"}\n\"Drawer_46\": {\"label\": \"Drawer\", \"open\": False}\n\"CounterTop_50\": {\"label\": \"CounterTop\"}\n\"Egg_52\": {\"label\": \"Egg\", \"holding\": False, \"supported_by\": [\"Floor\", \"Fridge\"]}\n\"Fridge_71\": {\"label\": \"Fridge\", \"open\": False}\n\"SinkBasin_72\": {\"label\": \"SinkBasin\"}\n\"DiningTable_84\": {\"label\": \"DiningTable\"}\n\"DiningTable_86\": {\"label\": \"DiningTable\"}\n\n\nDialogue: \n<Driver> Hello, what is my directions? <Commander> i need you to put all of my eggs onto the dining table. <Commander> there should be some in the fridge. <Commander> i also left one on the stove opposite the fridge. <Driver> is there any more eggs? <Commander> there should be one more in the sink. <Commander> that should be all of them, thank you for your help! \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the fridge, eggs, and dining table\nfridge = InteractionObject(\"Fridge\", object_instance=\"Fridge_71\")\negg_fridge_1 = InteractionObject(\"Egg\", object_instance=\"Egg_19\")  # Egg inside the fridge\negg_fridge_2 = InteractionObject(\"Egg\", object_instance=\"Egg_52\")  # Egg inside the fridge\negg_stove = InteractionObject(\"Egg\", object_instance=\"Egg_21\")  # Egg on the stove opposite the fridge\negg_sink = InteractionObject(\"Egg\", object_instance=\"Egg_17\")  # Egg in the sink\ndining_table = InteractionObject(\"DiningTable\", object_instance=\"DiningTable_84\")\n\n# Go to the fridge, open it, and collect all the eggs inside\nfridge.go_to()\nfridge.open()\negg_fridge_1.go_to()\negg_fridge_1.pickup()\negg_fridge_1.place(dining_table)\negg_fridge_2.go_to()\negg_fridge_2.pickup()\negg_fridge_2.place(dining_table)\nfridge.close()\n\n# Go to the stove, collect the egg opposite the fridge\negg_stove.go_to()\negg_stove.pickup()\negg_stove.place(dining_table)\n\n# Go to the sink, collect the egg inside\negg_sink.go_to()\negg_sink.pickup()\negg_sink.place(dining_table)\n\n# Causal abstraction comments:\n# The fridge is opened to access the eggs inside, as indicated by the Commander.\n# Each egg is picked up from its location and placed on the dining table, centralizing all eggs as requested.\n# The script ensures that all eggs mentioned by the Commander are collected from the fridge, stove, and sink.\n# The dining table is the designated location for the eggs, making it easier for the Commander to find them.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Mug_0\": {\"label\": \"Mug\", \"holding\": False, \"dirty\": True, \"filled\": False, \"fillLiquid\": None, \"supported_by\": [\"CounterTop\"]}\n\"Mug_28\": {\"label\": \"Mug\", \"holding\": False, \"dirty\": False, \"filled\": False, \"fillLiquid\": None, \"supported_by\": [\"Stool\"]}\n\"CounterTop_34\": {\"label\": \"CounterTop\"}\n\"CoffeeMachine_75\": {\"label\": \"CoffeeMachine\", \"toggled\": False}\n\"SinkBasin_80\": {\"label\": \"SinkBasin\"}\n\"Mug_88\": {\"label\": \"Mug\", \"holding\": False, \"dirty\": False, \"filled\": False, \"fillLiquid\": None, \"supported_by\": [\"Cabinet\"]}\n\"Stool_90\": {\"label\": \"Stool\"}\n\"Faucet_91\": {\"label\": \"Faucet\", \"toggled\": True}\n\n\nDialogue: \n<Driver> hello how can I help? <Commander> please prepare a coffee in a clean mug. <Commander> the mug is on the chair. <Driver> coffee is done. <Commander> thank you that's all. <Driver> thanks. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the mug, coffee machine, and sink basin\nchair_mug = InteractionObject(\"Mug\", object_instance=\"Mug_28\")  # Mug is on the chair\ncoffee_machine = InteractionObject(\"CoffeeMachine\", object_instance=\"CoffeeMachine_75\")  # Coffee machine to prepare coffee\nsink_basin = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_80\")  # Sink basin for cleaning the mug if necessary\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_91\")  # Faucet to use water for cleaning\ncountertop = InteractionObject(\"CounterTop\", object_instance=\"CounterTop_34\")  # Define a countertop instance to place the mug on\n\n# Pick up the specified mug from the chair\nchair_mug.go_to()\nchair_mug.pickup()\n\n# Check if the mug is clean; if not, clean the mug\nif not chair_mug.check_attribute(\"dirty\", False):\n    # If the faucet is on, turn it off before cleaning\n    if faucet.check_attribute(\"toggled\", True):\n        faucet.toggle_off()\n    \n    # Clean the mug\n    sink_basin.go_to()\n    chair_mug.place(sink_basin)\n    faucet.toggle_on()  # Rinse the mug with water\n    faucet.toggle_off()  # Turn off the faucet after rinsing\n    chair_mug.change_state(\"dirty\", False)  # Update the mug's state to clean\n\n# Use the coffee machine to prepare coffee in the clean mug\ncoffee_machine.go_to()\nchair_mug.pickup()\nchair_mug.place(coffee_machine)\ncoffee_machine.toggle_on()  # Start the coffee machine to prepare coffee\n# Wait for coffee to be prepared (this step is abstracted in the script)\ncoffee_machine.toggle_off()  # Turn off the coffee machine after coffee is prepared\nchair_mug.change_state(\"filled\", True)  # Update the mug's state to filled with coffee\nchair_mug.change_state(\"fillLiquid\", \"coffee\")  # Update the liquid in the mug to coffee\n\n# Place the mug with coffee on the countertop\nchair_mug.pickup()\nchair_mug.place(countertop)  # Correctly place the mug on the countertop\n\n# Causal abstraction comments:\n# The mug is identified on the chair and picked up to ensure we are using the correct object as per the Commander's instructions.\n# The mug's cleanliness is checked, and if necessary, it is cleaned in the sink basin to meet the requirement of using a clean mug.\n# The coffee machine is used to prepare coffee, which is the main task assigned by the Commander.\n# The mug is placed on the countertop after coffee preparation, completing the task as requested.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"DishSponge_1\": {\"label\": \"DishSponge\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Sink\"]}\n\"PepperShaker_2\": {\"label\": \"PepperShaker\", \"holding\": False, \"supported_by\": [\"CounterTop\", \"Plate\"]}\n\"Apple_3\": {\"label\": \"Apple\", \"holding\": False, \"sliced\": False, \"dirty\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"PepperShaker_12\": {\"label\": \"PepperShaker\", \"holding\": False, \"supported_by\": [\"Cabinet\"]}\n\"DishSponge_15\": {\"label\": \"DishSponge\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Sink\"]}\n\"CounterTop_19\": {\"label\": \"CounterTop\"}\n\"CounterTop_22\": {\"label\": \"CounterTop\"}\n\"Knife_65\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Sink\"]}\n\"Plate_84\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": True, \"supported_by\": [\"CounterTop\"]}\n\"SinkBasin_91\": {\"label\": \"SinkBasin\"}\n\"PepperShaker_94\": {\"label\": \"PepperShaker\", \"holding\": False, \"supported_by\": [\"Microwave\"]}\n\"DishSponge_98\": {\"label\": \"DishSponge\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Pot\", \"CounterTop\"]}\n\"Mug_101\": {\"label\": \"Mug\", \"holding\": False, \"dirty\": False, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"Sink\"]}\n\"Faucet_103\": {\"label\": \"Faucet\", \"toggled\": True}\n\n\nDialogue: \n<Driver> What shall I do today? <Commander> hi. <Commander> please wash the plate on the counter. <Commander> with the shaker on top. <Driver> next? <Commander> done. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the pepper shaker, plate, sink basin, faucet, and dish sponge\npepper_shaker = InteractionObject(\"PepperShaker\", object_instance=\"PepperShaker_2\")  # Pepper shaker on top of the plate\ndirty_plate = InteractionObject(\"Plate\", object_instance=\"Plate_84\")  # Dirty plate on the countertop\nsink_basin = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_91\")  # Sink basin for washing\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_103\")  # Faucet for water\ndish_sponge = InteractionObject(\"DishSponge\", object_instance=\"DishSponge_1\")  # Dish sponge for cleaning\n\n# Remove the pepper shaker from the plate and place it aside on the countertop\npepper_shaker.pickup()\ncounter_top = InteractionObject(\"CounterTop\", object_instance=\"CounterTop_19\")  # CounterTop to place the pepper shaker\npepper_shaker.place(counter_top)\n\n# Verify that the plate is dirty before washing\nif dirty_plate.check_attribute(\"dirty\", True):\n    # Wash the plate using the dish sponge and the running water from the faucet\n    dirty_plate.pickup()\n    sink_basin.go_to()\n    dirty_plate.place(sink_basin)\n    \n    # If the faucet is not already running, turn it on\n    if not faucet.check_attribute(\"toggled\", True):\n        faucet.go_to()\n        faucet.toggle_on()\n    \n    # Use the dish sponge to clean the plate\n    dish_sponge.pickup()\n    dish_sponge.place(dirty_plate)  # Scrub the plate with the sponge\n    dirty_plate.change_state(\"dirty\", False)  # Update the plate's state to clean\n    \n    # Turn off the faucet after washing the plate\n    faucet.go_to()\n    faucet.toggle_off()\n\n# Causal abstraction comments:\n# The pepper shaker is removed from the plate to allow for washing without obstruction.\n# The plate's dirty status is verified to ensure that cleaning is necessary.\n# The dish sponge is used to scrub the plate clean, utilizing the running water from the faucet.\n# The faucet is turned off after washing to conserve water and complete the task.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Bread_1\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": True, \"cooked\": False, \"supported_by\": [\"DiningTable\"]}\n\"Knife_2\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Fridge\"]}\n\"Lettuce_5\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": False, \"supported_by\": [\"Fridge\"]}\n\"Plate_7\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"CounterTop\"]}\n\"Knife_11\": {\"label\": \"Knife\", \"holding\": True, \"supported_by\": [\"DiningTable\"]}\n\"Lettuce_13\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": False, \"supported_by\": [\"CounterTop\"]}\n\"Bread_14\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\"CounterTop_20\": {\"label\": \"CounterTop\"}\n\"DiningTable_21\": {\"label\": \"DiningTable\"}\n\"CounterTop_23\": {\"label\": \"CounterTop\"}\n\"Knife_66\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Fridge\"]}\n\"Fridge_67\": {\"label\": \"Fridge\", \"open\": False}\n\"Plate_85\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"CounterTop\"]}\n\"Lettuce_90\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": True, \"supported_by\": [\"CounterTop_20\"]}\n\"Toaster_91\": {\"label\": \"Toaster\", \"toggled\": False}\n\"SinkBasin_92\": {\"label\": \"SinkBasin\"}\n\"Knife_96\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"DiningTable\"]}\n\"Bread_97\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"DiningTable\"]}\n\"Mug_102\": {\"label\": \"Mug\", \"holding\": False, \"dirty\": False, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"CounterTop\"]}\n\"Faucet_104\": {\"label\": \"Faucet\", \"toggled\": False}\n\"BreadSliced_106\": {\"label\": \"BreadSliced\", \"holding\": False, \"cooked\": True, \"supported_by\": [\"CounterTop\"]}\n\"BreadSliced_107\": {\"label\": \"BreadSliced\", \"holding\": False, \"cooked\": True, \"supported_by\": [\"CounterTop\"]}\n\"LettuceSliced_108\": {\"label\": \"LettuceSliced\", \"holding\": False, \"supported_by\": [\"CounterTop\"]}\n\"LettuceSliced_109\": {\"label\": \"LettuceSliced\", \"holding\": False, \"supported_by\": [\"CounterTop\"]}\n\n\nDialogue: \n<Driver> What shall I do today? <Commander> toast two slices of bread. <Driver> I could see bread. <Driver> Can you help me find knife? <Commander> knife is on the table. <Commander> now slice the lettuce on the sink. <Driver> how many slices? <Commander> it is done. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the knife, bread, toaster, plate, lettuce, and countertop\nknife = InteractionObject(\"Knife\", object_instance=\"Knife_11\")  # Knife is on the dining table\nbread = InteractionObject(\"Bread\", object_instance=\"Bread_1\")  # Bread is on the dining table\ntoaster = InteractionObject(\"Toaster\", object_instance=\"Toaster_91\")  # Toaster for toasting bread\ndirty_plate = InteractionObject(\"Plate\", object_instance=\"Plate_7\")  # Dirty plate is on the dining table\nlettuce = InteractionObject(\"Lettuce\", object_instance=\"Lettuce_90\")  # Correct lettuce is on the sink\ncountertop = InteractionObject(\"CounterTop\", object_instance=\"CounterTop_20\")  # Countertop for slicing\n\n# Pick up the knife and slice two pieces of bread\nknife.go_to()\nknife.pickup()\nbread.go_to()\nbread.slice()\nbread_sliced_1 = InteractionObject(\"BreadSliced\", parent_object=bread.object_instance)  # Initialize new sliced object from sliced parent\nbread_sliced_2 = InteractionObject(\"BreadSliced\", parent_object=bread.object_instance)  # Initialize new sliced object from sliced parent\n\n# Toast the two slices of bread\ntoaster.go_to()\nbread_sliced_1.pickup()\nbread_sliced_1.place(toaster)\ntoaster.toggle_on()  # Start toasting the first bread slice\n# Wait for the bread to toast (this step is abstracted in the script)\ntoaster.toggle_off()  # Stop toasting after it's done\nbread_sliced_1.change_state(\"cooked\", True)  # Update the bread slice's state to toasted\nbread_sliced_1.pickup()  # Remove the toasted bread slice from the toaster\n\nbread_sliced_2.pickup()\nbread_sliced_2.place(toaster)\ntoaster.toggle_on()  # Start toasting the second bread slice\n# Wait for the bread to toast (this step is abstracted in the script)\ntoaster.toggle_off()  # Stop toasting after it's done\nbread_sliced_2.change_state(\"cooked\", True)  # Update the bread slice's state to toasted\nbread_sliced_2.pickup()  # Remove the toasted bread slice from the toaster\n\n# Clean the dirty plate if necessary\nif dirty_plate.check_attribute(\"dirty\", True):\n    sink = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_92\")  # Sink for cleaning the plate\n    faucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_104\")  # Faucet for cleaning the plate\n    dirty_plate.go_to()\n    dirty_plate.pickup()\n    sink.go_to()\n    dirty_plate.place(sink)\n    faucet.go_to()\n    faucet.toggle_on()\n    # Wait for the plate to be cleaned (this step is abstracted in the script)\n    faucet.toggle_off()\n    dirty_plate.pickup()  # Pick up the clean plate\n    dirty_plate.change_state(\"dirty\", False)  # Update the plate's state to clean\n\n# Slice the lettuce and create instances for the sliced lettuce\nlettuce.go_to()\nknife.go_to()  # Go to the knife before slicing lettuce\nknife.pickup()  # Pick up the knife to use for slicing\nlettuce.pickup()\ncountertop.go_to()\nlettuce.place(countertop)\nlettuce.slice()\nlettuce.change_state(\"sliced\", True)  # Correctly update the lettuce's state to sliced\nlettuce_sliced_1 = InteractionObject(\"LettuceSliced\", parent_object=lettuce.object_instance)  # Initialize new sliced object from sliced parent\nlettuce_sliced_2 = InteractionObject(\"LettuceSliced\", parent_object=lettuce.object_instance)  # Initialize new sliced object from sliced parent\n\n# Arrange the toasted bread slices and lettuce slices on the clean plate\ndirty_plate.go_to()\nbread_sliced_1.place(dirty_plate)\nbread_sliced_2.place(dirty_plate)\nlettuce_sliced_1.pickup()\nlettuce_sliced_1.place(dirty_plate)\nlettuce_sliced_2.pickup()\nlettuce_sliced_2.place(dirty_plate)\n\n# Causal abstraction comments:\n# The knife is used to slice the bread, which is necessary for toasting.\n# The toaster is used to toast the bread slices, which is essential for making toast.\n# The dirty plate is cleaned to ensure a hygienic surface for the food.\n# The lettuce is sliced to provide a fresh component for the meal.\n# The toasted bread and lettuce are placed on the plate to assemble the final dish.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Knife_8\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"DiningTable\"]}\n\"Plate_10\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"SideTable\"]}\n\"Knife_14\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Fridge\"]}\n\"Plate_15\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": True, \"supported_by\": [\"DiningTable\"]}\n\"CounterTop_21\": {\"label\": \"CounterTop\"}\n\"CounterTop_39\": {\"label\": \"CounterTop\"}\n\"Plate_53\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": True, \"supported_by\": [\"Cabinet\"]}\n\"Bread_56\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": True, \"cooked\": False, \"supported_by\": [\"SideTable\"]}\n\"Knife_58\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Fridge\"]}\n\"Knife_62\": {\"label\": \"Knife\", \"holding\": True, \"supported_by\": [\"CounterTop\"]}\n\"Toaster_65\": {\"label\": \"Toaster\", \"toggled\": True}\n\"SideTable_76\": {\"label\": \"SideTable\"}\n\"DiningTable_77\": {\"label\": \"DiningTable\"}\n\"BreadSliced_81\": {\"label\": \"BreadSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\n\nDialogue: \n<Commander> hi. <Commander> make one slice of toast please. <Commander> bread is on the black side table. <Driver> okay. <Commander> after toasting place it on this same plate. <Commander> only one slice. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the bread, knife, toaster, and plate\nside_table = InteractionObject(\"SideTable\", object_instance=\"SideTable_76\")\nbread = InteractionObject(\"Bread\", object_instance=\"Bread_56\")  # Bread is on the black side table\nknife = InteractionObject(\"Knife\", object_instance=\"Knife_62\")  # Knife is on the countertop\ntoaster = InteractionObject(\"Toaster\", object_instance=\"Toaster_65\")  # Toaster for toasting bread\nplate = InteractionObject(\"Plate\", object_instance=\"Plate_10\")  # Plate is on the side table\n\n# Retrieve the bread from the side table\nbread.go_to()\nbread.pickup()\n\n# Slice the bread\nknife.go_to()\nknife.pickup()\nbread.slice()\nbread_sliced = InteractionObject(\"BreadSliced\", parent_object=bread.object_instance)  # Initialize new sliced object from sliced parent\n\n# Toast a slice of bread\ntoaster.go_to()\nbread_sliced.pickup()\nbread_sliced.place(toaster)\ntoaster.toggle_on()  # Start toasting the bread slice\n# Wait for the bread to toast (this step is abstracted in the script)\ntoaster.toggle_off()  # Stop toasting after it's done\nbread_sliced.change_state(\"cooked\", True)  # Update the bread slice's state to toasted\n\n# Place the toasted bread on the clean plate\nplate.go_to()\nbread_sliced.pickup()\nbread_sliced.place(plate)\n\n# Causal abstraction comments:\n# The bread is retrieved and sliced to create individual pieces that can be toasted.\n# The toaster is used to toast a slice of bread, which is the main task of making a slice of toast.\n# The clean plate is used to hold the toasted bread, completing the task as instructed by the Commander.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Newspaper_2\": {\"label\": \"Newspaper\", \"holding\": False, \"supported_by\": [\"ArmChair\"]}\n\"Newspaper_18\": {\"label\": \"Newspaper\", \"holding\": False, \"supported_by\": [\"ArmChair\"]}\n\"Ottoman_33\": {\"label\": \"Ottoman\"}\n\"Chair_36\": {\"label\": \"Chair\"}\n\n\nDialogue: \n<Commander> Hi! <Driver> Hello! What is my task? <Commander> Welcome to the task of putting all the newspaper. <Commander> onto one ottoman. <Driver> hooray! <Commander> That is it. <Driver> :). <Commander> . <Driver> . <Driver> . <Commander> There's like two. <Commander> :-). <Commander> Two ottoman's newspaper. <Driver> task complete. <Commander> All done. <Driver> ta-da! <Commander> . \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the newspapers and the ottoman\nnewspaper_2 = InteractionObject(\"Newspaper\", object_instance=\"Newspaper_2\")  # First newspaper on the armchair\nnewspaper_18 = InteractionObject(\"Newspaper\", object_instance=\"Newspaper_18\")  # Second newspaper on the armchair\ntarget_ottoman = InteractionObject(\"Ottoman\", object_instance=\"Ottoman_33\")  # The ottoman to place newspapers on\n\n# (causal abstraction) Pick up the first newspaper and place it on the ottoman\nnewspaper_2.go_to()  # Navigate to the first newspaper\nnewspaper_2.pickup()  # Pick up the first newspaper\ntarget_ottoman.go_to()  # Navigate to the ottoman\nnewspaper_2.place(target_ottoman)  # Place the first newspaper on the ottoman\n\n# (causal abstraction) Pick up the second newspaper and place it on the same ottoman\nnewspaper_18.go_to()  # Navigate to the second newspaper\nnewspaper_18.pickup()  # Pick up the second newspaper\n# Since we are already at the ottoman, we do not need to navigate to it again\nnewspaper_18.place(target_ottoman)  # Place the second newspaper on the ottoman\n\n# Both newspapers are now placed on the ottoman as per the Commander's instruction\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"RemoteControl_0\": {\"label\": \"RemoteControl\", \"holding\": False, \"supported_by\": [\"Floor\", \"GarbageCan\"]}\n\"GarbageCan_7\": {\"label\": \"GarbageCan\"}\n\"RemoteControl_18\": {\"label\": \"RemoteControl\", \"holding\": False, \"supported_by\": [\"DiningTable\"]}\n\"Sofa_28\": {\"label\": \"Sofa\"}\n\"DiningTable_37\": {\"label\": \"DiningTable\"}\n\n\nDialogue: \n<Driver> hello how can I help? <Commander> put the remote controls on the sofa. <Commander> one is on the table. <Commander> and a second one is in the bin. <Driver> done. <Driver> anything else I can do? <Commander> you have to put it on the sofa not the armchair. <Driver> ah I see, sorry. <Driver> done. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the remote controls and the sofa\nremote_on_table = InteractionObject(\"RemoteControl\", object_instance=\"RemoteControl_18\")  # Remote control on the dining table\nremote_in_bin = InteractionObject(\"RemoteControl\", object_instance=\"RemoteControl_0\")  # Remote control in the garbage can\nsofa = InteractionObject(\"Sofa\", object_instance=\"Sofa_28\")  # Sofa as the destination for the remote controls\n\n# (causal abstraction) Pick up the first remote control from the dining table and place it on the sofa\nremote_on_table.go_to()  # Navigate to the remote control on the dining table\nremote_on_table.pickup()  # Pick up the remote control\nsofa.go_to()  # Navigate to the sofa\nremote_on_table.place(sofa)  # Place the remote control on the sofa\n\n# (causal abstraction) Pick up the second remote control from the garbage can and place it on the sofa\nremote_in_bin.go_to()  # Navigate to the remote control in the garbage can\nremote_in_bin.pickup()  # Pick up the remote control\nsofa.go_to()  # Navigate to the sofa\nremote_in_bin.place(sofa)  # Place the remote control on the sofa\n\n# Both remote controls are now placed on the sofa as per the Commander's instruction\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Apple_1\": {\"label\": \"Apple\", \"holding\": False, \"sliced\": False, \"dirty\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"Vase_2\": {\"label\": \"Vase\", \"holding\": False, \"supported_by\": [\"Sink\"]}\n\"Potato_15\": {\"label\": \"Potato\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"Cabinet_23\": {\"label\": \"Cabinet\", \"open\": False}\n\"Cabinet_38\": {\"label\": \"Cabinet\", \"open\": False}\n\"CounterTop_47\": {\"label\": \"CounterTop\"}\n\"Microwave_50\": {\"label\": \"Microwave\", \"toggled\": False, \"open\": False}\n\"Fork_52\": {\"label\": \"Fork\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Sink\"]}\n\"SinkBasin_77\": {\"label\": \"SinkBasin\"}\n\"Apple_82\": {\"label\": \"Apple\", \"holding\": False, \"sliced\": False, \"dirty\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"DishSponge_83\": {\"label\": \"DishSponge\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Microwave\"]}\n\"Spoon_84\": {\"label\": \"Spoon\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Sink\"]}\n\"Faucet_91\": {\"label\": \"Faucet\", \"toggled\": True}\n\n\nDialogue: \n<Commander> can you put the sponge in the sink please. <Commander> the sponge should be in the microwave. <Commander> that's great. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the microwave, dish sponge, and sink basin\nmicrowave = InteractionObject(\"Microwave\", object_instance=\"Microwave_50\")  # Microwave in the kitchen\ndish_sponge = InteractionObject(\"DishSponge\", object_instance=\"DishSponge_83\")  # Dish sponge in the microwave\nsink_basin = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_77\")  # Sink basin in the kitchen\n\n# Go to the microwave and open it\nmicrowave.go_to()\nmicrowave.open()\n\n# Pick up the dish sponge from the microwave\ndish_sponge.go_to()\ndish_sponge.pickup()\n\n# Go to the sink basin and place the dish sponge in it\nsink_basin.go_to()\ndish_sponge.place(sink_basin)\n\n# Close the microwave after taking out the sponge\nmicrowave.close()\n\n# Causal abstraction comments:\n# The microwave is opened to access the dish sponge, which is the object of interest as per the Commander's instruction.\n# The dish sponge is picked up from the microwave, indicating that the robot has located the correct object to interact with.\n# The dish sponge is placed in the sink basin, fulfilling the Commander's request to put the sponge in the sink.\n# The microwave is closed as a final step to maintain the environment's order and complete the task.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"SoapBottle_9\": {\"label\": \"SoapBottle\", \"holding\": False, \"supported_by\": [\"Cabinet\"]}\n\"Lettuce_12\": {\"label\": \"Lettuce\", \"holding\": False, \"sliced\": False, \"supported_by\": [\"Sink\"]}\n\"CounterTop_23\": {\"label\": \"CounterTop\"}\n\"Faucet_25\": {\"label\": \"Faucet\", \"toggled\": False}\n\"Bowl_34\": {\"label\": \"Bowl\", \"holding\": False, \"dirty\": True, \"filled\": False, \"fillLiquid\": None, \"supported_by\": [\"CounterTop\"]}\n\"SoapBottle_36\": {\"label\": \"SoapBottle\", \"holding\": False, \"supported_by\": [\"CounterTop\"]}\n\"Microwave_45\": {\"label\": \"Microwave\", \"toggled\": True, \"open\": False}\n\"Tomato_56\": {\"label\": \"Tomato\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"SinkBasin_57\": {\"label\": \"SinkBasin\"}\n\"DishSponge_63\": {\"label\": \"DishSponge\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Sink\"]}\n\"Stool_74\": {\"label\": \"Stool\"}\n\n\nDialogue: \n<Driver> what's the first task? <Commander> we are going to clean dishware. <Driver> ok which dish first? <Commander> dish on counter next to plant. <Commander> right of sink. <Commander> that is all good job. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the bowl, sink basin, dish sponge, soap bottle, and faucet\nbowl = InteractionObject(\"Bowl\", object_instance=\"Bowl_34\")  # Dirty bowl on the countertop\nsink_basin = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_57\")  # Sink basin for washing\ndish_sponge = InteractionObject(\"DishSponge\", object_instance=\"DishSponge_63\")  # Dish sponge for cleaning\nsoap_bottle = InteractionObject(\"SoapBottle\", object_instance=\"SoapBottle_36\")  # Soap bottle for cleaning\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_25\")  # Faucet for water\ntarget_countertop = InteractionObject(\"CounterTop\", object_instance=\"CounterTop_23\")  # Countertop for placing clean items\n\n# Pick up the dirty bowl and place it in the sink basin\nbowl.go_to()\nbowl.pickup()\nsink_basin.go_to()\nbowl.place(sink_basin)\n\n# Use the dish sponge and soap to clean the bowl\ndish_sponge.go_to()\ndish_sponge.pickup()\nsoap_bottle.go_to()\n# Assume applying soap to the sponge\ndish_sponge.place(bowl)  # Scrub the bowl with the soapy sponge\nbowl.change_state(\"dirty\", False)  # Update the bowl's state to clean\n\n# Rinse the bowl with water from the faucet\nfaucet.go_to()\nfaucet.toggle_on()\n# Assume rinsing is done, update the bowl's state to filled with water\nbowl.change_state(\"filled\", True)\nbowl.change_state(\"fillLiquid\", \"water\")\nfaucet.toggle_off()\n\n# Place the clean bowl back on the countertop\nbowl.pickup()\ntarget_countertop.go_to()\nbowl.place(target_countertop)\n\n# Causal abstraction comments:\n# The bowl is identified and picked up from the countertop where it is located next to the plant and to the right of the sink.\n# The bowl is placed in the sink basin to be cleaned with the dish sponge and soap, ensuring it is thoroughly scrubbed.\n# The faucet is turned on to rinse the bowl, and the bowl's state is updated to reflect that it is now filled with water.\n# The faucet is then turned off to conserve water after the bowl is clean.\n# The clean bowl is placed back on the countertop, completing the task as instructed by the Commander.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Plate_1\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Chair\"]}\n\"Knife_4\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Floor\", \"Fridge\"]}\n\"Apple_5\": {\"label\": \"Apple\", \"holding\": False, \"sliced\": False, \"dirty\": False, \"cooked\": False, \"supported_by\": [\"Plate\", \"Chair\"]}\n\"Knife_7\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"CounterTop\"]}\n\"Bread_9\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": True, \"cooked\": False, \"supported_by\": [\"DiningTable\"]}\n\"Bread_15\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Fridge\"]}\n\"Apple_16\": {\"label\": \"Apple\", \"holding\": False, \"sliced\": False, \"dirty\": False, \"cooked\": False, \"supported_by\": [\"Sink\"]}\n\"Knife_18\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Cabinet\"]}\n\"Knife_19\": {\"label\": \"Knife\", \"holding\": True, \"supported_by\": [\"DiningTable\"]}\n\"Drawer_27\": {\"label\": \"Drawer\", \"open\": False}\n\"CounterTop_28\": {\"label\": \"CounterTop\"}\n\"CounterTop_39\": {\"label\": \"CounterTop\"}\n\"Toaster_48\": {\"label\": \"Toaster\", \"toggled\": False}\n\"Bread_56\": {\"label\": \"Bread\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Fridge\"]}\n\"Knife_63\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Drawer\"]}\n\"SinkBasin_66\": {\"label\": \"SinkBasin\"}\n\"Knife_67\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Chair\"]}\n\"Plate_73\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": True, \"supported_by\": [\"Cabinet\"]}\n\"DiningTable_78\": {\"label\": \"DiningTable\"}\n\"Chair_81\": {\"label\": \"Chair\"}\n\"BreadSliced_82\": {\"label\": \"BreadSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"DiningTable\"]}\n\n\nDialogue: \n<Driver> how can I help? <Commander> can you make a slice of toast please. <Commander> it is on the white table. <Commander> knife is also there. <Driver> sure. <Commander> a plate is on the chair by the same table, please put the toast on it. <Driver> okay. <Driver> done. <Commander> done. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the knife, bread, toaster, and plate\ndining_table = InteractionObject(\"DiningTable\", object_instance=\"DiningTable_78\")\nknife = InteractionObject(\"Knife\", object_instance=\"Knife_19\")  # Knife is on the dining table\nbread = InteractionObject(\"Bread\", object_instance=\"Bread_9\")  # Bread is on the dining table\ntoaster = InteractionObject(\"Toaster\", object_instance=\"Toaster_48\")  # Toaster for toasting bread\nplate = InteractionObject(\"Plate\", object_instance=\"Plate_1\")  # Plate is on the chair by the dining table\n\n# Go to the dining table and pick up the knife\nknife.go_to()\nknife.pickup()\n\n# Slice the bread to create a slice\nbread.go_to()\nbread.slice()\nbread_sliced = InteractionObject(\"BreadSliced\", parent_object=bread.object_instance)  # Initialize new sliced object from sliced parent\n\n# Toast the bread slice in the toaster\ntoaster.go_to()\nbread_sliced.pickup()\nbread_sliced.place(toaster)\ntoaster.toggle_on()  # Start toasting the bread slice\n# Wait for the bread to toast (this step is abstracted in the script)\ntoaster.toggle_off()  # Stop toasting after it's done\nbread_sliced.change_state(\"cooked\", True)  # Update the bread slice's state to toasted\nbread_sliced.pickup()  # Remove the toasted bread slice from the toaster\n\n# Pick up a clean plate from the chair by the dining table\nplate.go_to()\nplate.pickup()\n\n# Place the toasted bread slice on the clean plate\nplate.go_to()\nbread_sliced.place(plate)\n\n# Causal abstraction comments:\n# The knife is picked up to slice the bread, which is necessary to create a slice for toasting.\n# The toaster is used to toast the bread slice, fulfilling the requirement to make toast.\n# The plate is picked up from the chair by the dining table as instructed in the dialogue.\n# The toasted bread slice is placed on the plate, completing the task as per the dialogue instructions.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"RemoteControl_2\": {\"label\": \"RemoteControl\", \"holding\": False, \"supported_by\": [\"Floor\", \"Box\", \"CoffeeTable\"]}\n\"RemoteControl_4\": {\"label\": \"RemoteControl\", \"holding\": False, \"supported_by\": [\"Floor\", \"ArmChair\"]}\n\"Box_7\": {\"label\": \"Box\", \"holding\": False, \"open\": True, \"supported_by\": [\"Floor\", \"CoffeeTable\"]}\n\"RemoteControl_15\": {\"label\": \"RemoteControl\", \"holding\": False, \"supported_by\": [\"TVStand\"]}\n\"Chair_29\": {\"label\": \"Chair\"}\n\"CoffeeTable_30\": {\"label\": \"CoffeeTable\"}\n\"Chair_31\": {\"label\": \"Chair\"}\n\"TVStand_37\": {\"label\": \"TVStand\"}\n\n\nDialogue: \n<Commander> Today could you place all the remote controls onto any of the chairs. <Commander> there is one on the tv stand. <Commander> and another on the coffee table. <Driver> I can't drop this box. <Commander> are you able to place it on a chair? <Commander> that's great thank you. <Driver> Is there another remote? \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the remote controls and the selected chair\nremote_control_tv_stand = InteractionObject(\"RemoteControl\", object_instance=\"RemoteControl_15\")  # Remote control on the TV stand\nremote_control_coffee_table = InteractionObject(\"RemoteControl\", object_instance=\"RemoteControl_2\")  # Remote control on the coffee table\nselected_chair = InteractionObject(\"Chair\", object_instance=\"Chair_29\")  # Choosing one of the chairs to place remote controls on\n\n# (causal abstraction) Pick up the remote control from the TV stand and place it on the selected chair\nremote_control_tv_stand.go_to()  # Navigate to the remote control on the TV stand\nremote_control_tv_stand.pickup()  # Pick up the remote control\nselected_chair.go_to()  # Navigate to the selected chair\nremote_control_tv_stand.place(selected_chair)  # Place the remote control on the chair\n\n# (causal abstraction) Pick up the remote control from the coffee table and place it on the selected chair\nremote_control_coffee_table.go_to()  # Navigate to the remote control on the coffee table\nremote_control_coffee_table.pickup()  # Pick up the remote control\n# Since we are already at the chair, we do not need to navigate to it again\nremote_control_coffee_table.place(selected_chair)  # Place the remote control on the chair\n\n# All remote controls are now placed on the chair as per the Commander's instruction\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Pot_16\": {\"label\": \"Pot\", \"holding\": False, \"dirty\": False, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"StoveBurner\"]}\n\"Pot_19\": {\"label\": \"Pot\", \"holding\": False, \"dirty\": True, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"StoveBurner\"]}\n\"Pot_31\": {\"label\": \"Pot\", \"holding\": False, \"dirty\": True, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"StoveBurner\"]}\n\"StoveBurner_37\": {\"label\": \"StoveBurner\"}\n\"StoveBurner_39\": {\"label\": \"StoveBurner\"}\n\"CounterTop_42\": {\"label\": \"CounterTop\"}\n\"StoveBurner_45\": {\"label\": \"StoveBurner\"}\n\"StoveBurner_49\": {\"label\": \"StoveBurner\"}\n\"Pot_51\": {\"label\": \"Pot\", \"holding\": False, \"dirty\": True, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"Cabinet\"]}\n\"Potato_54\": {\"label\": \"Potato\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Fridge\"]}\n\"Fridge_61\": {\"label\": \"Fridge\", \"open\": False}\n\"Drawer_90\": {\"label\": \"Drawer\", \"open\": False}\n\n\nDialogue: \n<Driver> hi how can i help. <Commander> please boil a potato. <Driver> done. <Commander> thank you that's all. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the fridge, potato, pot, and stove burner\nfridge = InteractionObject(\"Fridge\", object_instance=\"Fridge_61\")\npotato = InteractionObject(\"Potato\", object_instance=\"Potato_54\")  # The potato inside the fridge\nclean_pot_with_water = InteractionObject(\"Pot\", object_instance=\"Pot_16\")  # A clean pot filled with water\nstove_burner = InteractionObject(\"StoveBurner\", object_instance=\"StoveBurner_37\")  # A stove burner to boil the potato\n\n# Open the fridge to retrieve the potato\nfridge.go_to()\nfridge.open()\n\n# Retrieve the potato from the fridge\npotato.go_to()\npotato.pickup()\n\n# Close the fridge after taking out the potato\nfridge.close()\n\n# Navigate to the clean pot filled with water\nclean_pot_with_water.go_to()\n\n# Place the potato in the pot\npotato.place(clean_pot_with_water)\n\n# Navigate to the stove burner and place the pot on it\nstove_burner.go_to()\nclean_pot_with_water.pickup_and_place(stove_burner)\n\n# Turn on the stove burner to boil the potato\nstove_burner.toggle_on()\n\n# Wait for the potato to boil (this step is abstracted in the script)\n# After boiling, update the potato's state to 'cooked'\npotato.change_state(\"cooked\", True)\n\n# Causal abstraction comments:\n# The fridge is opened to access the potato, which is necessary for the task.\n# The potato is placed in a clean pot with water, as boiling requires water.\n# The stove burner is turned on to heat the pot, which cooks the potato.\n# The potato's state is updated to 'cooked' to reflect the completion of the boiling process.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"SaltShaker_15\": {\"label\": \"SaltShaker\", \"holding\": False, \"supported_by\": [\"Sink\", \"Plate\"]}\n\"CounterTop_23\": {\"label\": \"CounterTop\"}\n\"CounterTop_43\": {\"label\": \"CounterTop\"}\n\"WineBottle_57\": {\"label\": \"WineBottle\", \"holding\": False, \"filled\": True, \"fillLiquid\": None, \"supported_by\": [\"Sink\"]}\n\"Plate_58\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Sink\"]}\n\"SinkBasin_64\": {\"label\": \"SinkBasin\"}\n\"Faucet_86\": {\"label\": \"Faucet\", \"toggled\": True}\n\n\nDialogue: \n<Driver> What should I do today? <Commander> hello please rinse the plate that is on the sink. <Commander> good work. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the plate and the faucet\nplate = InteractionObject(\"Plate\", object_instance=\"Plate_58\")  # Plate is on the sink\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_86\")  # Faucet is already on\n\n# Go to the sink and pick up the plate\nplate.go_to()\nplate.pickup()\n\n# Check if the plate is dirty before attempting to rinse it\nif plate.check_attribute(\"dirty\", True):\n    # Rinse the plate by ensuring the faucet is on\n    if not faucet.check_attribute(\"toggled\", True):\n        faucet.toggle_on()\n    # Assume the plate is now clean, update its state\n    plate.change_state(\"dirty\", False)\n\n# Turn off the faucet after rinsing the plate to conserve water\nfaucet.toggle_off()\n\n# Place the clean plate back on the sink or an appropriate location\n# Assuming the sink is an appropriate location to place the clean plate\nplate.place(InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_64\"))\n\n# Causal abstraction comments:\n# The plate is checked for dirtiness before rinsing to avoid unnecessary actions.\n# The faucet's state is checked, and it is toggled on if needed to rinse the plate.\n# The faucet is turned off after rinsing to conserve water, demonstrating efficient use of resources.\n# The clean plate is placed back on the sink, completing the task of rinsing the plate as instructed.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Tomato_3\": {\"label\": \"Tomato\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Cabinet\"]}\n\"Plate_11\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"CounterTop\"]}\n\"Drawer_18\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_20\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_21\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_22\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_28\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_29\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_31\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_33\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_35\": {\"label\": \"Drawer\", \"open\": False}\n\"CounterTop_37\": {\"label\": \"CounterTop\"}\n\"Drawer_38\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_41\": {\"label\": \"Drawer\", \"open\": False}\n\"Drawer_42\": {\"label\": \"Drawer\", \"open\": False}\n\"CounterTop_44\": {\"label\": \"CounterTop\"}\n\"Drawer_45\": {\"label\": \"Drawer\", \"open\": False}\n\"Cabinet_48\": {\"label\": \"Cabinet\", \"open\": False}\n\"Plate_65\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"Cabinet\"]}\n\"Knife_72\": {\"label\": \"Knife\", \"holding\": True, \"supported_by\": [\"CounterTop\"]}\n\"SinkBasin_73\": {\"label\": \"SinkBasin\"}\n\"Knife_77\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Drawer\"]}\n\"Tomato_79\": {\"label\": \"Tomato\", \"holding\": False, \"sliced\": True, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\"Bowl_85\": {\"label\": \"Bowl\", \"holding\": False, \"dirty\": False, \"filled\": False, \"fillLiquid\": None, \"supported_by\": [\"Drawer\"]}\n\"TomatoSliced_88\": {\"label\": \"TomatoSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\"TomatoSliced_89\": {\"label\": \"TomatoSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\n\nDialogue: \n<Driver> what's first? <Commander> let's find the tomato. <Driver> it's on your search. <Commander> it's inside the drawer beneath the sink. <Commander> there's also one on the counter. <Driver> knife not tomato. <Commander> knife is close to the oven. <Commander> you are looking at it straight ahead. <Driver> next. <Commander> slice the tomato and locate the plate on the drawer beneath the sink. <Driver> already did. <Commander> the tomato needs to be on a clean plate. <Commander> serve 2 slices. <Driver> where is the plate. <Commander> drawers to the right the ones farthest from the ones beneath the sink. <Driver> how many slices. <Commander> 2. <Driver> next. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Initialize InteractionObject instances for the knife, tomato, and plate\nknife = InteractionObject(\"Knife\", object_instance=\"Knife_72\")  # Knife close to the oven\ntomato = InteractionObject(\"Tomato\", object_instance=\"Tomato_79\")  # Tomato on the counter\ndrawer_for_plate = InteractionObject(\"Drawer\", object_instance=\"Drawer_45\")  # Drawer to the right, farthest from the ones beneath the sink\n\n# Pick up the knife\nknife.go_to()\nknife.pickup()\n\n# Pick up the tomato and slice it\ntomato.go_to()\ntomato.pickup()\ntomato.slice()\n\n# Initialize new sliced objects from the sliced parent tomato\ntomato_sliced_1 = InteractionObject(\"TomatoSliced\", parent_object=tomato.object_instance)\ntomato_sliced_2 = InteractionObject(\"TomatoSliced\", parent_object=tomato.object_instance)\n\n# Find a clean plate in the specified drawer\ndrawer_for_plate.go_to()\ndrawer_for_plate.open()\nplate = InteractionObject(\"Plate\", object_instance=\"Plate_65\")  # Assuming the plate is in the last drawer instance\nplate.go_to()\nplate.pickup()\n\n# Place two slices of tomato onto the clean plate\ntomato_sliced_1.pickup()\ntomato_sliced_1.place(plate)\ntomato_sliced_2.pickup()\ntomato_sliced_2.place(plate)\n\n# Causal abstraction comments:\n# The knife is picked up to slice the tomato, which is necessary to create slices for serving.\n# The tomato is sliced to provide fresh ingredients for serving.\n# A clean plate is retrieved from the specified drawer to ensure hygiene and presentation.\n# Two slices of tomato are placed onto the plate, fulfilling the requirement to serve two slices as per the dialogue instructions.\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"CounterTop_23\": {\"label\": \"CounterTop\"}\n\"Faucet_25\": {\"label\": \"Faucet\", \"toggled\": True}\n\"Pot_32\": {\"label\": \"Pot\", \"holding\": False, \"dirty\": True, \"filled\": True, \"fillLiquid\": \"water\", \"supported_by\": [\"CounterTop\"]}\n\"Egg_47\": {\"label\": \"Egg\", \"holding\": False, \"supported_by\": [\"CounterTop\", \"Pot\"]}\n\"HousePlant_53\": {\"label\": \"HousePlant\", \"filled\": False, \"fillLiquid\": None}\n\n\nDialogue: \n<Driver> how can i help today? <Commander> i'd like my plant watered. <Driver> sure. <Driver> found a pot with water. <Driver> should be done. <Commander> thanks. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Define InteractionObject instances for the pot filled with water, the houseplant, and the faucet\npot_with_water = InteractionObject(\"Pot\", object_instance=\"Pot_32\")  # Selecting the pot that is already filled with water\nhouseplant = InteractionObject(\"HousePlant\", object_instance=\"HousePlant_53\")\nfaucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_25\")\n\n# (causal abstraction) Navigate to the pot filled with water to prepare for watering the plant\npot_with_water.go_to()\npot_with_water.pickup()\n\n# (causal abstraction) Navigate to the houseplant with the pot of water to perform the watering action\nhouseplant.go_to()\npot_with_water.pour(houseplant)\n\n# (causal abstraction) After pouring, update the pot's state to reflect that it is no longer filled with water\npot_with_water.change_state(\"filled\", False)\npot_with_water.change_state(\"fillLiquid\", None)\n\n# (causal abstraction) Update the houseplant's state to reflect that it has been watered\nhouseplant.change_state(\"filled\", True)\nhouseplant.change_state(\"fillLiquid\", \"water\")\n\n# (causal abstraction) Check if the faucet is on; if it is, toggle it off to prevent water wastage\nif faucet.check_attribute(\"toggled\", True):\n    faucet.go_to()\n    faucet.toggle_off()\n\n```"}]}
{"messages": [{"role": "user", "content": "**Objective:** You are adept at translating human dialogues into executable Python code for household robots. Given a dialogue between a <Driver> and a <Commander>, you convert the conversation into a Python program to be executed by a robot that completes the task indicated in the dialogue.\n\n**Information Provided:**\nYou will be given the following information to help you write your Python script:\n1. Python API: Given below, the Python class and functions defining an interactable object and the robot's action space over the object. This represents the robotic action functions you can call.\n2. Dialogue: Dialogue instructions between a <Driver> user and a <Commander> user representing the user's intent for the task that the robot should carry out.\n3. Current State: Object instances viewed by the robotic agent in the current scenario and their respective state attributes at the start of the task execution, represented as a Python dictionary.\n\nPython API:\nThe following is the InteractionObject class that defines the robots actionable skills you can call upon:\n```python\nclass InteractionObject:\n    \"\"\"\n    Represents a unique interactable object in the house.\n    \"\"\"\n\n    def __init__(self, object_class: str, object_instance: str = None, parent_object: str = None, grounding_phrase: str = None):\n        \"\"\"\n        Initialize InteractionObject.\n\n        Args:\n        object_class (str): Category of the interaction object.\n        object_instance (dict, optional): Specific instance of the interaction object in the current scene state. \n                                         If not provided, the agent will search for the object based on the \n                                         provided object_class and landmark inputs.\n        parent_object (str, optional): Parent object that this object instance originated from. For example, if a tomato is sliced, new TomatoSliced instances are created that originated from the tomato instance.\n        grounding_phrase (dict, optional): grounding phrase that references the object to help find the object if no object_instance is given.\n        \"\"\"\n        self.object_class = object_class\n        self.object_instance = object_instance\n        self.parent_object = parent_object\n        self.grounding_phrase = grounding_phrase\n\n    def change_state(self, attribute: str, value) -> None:\n        \"\"\"\n        Update and log the state of a specified attribute in self.object_instance for the interaction object.\n\n        This function modifies the recorded state of the object_instance by setting the provided \n        attribute to the given value. It is used primarily for internal tracking of the \n        object's state. No external actions or reactions are triggered by this change.\n\n        Args:\n        attribute (str): Attribute to be changed.\n        value : New value for the attribute.\n\n        Note:\n        Ensure attribute exists and value is valid before using.\n        \"\"\"\n        pass\n\n    def check_attribute(self, attribute: str, value) -> bool:\n        \"\"\"\n        Checks if the InteractionObject's object_instance has an attribute with a specified value.\n\n        Args:\n        attribute (str): Attribute to check.\n        value: Value to compare against the object attribute.\n\n        Returns:\n        bool: True if attribute exists and matches the provided value, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup(self) -> None:\n        \"\"\"Assumes object is in view and picks it up.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def place(self, landmark_name) -> None:\n        \"\"\"\n        Places the interaction object on the given landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Note:\n        Assumes robot has an object and the landmark is in view.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def slice(self) -> None:\n        \"\"\"Slices the object into pieces, assuming the agent is holding a knife and is at the object's location.\n        \n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_on(self) -> None:\n        \"\"\"\n        Toggles on the interaction object.\n\n        Note:\n        Assumes object is off and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def toggle_off(self) -> None:\n        \"\"\"\n        Toggles off the interaction object.\n\n        Note:\n        Assumes object is on and agent is at its location.\n        Objects like lamps, stoves, microwaves can be toggled off.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def go_to(self) -> None:\n        \"\"\"Navigates to the object.\"\"\"\n        pass\n\n    def open(self) -> None:\n        \"\"\"\n        Opens the interaction object.\n\n        Note:\n        Assumes object is closed and agent is at its location.\n        Objects like fridges, cabinets, drawers can be opened.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def close(self) -> None:\n        \"\"\"\n        Closes the interaction object.\n\n        Note:\n        Assumes object is open and agent is at its location.\n        Objects like fridges, cabinets, drawers can be closed.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def put_down(self) -> None:\n        \"\"\"\n        Puts down the object in hand on a nearby receptacle.\n\n        Note:\n        Assumes object is in hand and agent wants to free its hand.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pour(self, landmark_name) -> None:\n        \"\"\"\n        Pours the contents of the interaction object into the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to pour contents into.\n\n        Note:\n        Assumes object is picked up, filled with liquid.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def pickup_and_place(self, landmark_name) -> None:\n        \"\"\"\n        Picks up the interaction object and places it on the specified landmark.\n\n        Args:\n        landmark_name (InteractionObject): Landmark to place the object on.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n    def empty(self):\n        \"\"\"Empty the object of any other objects on/in it to clear it out. \n\n        Useful when the object is too full to place an object inside it.\n\n        Returns:\n        bool: True if action successful, otherwise False.\n        \"\"\"\n        pass\n\n```\n\n**Output Format:**\n1. Python Script: The Python script required to execute the instructions from the dialogue. Start your code with \"```python\" and end it with \"```\".\n\n**Guidelines:**\n1. Use only the Python API defined previously. Do not create functions that are not provided above.\n2. Make sure that you output a consistent plan. For example, opening of the same object should not occur in successive steps.\n3. Ensure the output aligns with the intended functions of objects. For example, a couch cannot be opened, so your output should never include the open() function for this object, but a fridge can be opened. \n4. The input is dialogue between <Driver> and <Commander>. Interpret the dialogue into robot actions. Do not output any dialogue.\n5. Object categories should only be chosen from the following classes: ShowerDoor, Cabinet, CounterTop, Sink, Towel, HandTowel, TowelHolder, SoapBar, ToiletPaper, ToiletPaperHanger, HandTowelHolder, SoapBottle, GarbageCan, Candle, ScrubBrush, Plunger, SinkBasin, Cloth, SprayBottle, Toilet, Faucet, ShowerHead, Box, Bed, Book, DeskLamp, BasketBall, Pen, Pillow, Pencil, CellPhone, KeyChain, Painting, CreditCard, AlarmClock, CD, Laptop, Drawer, SideTable, Chair, Blinds, Desk, Curtains, Dresser, Watch, Television, WateringCan, Newspaper, FloorLamp, RemoteControl, HousePlant, Statue, Ottoman, ArmChair, Sofa, DogBed, BaseballBat, TennisRacket, VacuumCleaner, Mug, ShelvingUnit, Shelf, StoveBurner, Apple, Lettuce, Bottle, Egg, Microwave, CoffeeMachine, Fork, Fridge, WineBottle, Spatula, Bread, Tomato, Pan, Cup, Pot, SaltShaker, Potato, PepperShaker, ButterKnife, StoveKnob, Toaster, DishSponge, Spoon, Plate, Knife, DiningTable, Bowl, LaundryHamper, Vase, Stool, CoffeeTable, Poster, Bathtub, TissueBox, Footstool, BathtubBasin, ShowerCurtain, TVStand, Boots, RoomDecor, PaperTowelRoll, Ladle, Kettle, Safe, GarbageBag, TeddyBear, TableTopDecor, Dumbbell, Desktop, AluminumFoil, Window, LightSwitch, AppleSliced, BreadSliced, LettuceSliced, PotatoSliced, TomatoSliced\n6. You can only pick up one object at a time. If the agent is holding an object, the agent should place or put down the object before attempting to pick up a second object.\n7. If an object that is needed for the script is not in the object state, you should assign \"None\" to \"object_instance\" in the InteractionObject initialization. For example, if no apple is in the current state, but one is needed you would do: target_apple = InteractionObject(\"Apple\", object_instance = None)\n8. If an object is sliced, this will create individual slices of the object (e.g., whole potato -> many slices of potato). A new InteractionObject with parent_object argument set to the whole object instance should be instantiate to interact with a single slice of the sliced object. The sliced object InteractionObject class should only be initialized after the parent object has been sliced.\n\nHere is some additional information about the affordances of object categories to help you plan:\n1. The following objects can be filled with liquid: Bottle, Bowl, Cup, HousePlant, Kettle, Mug, Pot, WateringCan, WineBottle.\n2. The following objects can be sliced: Apple, Bread, Lettuce, Potato, Tomato.\n3. The following objects can be toggled: DeskLamp, FloorLamp, StoveKnob, Microwave, Toaster, Faucet, CoffeeMachine.\n4. The following objects can be dirtied: Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Mug, Pan, Plate, Pot, SoapBar, Spatula, Spoon.\n5. The following objects can be cooked: Apple, AppleSliced, Bread, BreadSliced, Egg, Potato, PotatoSliced, Tomato, TomatoSliced.\n\n**Task:**\nGenerate the Python script that carries out the dialogue-based instruction. \n\nHere are your inputs:\n\nCurrent State: \n\"Tomato_2\": {\"label\": \"Tomato\", \"holding\": False, \"sliced\": True, \"cooked\": False, \"supported_by\": [\"DiningTable\"]}\n\"Knife_3\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Shelf\"]}\n\"Plate_7\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": True, \"supported_by\": [\"Stool\"]}\n\"SoapBottle_12\": {\"label\": \"SoapBottle\", \"holding\": False, \"supported_by\": [\"Cabinet\"]}\n\"SoapBottle_16\": {\"label\": \"SoapBottle\", \"holding\": False, \"supported_by\": [\"CounterTop\"]}\n\"Tomato_17\": {\"label\": \"Tomato\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"DiningTable\"]}\n\"CounterTop_40\": {\"label\": \"CounterTop\"}\n\"SoapBottle_46\": {\"label\": \"SoapBottle\", \"holding\": False, \"supported_by\": [\"Floor\", \"Shelf\"]}\n\"Plate_60\": {\"label\": \"Plate\", \"holding\": False, \"dirty\": False, \"supported_by\": [\"DiningTable\"]}\n\"SinkBasin_63\": {\"label\": \"SinkBasin\"}\n\"Knife_69\": {\"label\": \"Knife\", \"holding\": False, \"supported_by\": [\"Fridge\"]}\n\"Tomato_74\": {\"label\": \"Tomato\", \"holding\": False, \"sliced\": False, \"cooked\": False, \"supported_by\": [\"Fridge\"]}\n\"Knife_78\": {\"label\": \"Knife\", \"holding\": True, \"supported_by\": [\"DiningTable\"]}\n\"DiningTable_80\": {\"label\": \"DiningTable\"}\n\"Faucet_86\": {\"label\": \"Faucet\", \"toggled\": False}\n\"TomatoSliced_89\": {\"label\": \"TomatoSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\"TomatoSliced_90\": {\"label\": \"TomatoSliced\", \"holding\": False, \"cooked\": False, \"supported_by\": [\"CounterTop\"]}\n\n\nDialogue: \n<Driver> hello what can I do today? <Commander> hi. <Commander> let's get two slices of tomato. <Commander> there is a tomato on the island. <Driver> i have sliced the potato. <Commander> let's put each tomato slice on the plate. <Driver> what can I do after that? <Commander> we are done. <Commander> great job. <Commander> thank you. <Driver> thank you. <Driver> you can finish the task. \n\nYour ouput:\n\nPython Script:\n"}, {"role": "assistant", "content": "```python\n# Initialize InteractionObject instances for the tomato, knife, and plate\ntomato = InteractionObject(\"Tomato\", object_instance=\"Tomato_2\")  # Tomato on the dining table\nknife = InteractionObject(\"Knife\", object_instance=\"Knife_78\")  # Knife on the dining table\nplate = InteractionObject(\"Plate\", object_instance=\"Plate_60\")  # Plate on the dining table\n\n# Go to the knife and pick it up\nknife.go_to()\nknife.pickup()\n\n# Go to the tomato, pick it up, and slice it\ntomato.go_to()\ntomato.pickup()\ntomato.slice()\n\n# Initialize new sliced objects from the sliced parent tomato\ntomato_sliced_1 = InteractionObject(\"TomatoSliced\", parent_object=tomato.object_instance)\ntomato_sliced_2 = InteractionObject(\"TomatoSliced\", parent_object=tomato.object_instance)\n\n# Go to the plate and check if it is clean\nplate.go_to()\nif plate.check_attribute(\"dirty\", True):\n    # If the plate is dirty, clean it\n    sink = InteractionObject(\"SinkBasin\", object_instance=\"SinkBasin_63\")\n    faucet = InteractionObject(\"Faucet\", object_instance=\"Faucet_86\")\n    soap = InteractionObject(\"SoapBottle\", object_instance=\"SoapBottle_16\")\n    plate.pickup()\n    sink.go_to()\n    faucet.toggle_on()  # Turn on the faucet to clean the plate\n    # Assuming cleaning requires soap, but the API does not provide a method to use soap, so this step is implied\n    faucet.toggle_off()  # Turn off the faucet after cleaning\n    plate.pickup()  # Pick up the clean plate\n    plate.change_state(\"dirty\", False)  # Update the plate's state to clean\n\n# Place two slices of tomato onto the clean plate\ntomato_sliced_1.pickup()\ntomato_sliced_1.place(plate)\ntomato_sliced_2.pickup()\ntomato_sliced_2.place(plate)\n\n```"}]}