| [ | |
| { | |
| "task_description": "Prepare for a relaxing bath.", | |
| "scan_id": "ARKitScenes_41098066", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the bathtub behind the toilet.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the faucet of the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wait for the bathtub to fill up with warm water.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Turn off the faucet once it is full.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Watch a cooking show on TV.", | |
| "scan_id": "ARKitScenes_47204795", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white cabinet with glass doors and a TV inside.", | |
| "label": "cabinet", | |
| "target_id": "8", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "10", | |
| "anchor_object": "tv", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the black, flat screen TV.", | |
| "label": "tv", | |
| "target_id": "10", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Sit on the black leather swivel chair nearby.", | |
| "label": "chair", | |
| "target_id": "16", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Enjoy watching the cooking show.", | |
| "label": "tv", | |
| "target_id": "16", | |
| "target_object": "chair", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Turn off the TV after finishing.", | |
| "label": "tv", | |
| "target_id": "10", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_41098066", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the toilet near the bathtub.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Flush the toilet after use.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Inspect the bed for cleaning.", | |
| "scan_id": "ARKitScenes_42899020", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the dark brown, leather king size bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Check the rough texture of the bed for any dust or stains.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Dust off the bed if needed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the toilet.", | |
| "scan_id": "ARKitScenes_47429688", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white toilet with a green seat.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the lid of the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Scrub the inside with a toilet brush.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Flush the toilet to rinse it.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet in the bathroom.", | |
| "scan_id": "ARKitScenes_47115258", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white toilet with the white seat.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the seat cover of the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Put the seat cover down.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Flush the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the restroom before sleeping.", | |
| "scan_id": "ARKitScenes_41126728", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the toilet to the left of the bed.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Head to the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Wash your hands here.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Return to the bed.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Lie down and relax.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Take a relaxing bath.", | |
| "scan_id": "ARKitScenes_47430839", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white, spherical bathtub in the bathroom.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the faucet at the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wait for the desired water level to be reached in the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Turn off the faucet at the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Get into the bathtub to enjoy a nice bath.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Change the toilet paper.", | |
| "scan_id": "ARKitScenes_42899060", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white toilet where a roll of toilet paper is nearby.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Check your appearance in the mirror.", | |
| "scan_id": "ARKitScenes_48018711", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the white wooden cabinet with the mirror in the kitchen.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Adjust your clothing or hair as needed, using the mirror for guidance.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash your hands.", | |
| "scan_id": "ARKitScenes_41069100", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the sink.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Turn on the water faucet at the sink.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Wash your hands thoroughly under the running water.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Turn off the faucet.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize stored items in the kitchen cabinet.", | |
| "scan_id": "ARKitScenes_48018921", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Approach the gray wooden cabinet with a mirror opposite the stool.", | |
| "label": "cabinet", | |
| "target_id": "13", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "30", | |
| "anchor_object": "stool", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the cabinet doors.", | |
| "label": "cabinet", | |
| "target_id": "13", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Arrange remaining kitchen items neatly inside the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "13", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Return any non-kitchen items to their respective places.", | |
| "label": "cabinet", | |
| "target_id": "13", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Check and clean the bathroom sink.", | |
| "scan_id": "ARKitScenes_41159823", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Inspect the sink for any visible dirt or residue.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Clean the sink with a sponge and cleaner (assuming these are available).", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Rinse the sink with water from its faucet.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Dry the sink with a towel (assuming a towel is present).", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Tidy up the sleeping area.", | |
| "scan_id": "ARKitScenes_47430060", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the king size bed that's to the left of a cabinet.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Straighten the sheets and arrange the pillows neatly on this bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the cabinet that's in the 3 o'clock direction from the bed.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Organize any items on top of this cabinet, such as books or glasses.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Dust the surface of the cabinet to keep the area clean.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Brush your teeth.", | |
| "scan_id": "ARKitScenes_47204876", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the white bathroom cabinet with a stainless steel mirror.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the cabinet and take out your toothbrush and toothpaste.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Close the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Move to the sink directly below it.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Squeeze toothpaste onto the toothbrush.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Brush your teeth over the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Rinse your mouth and wash the brush in the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "8. Put the toothbrush and toothpaste back in the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize your toiletries.", | |
| "scan_id": "ARKitScenes_47430805", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the white wooden cabinet with a yellow door and a red stripe.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open it.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Walk to the brown, wooden storage cabinet with a mirror on its front.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 5, | |
| "action": "5. Open it.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 6, | |
| "action": "6. Arrange any additional items inside.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 7, | |
| "action": "7. Close the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Move the chair to create more space.", | |
| "scan_id": "ARKitScenes_47334080", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the black leather desk chair.", | |
| "label": "chair", | |
| "target_id": "1", | |
| "target_object": "chair", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Fold it up using its folding design.", | |
| "label": "chair", | |
| "target_id": "1", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Lift and move the chair to another corner of the room away from the bed.", | |
| "label": "chair", | |
| "target_id": "1", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Evaluate the newly created space to see if it feels more open.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "chair", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Return to tidy up the bed if necessary after moving the chair.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Evening relax session in bed.", | |
| "scan_id": "ARKitScenes_42898068", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the king size bed in the room.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Sit comfortably on the bed and adjust the pillows.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Turn on the TV for some ambient evening entertainment.", | |
| "label": "tv", | |
| "target_id": "2", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Adjust the TV's sound settings for a soft, relaxing volume.", | |
| "label": "tv", | |
| "target_id": "2", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 5, | |
| "action": "5. Lay back and enjoy the atmosphere.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Retrieve an item from the cabinet.", | |
| "scan_id": "ARKitScenes_47431118", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white cube-shaped wooden shelf.", | |
| "label": "shelf", | |
| "target_id": "1", | |
| "target_object": "shelf", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Move behind the cabinet, far from the shelf.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "shelf", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Open the cabinet door.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Take the desired item from the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Close the cabinet door.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize items in the cabinet.", | |
| "scan_id": "ARKitScenes_48458311", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the wooden oblong-shaped cabinet with drawers and a glass top.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the top drawer of the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Neatly place small items into the drawer.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close this drawer.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Open the next drawer and organize it likewise.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Close it and step back to inspect your work.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Inspect the guest room for necessary repairs.", | |
| "scan_id": "ARKitScenes_42445438", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Start at the white king-size bed near the tall, black cabinet.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Inspect the bed’s wicker or wood structure for damage or wear.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Check the softness and condition of the bed’s linen texture.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Move over to the tall, black wooden cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Examine the cabinet’s black door for any faulty hinges or scratches.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Review the cabinet's interior and exterior for any issues needing repair.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Note all necessary repairs to maintain the room’s usability.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Check for old items on the shelf.", | |
| "scan_id": "ARKitScenes_47431118", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Move to the white wooden shelf behind the cabinet.", | |
| "label": "shelf", | |
| "target_id": "1", | |
| "target_object": "shelf", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Examine items stored on the shelf one by one.", | |
| "label": "shelf", | |
| "target_id": "1", | |
| "target_object": "shelf", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Remove any items that are no longer needed.", | |
| "label": "shelf", | |
| "target_id": "1", | |
| "target_object": "shelf", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. If needed, place them in the cabinet far in the 12 o'clock direction.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "shelf", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Check the appearance in the mirror.", | |
| "scan_id": "ARKitScenes_47669911", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Stand in front of the cabinet to the right of the toilet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Look into the mirror on the cabinet door.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Close the mirror after finishing.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Check your appearance in the mirror.", | |
| "scan_id": "ARKitScenes_47334896", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the bathroom cabinet with a mirror in the 6 o'clock direction far from the washing machine.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "washing machine", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the cabinet if needed.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Load the dishwasher after dinner.", | |
| "scan_id": "ARKitScenes_42898141", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Gather dirty dishes from the wooden dining table near the brown sectional sofa.", | |
| "label": "table", | |
| "target_id": "11", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "15", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| }, | |
| { | |
| "anchor_id": "18", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Walk to the white, stainless steel dishwasher next to the white kitchen cabinet.", | |
| "label": "dishwasher", | |
| "target_id": "8", | |
| "target_object": "dishwasher", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Place the dirty dishes inside it.", | |
| "label": "dishwasher", | |
| "target_id": "11", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "8", | |
| "anchor_object": "dishwasher", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Add detergent to the dishwasher.", | |
| "label": "dishwasher", | |
| "target_id": "11", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "8", | |
| "anchor_object": "dishwasher", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Start the dishwasher.", | |
| "label": "dishwasher", | |
| "target_id": "8", | |
| "target_object": "dishwasher", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare daily clothes.", | |
| "scan_id": "ARKitScenes_41127005", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the cabinet at the 3 o'clock direction far from the other cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it and choose an outfit for tomorrow.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Lay the outfit on the bed behind the cabinet.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the bathroom facilities.", | |
| "scan_id": "ARKitScenes_41165734", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the toilet next to the bed.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Walk over to the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Wash your hands in the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize kitchen appliances.", | |
| "scan_id": "ARKitScenes_42898141", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white refrigerator with a wood texture.", | |
| "label": "refrigerator", | |
| "target_id": "2", | |
| "target_object": "refrigerator", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Take out any items that do not need to be refrigerated.", | |
| "label": "refrigerator", | |
| "target_id": "2", | |
| "target_object": "refrigerator", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Proceed to the brown, oblong-shaped wooden cabinet in the kitchen.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Store these items in this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the area around the dressing table.", | |
| "scan_id": "ARKitScenes_45261399", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the grey, oblong-shaped dressing table.", | |
| "label": "table", | |
| "target_id": "1", | |
| "target_object": "table", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Wipe the surface of the dressing table clean.", | |
| "label": "table", | |
| "target_id": "1", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Move to the blue velvet chair at the 2 o'clock direction near the table.", | |
| "label": "chair", | |
| "target_id": "1", | |
| "target_object": "table", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "chair", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Clean the seat and frame of the chair.", | |
| "label": "chair", | |
| "target_id": "2", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize your bedside storage for easy access at night.", | |
| "scan_id": "ARKitScenes_42444891", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the white bedside table close to the bed with two drawers.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open both drawers.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Place any other random items in the other drawer for storage.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Close the drawers of the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_42899060", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white toilet used for personal hygiene.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet for waste disposal.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Rearrange the furniture slightly to refresh the space.", | |
| "scan_id": "ARKitScenes_45261399", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Move the blue velvet chair from near the grey dressing table to another spot in the room.", | |
| "label": "chair", | |
| "target_id": "2", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Shift the grey dressing table slightly to the right to adjust its position.", | |
| "label": "table", | |
| "target_id": "1", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare to bake cookies.", | |
| "scan_id": "ARKitScenes_42446446", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the tall green wooden cabinet with a Christmas tree decoration.", | |
| "label": "cabinet", | |
| "target_id": "27", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Take out the cookie dough and baking accessories stored here.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "27", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Place these items next to the black, stainless steel, gas oven with four burners.", | |
| "label": "oven", | |
| "target_id": "3", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "10", | |
| "anchor_object": "oven", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Preheat the oven as needed for baking cookies.", | |
| "label": "oven", | |
| "target_id": "10", | |
| "target_object": "oven", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Retrieve toiletries from the bathroom.", | |
| "scan_id": "ARKitScenes_44358576", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white toilet with the checkered floor.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the storage area of the toilet to access toiletries.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the storage area of the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Check the toilet for any repairs needed.", | |
| "scan_id": "ARKitScenes_47430940", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the porcelain toilet in the small bathroom.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Check the flush handle to ensure it operates smoothly.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Inspect the toilet seat and lid for any cracks.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Look around the base of the toilet to see if there are any leaks.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize items in the guest room.", | |
| "scan_id": "ARKitScenes_42445438", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the tall, black wooden cabinet behind the bed.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the black door of the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Organize various items inside the white interior of the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close the black door after organizing.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Check the area around the white king-size bed for any misplaced items.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Place any loose items in their appropriate places or back inside the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Ensure the room looks tidy and clean.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize the items inside the cabinet.", | |
| "scan_id": "ARKitScenes_42897681", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Head to the beige cabinet next to the wooden bed.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it if it's not already open.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Start by taking out all items from the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Sort items into categories (like clothing, medications, etc.).", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Place back the items neatly, categorizing them as you go.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Retrieve an item from under the sink.", | |
| "scan_id": "ARKitScenes_42899526", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the cabinet supporting the sink.", | |
| "label": "cabinet", | |
| "target_id": "4", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the door of the black stainless steel cabinet.", | |
| "label": "cabinet", | |
| "target_id": "4", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Take out the item stored under the sink.", | |
| "label": "cabinet", | |
| "target_id": "6", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close the door of the cabinet after retrieving the item.", | |
| "label": "cabinet", | |
| "target_id": "4", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Take a relaxing bath.", | |
| "scan_id": "ARKitScenes_42898447", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white bathtub made of plastic.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the water to fill this bathtub.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Turn off the water when the bathtub is full.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Slip into the bathtub for a bath.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare for the day.", | |
| "scan_id": "ARKitScenes_47430805", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the brown, wooden storage cabinet with a mirror.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it and choose an outfit for the day.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Close the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Walk over to the white spherical bathtub.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Take a quick shower or bath to freshen up.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Take a relaxing bath.", | |
| "scan_id": "ARKitScenes_47330996", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white, plastic, rectangular-shaped bathtub with a pink owl pattern.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the water using the knob on the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "20", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Adjust the water temperature to your preference.", | |
| "label": "bathtub", | |
| "target_id": "20", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Wait for the bathtub to fill up with water.", | |
| "label": "bathtub", | |
| "target_id": "20", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Once filled, turn off the water.", | |
| "label": "bathtub", | |
| "target_id": "20", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Get into the bathtub and relax.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Watch television in the living room.", | |
| "scan_id": "ARKitScenes_42446117", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the flat screen TV which is wall-mounted and crafted from stainless steel.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the TV to find a good channel or show.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the grey leather sectional sofa which is close to the wall.", | |
| "label": "sofa", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "6", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Sit on the sofa to enjoy the show.", | |
| "label": "sofa", | |
| "target_id": "6", | |
| "target_object": "sofa", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Take a relaxing bath.", | |
| "scan_id": "ARKitScenes_45260892", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white, spherical plastic bathtub in the bathroom.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the hot water using its faucet.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wait for the bathtub to fill with water.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Check the water temperature by touching it.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Once the desired temperature is reached, turn off the faucet.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Slowly get into the bathtub to start bathing.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Relax by reading a book in bed.", | |
| "scan_id": "ARKitScenes_42899020", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Head to the bed crafted to resemble an elephant.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Sit comfortably against the head of the bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Begin reading your book.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the bathroom toilet.", | |
| "scan_id": "ARKitScenes_47669911", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white porcelain toilet far from the white cabinet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Flush after using it.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Create a relaxing night ambiance.", | |
| "scan_id": "ARKitScenes_42899828", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Start at the fireplace with a mantle.", | |
| "label": "fireplace", | |
| "target_id": "1", | |
| "target_object": "fireplace", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Light a few candles placed on the mantle for a cozy ambiance.", | |
| "label": "fireplace", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "fireplace", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Pick some aromatic essential oils from there.", | |
| "label": "shelf", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Place them around the fireplace to enhance the soothing atmosphere.", | |
| "label": "fireplace", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "fireplace", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 5, | |
| "action": "5. Return to the middle portion of the bed near the cabinets.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "5", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 6, | |
| "action": "6. Sit down and enjoy the calming environment.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare the bathroom for guests.", | |
| "scan_id": "ARKitScenes_41069100", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the sink.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Wipe down the sink with a cleaning cloth (assume the presence).", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Go to the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Clean the toilet with a toilet brush (assume the presence).", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Check the bathtub to ensure it's clean and tidy.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Get ready for bed in the bathroom.", | |
| "scan_id": "ARKitScenes_48018591", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the white oblong cabinet lower than the sink.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the cabinet to retrieve toiletries such as toothpaste and a toothbrush.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Brush teeth at the sink above the cabinet.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Store the toiletries back in the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Walk to the white corner bathroom cabinet.", | |
| "label": "cabinet", | |
| "target_id": "5", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Open the mirror on the cabinet to expose facial creams.", | |
| "label": "cabinet", | |
| "target_id": "5", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Apply the facial creams as part of the nighttime routine.", | |
| "label": "cabinet", | |
| "target_id": "5", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "8. Close the mirror on the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "5", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the bathtub.", | |
| "scan_id": "ARKitScenes_41159823", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the bathtub near the toilet.", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Rinse the bathtub with water from its faucet.", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Scrub the bathtub with soap (assuming soap is present).", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Rinse off the soap with water from the faucet.", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Dry the bathtub with a towel (assuming a towel is available).", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Take a bath.", | |
| "scan_id": "ARKitScenes_41159823", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the bathtub positioned near the toilet.", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Turn on the faucet of the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Wait until the bathtub is filled with water.", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Get into the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "3", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare for the day by grooming at the dressing table.", | |
| "scan_id": "ARKitScenes_45261399", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the grey, oblong-shaped dressing table with a mirror on it.", | |
| "label": "table", | |
| "target_id": "1", | |
| "target_object": "table", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Sit on the blue velvet chair near the table in a 2 o'clock direction.", | |
| "label": "chair", | |
| "target_id": "2", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the mirror on the table for personal grooming.", | |
| "label": "table", | |
| "target_id": "1", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Inspect the furniture for any needed repairs or adjustments.", | |
| "scan_id": "ARKitScenes_45261399", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Examine the grey dressing table for any scratches or damages.", | |
| "label": "table", | |
| "target_id": "1", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Check the stability and condition of the blue velvet chair.", | |
| "label": "chair", | |
| "target_id": "2", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Nighttime reading.", | |
| "scan_id": "ARKitScenes_41127005", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the cabinet to the left of the other cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it and pick a book.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Return to the bed behind the cabinet and sit comfortably.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Start reading the book.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare for a nap in the guest room.", | |
| "scan_id": "ARKitScenes_42898068", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the king size bed designated for guests.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Pull the silky sheets back to make the bed inviting.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Fluff the pillows and arrange them neatly at the head of the bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Lay down on the bed to test the comfort level.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Adjust the TV's position from the wall mounted setup for optimal viewing from the bed if needed.", | |
| "label": "tv", | |
| "target_id": "2", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Set the sleep timer on the TV to turn off after an hour.", | |
| "label": "tv", | |
| "target_id": "2", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Place fresh towels in the bedroom.", | |
| "scan_id": "ARKitScenes_43896396", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white wooden cabinet used for organizing clothes.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open one of the doors of the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the cabinet door.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_42898094", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white, oblong toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the lid of the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the toilet for personal needs.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Put the lid down.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Flush the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Rearrange the furniture slightly.", | |
| "scan_id": "ARKitScenes_48018203", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Stand at the sofa positioned in front of both the cabinet and the chair.", | |
| "label": "sofa", | |
| "target_id": "1", | |
| "target_object": "sofa", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| }, | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "chair", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Push the sofa slightly to adjust its position for better room layout.", | |
| "label": "sofa", | |
| "target_id": "1", | |
| "target_object": "sofa", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Move to the chair aligned with the cabinet.", | |
| "label": "chair", | |
| "target_id": "1", | |
| "target_object": "sofa", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "chair", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Adjust the chair’s position to better align with the newly positioned sofa.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Walk back and view the new arrangement from the sofa’s position.", | |
| "label": "sofa", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash your hands in the sink.", | |
| "scan_id": "ARKitScenes_47115258", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white oblong-shaped sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Turn on the faucet on top of the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Wash your hands under the water.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Shut off the faucet.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Using the toilet.", | |
| "scan_id": "ARKitScenes_41125303", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the toilet near the cabinet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the lid of the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the toilet as needed.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Flush the toilet after use.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Cook a simple meal using the kitchen stove.", | |
| "scan_id": "ARKitScenes_42446117", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the black, stainless steel gas stove in the kitchen.", | |
| "label": "stove", | |
| "target_id": "22", | |
| "target_object": "stove", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn the stove on to heat a pan.", | |
| "label": "stove", | |
| "target_id": "22", | |
| "target_object": "stove", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the white kitchen cabinet with a mirror on it and a lot of items inside.", | |
| "label": "cabinet", | |
| "target_id": "22", | |
| "target_object": "stove", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "16", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Take out ingredients and a cooking utensil from the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "16", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Return to the stove and place the ingredients in the pan to cook.", | |
| "label": "stove", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "22", | |
| "anchor_object": "stove", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Cook the meal to your liking.", | |
| "label": "stove", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "22", | |
| "anchor_object": "stove", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the toilet.", | |
| "scan_id": "ARKitScenes_47430940", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the glossy, white toilet in the bathroom.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the seat cover of the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wipe the seat using a cleaning wipe.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Flush the toilet to rinse it off after cleaning.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Place the seat cover back down.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Inspect the condition of the cabinet.", | |
| "scan_id": "ARKitScenes_48018711", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the white wooden cabinet in the kitchen.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the cabinet door to examine the interior and shelves.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Check the exterior, including the wooden texture and the mirror for any damages or wear.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close the cabinet door after inspection.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_41159823", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the toilet located behind the bathtub.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet for your needs.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Flush the toilet after use.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Freshen up before evening.", | |
| "scan_id": "ARKitScenes_47332297", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white porcelain toilet with a blackmail poster on the seat.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Proceed to the white porcelain sink with a faucet for washing hands.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Open the faucet.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Wash hands under the running water.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Close the faucet after washing hands.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize bathroom supplies.", | |
| "scan_id": "ARKitScenes_42445884", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white stainless steel double bowl sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Pick up any items scattered around on the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the white storage cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Open the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Store the items inside the cabinet neatly.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Close the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Enjoy a snack while watching a show on the black flat screen TV.", | |
| "scan_id": "ARKitScenes_42445500", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white wooden kitchen cabinet with a glass door and wooden interior.", | |
| "label": "cabinet", | |
| "target_id": "15", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Retrieve a snack from it.", | |
| "label": "cabinet", | |
| "target_id": "34", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "15", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the oblong-shaped white cabinet with a TV in it.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "9", | |
| "anchor_object": "tv", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Turn on the black flat screen TV to watch a show.", | |
| "label": "tv", | |
| "target_id": "9", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Walk to the brown leather sofa that is used as a bed.", | |
| "label": "sofa", | |
| "target_id": "1", | |
| "target_object": "sofa", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Sit here and enjoy your snack while watching the TV.", | |
| "label": "sofa", | |
| "target_id": "1", | |
| "target_object": "sofa", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Enjoy a cozy evening by the fireplace.", | |
| "scan_id": "ARKitScenes_45260938", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the purple, wooden, or leather daybed.", | |
| "label": "sofa", | |
| "target_id": "1", | |
| "target_object": "sofa", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lie down to relax.", | |
| "label": "sofa", | |
| "target_id": "1", | |
| "target_object": "sofa", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Reach for the remote placed probably nearby.", | |
| "label": "tv", | |
| "target_id": "9", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "5", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Turn on the TV to watch your favorite show.", | |
| "label": "tv", | |
| "target_id": "8", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Enjoy the warmth and view of the beige stone fireplace nearby.", | |
| "label": "fireplace", | |
| "target_id": "4", | |
| "target_object": "fireplace", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Teach a child to use the bathroom.", | |
| "scan_id": "ARKitScenes_45261072", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Lead the child to the white oblong toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Help the child use the toilet safely for waste disposal.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Guide the child to the white stainless steel sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Show how to turn on the faucet and wash hands.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Assist the child in drying hands after washing.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Check bathroom supplies.", | |
| "scan_id": "ARKitScenes_42899060", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white sink where supplies might be stored underneath.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Inspect and organize supplies like hand soap, and tissue.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Retrieve a book from a cabinet and read it on the bed", | |
| "scan_id": "ARKitScenes_41098110", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the cabinet aligned with another and in front of the stool.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "5", | |
| "anchor_object": "stool", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it and take out a book.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Close the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Go to the bed situated beside another cabinet.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Sit on the bed.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Open the book and start reading.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare a meal using the oven.", | |
| "scan_id": "ARKitScenes_47330996", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the oven near an array of cabinets.", | |
| "label": "oven", | |
| "target_id": "17", | |
| "target_object": "oven", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the oven and preheat to the desired temperature.", | |
| "label": "oven", | |
| "target_id": "17", | |
| "target_object": "oven", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Prepare your meal for baking or cooking if not already done.", | |
| "label": "table", | |
| "target_id": "17", | |
| "target_object": "oven", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Place the meal inside the oven.", | |
| "label": "oven", | |
| "target_id": "20", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "17", | |
| "anchor_object": "oven", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Set a timer for the cooking duration.", | |
| "label": "oven", | |
| "target_id": "20", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Once cooking is complete, turn off the oven and remove the meal.", | |
| "label": "oven", | |
| "target_id": "20", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "17", | |
| "anchor_object": "oven", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Store kitchen utensils in the cabinet.", | |
| "scan_id": "ARKitScenes_48018711", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the kitchen where the white wooden cabinet is located.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the door of the white wooden cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the cabinet door to secure the utensils.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Go upstairs to the second floor.", | |
| "scan_id": "ARKitScenes_43896396", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white wooden stairs near the entrance.", | |
| "label": "stairs", | |
| "target_id": "6", | |
| "target_object": "stairs", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Step on the first stair and ascend the stairs.", | |
| "label": "stairs", | |
| "target_id": "6", | |
| "target_object": "stairs", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Reach the top of the stairs.", | |
| "label": "stairs", | |
| "target_id": "6", | |
| "target_object": "stairs", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Transform the bunk bed into a futon for sitting.", | |
| "scan_id": "ARKitScenes_42445100", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the white wooden bunk bed on the left.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Remove the bedding from it.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Adjust the frame to transform it into a futon shape.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Enjoy a movie night.", | |
| "scan_id": "ARKitScenes_43896477", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Turn on the flat-screen black TV.", | |
| "label": "tv", | |
| "target_id": "8", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Pick a movie from the electronic guide (assuming a remote control is present) or from a connected device.", | |
| "label": "tv", | |
| "target_id": "8", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Move the sectional white leather sofa bed so it faces the TV for an optimal viewing angle.", | |
| "label": "sofa", | |
| "target_id": "10", | |
| "target_object": "sofa", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "8", | |
| "anchor_object": "tv", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Sit or lie down on the sectional white leather sofa bed to watch the selected movie.", | |
| "label": "sofa", | |
| "target_id": "10", | |
| "target_object": "sofa", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash your hands.", | |
| "scan_id": "ARKitScenes_45260892", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white porcelain sink in the bathroom.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Turn on the cold water faucet.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Wet your hands under the running water.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Turn off the faucet once your hands are wet.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 5, | |
| "action": "5. Soap your hands thoroughly.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 6, | |
| "action": "6. Turn on the faucet again to rinse the soap off your hands.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 7, | |
| "action": "7. Turn off the faucet after rinsing your hands.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare to wash your hands.", | |
| "scan_id": "ARKitScenes_42899362", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the cabinet made of wood.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it to get some soap.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Go to the stainless steel sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Place the soap here.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Freshen up quickly after a workout.", | |
| "scan_id": "ARKitScenes_47430690", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Head towards the white sink in the bathroom.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Wash your face using the white faucet at the sink.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the white bathtub with the pink bucket.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Use water from the bathtub to rinse your arms and legs.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Finally, visit the toilet to the right of the bathtub for a quick toilet break.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the bathroom facilities.", | |
| "scan_id": "ARKitScenes_45261072", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the ceramic or porcelain toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Use it for human waste disposal.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Go to the stainless steel sink in the bathroom.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Wash your hands with the faucet on this sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize belongings in the cabinets.", | |
| "scan_id": "ARKitScenes_41127098", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the cabinet to the right of another cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Take out all items from this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Dust each item before placing it on the bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. After cleaning, return the items to their appropriate places in the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Close this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the bathtub.", | |
| "scan_id": "ARKitScenes_42899260", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the spherical bathtub with a gold trim.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Use a suitable cleaner (assuming one is nearby) to scrub the white surface.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Rinse the bathtub using the shower.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Dry the surface with a towel (assuming a towel is available).", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash and replace toiletries.", | |
| "scan_id": "ARKitScenes_47669911", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the wall-mounted cabinet next to the toilet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the cabinet and take out all toiletries.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Wipe down the shelves inside the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Close the cabinet door.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Enjoy rocking relaxation.", | |
| "scan_id": "ARKitScenes_47332297", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white leather rocking chair at the 7 o'clock direction far from the toilet.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Sit in the rocking chair.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Begin to gently rock back and forth.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Conduct a quick bathroom cleanup.", | |
| "scan_id": "ARKitScenes_45261072", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Start by flushing the ceramic or porcelain toilet after use.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Go to the stainless steel sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wipe down the surfaces of the sink with a disinfectant wipe.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Clean around the faucet to remove any soap or water spots.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Use the faucet to rinse any cleaner from the basin of the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare to use the toilet.", | |
| "scan_id": "ARKitScenes_42898447", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white toilet with a blue seat cover.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the lid of the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the toilet for personal hygiene.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Flush the toilet after use.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Collect items front storage.", | |
| "scan_id": "ARKitScenes_42899828", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the bed that is adjacent to multiple cabinets.", | |
| "label": "bed", | |
| "target_id": "5", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "4", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Retrieve the blanket and pillow stored underneath the bed.", | |
| "label": "bed", | |
| "target_id": "5", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the cabinet behind another cabinet.", | |
| "label": "cabinet", | |
| "target_id": "8", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Store the blanket and pillow inside this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "8", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Close the cabinet after storing items.", | |
| "label": "cabinet", | |
| "target_id": "8", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare a simple breakfast.", | |
| "scan_id": "ARKitScenes_43828486", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk over to the refrigerator to get the ingredients.", | |
| "label": "refrigerator", | |
| "target_id": "15", | |
| "target_object": "refrigerator", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Take out items such as eggs and milk from the refrigerator.", | |
| "label": "refrigerator", | |
| "target_id": "15", | |
| "target_object": "refrigerator", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the dark brown, wooden dining table to set down the ingredients.", | |
| "label": "table", | |
| "target_id": "15", | |
| "target_object": "refrigerator", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Grab plates from one of the white cabinets nearby.", | |
| "label": "cabinet", | |
| "target_id": "9", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Place the plates on the dark brown, wooden dining table.", | |
| "label": "table", | |
| "target_id": "9", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Go to another white cabinet to fetch a frying pan.", | |
| "label": "cabinet", | |
| "target_id": "17", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Return to the kitchen island table and prepare the meal.", | |
| "label": "table", | |
| "target_id": "22", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "23", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "8. Sit at the dark brown, wooden dining table to enjoy the meal.", | |
| "label": "table", | |
| "target_id": "9", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Middle-of-the-night restroom trip.", | |
| "scan_id": "ARKitScenes_41126728", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Rise from the bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Walk to the toilet on the left side.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use this toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Head back to the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Wash your hands at the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Return to the bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Get back into the bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_43896491", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white, oblong toilet next to the bathtub.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Raise the seat of the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the toilet as needed.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Lower the seat once finished.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Flush the toilet using the handle.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize clothes into the dresser.", | |
| "scan_id": "ARKitScenes_43896396", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the grey oblong cabinet with blue knobs.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the top drawer of the dresser.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the drawer.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean and organize the bathroom.", | |
| "scan_id": "ARKitScenes_45261548", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the cabinet in the bathroom.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open its drawer and take out cleaning supplies.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the drawer.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Clean the surface of the sink using the supplies.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 5, | |
| "action": "5. Close the drawer.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_42899780", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white toilet with a seat.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the lid of the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the toilet for urination.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Put down the toilet lid.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Flush the toilet using the flush mechanism.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Check the bathroom before leaving.", | |
| "scan_id": "ARKitScenes_41098066", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Ensure the faucet of the sink is turned off.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Check if the toilet has been flushed.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Verify the bathtub faucet is also turned off.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash your hands.", | |
| "scan_id": "ARKitScenes_45261665", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white porcelain sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Use the soap dispenser attached to the sink to get some soap.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Turn on the white faucet of the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Wash your hands under the running water.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 5, | |
| "action": "5. Turn off the faucet once you are done.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the sleeping and work area.", | |
| "scan_id": "ARKitScenes_47334080", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Start by straightening the checkered double bed.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Pluck and shake out the bed sheets.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Dust off the desk chair with a dry cloth from another room.", | |
| "label": "chair", | |
| "target_id": "1", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Clean the TV screen with a suitable electronic cleaner.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Arrange any scattered items neatly on the bed or on the chair.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "chair", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash hands after using the toilet.", | |
| "scan_id": "ARKitScenes_43896491", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white, stainless steel, rectangular pedestal sink in the bathroom.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the faucet of the sink.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wash hands under the running water.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Turn off the faucet once done.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Reorganize the living room cabinets.", | |
| "scan_id": "ARKitScenes_47332545", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the dining room cabinet with glass doors and wooden texture.", | |
| "label": "cabinet", | |
| "target_id": "5", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Take out all items stored inside it.", | |
| "label": "cabinet", | |
| "target_id": "5", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the brown wooden cabinet with glass doors aligned with another similar cabinet.", | |
| "label": "cabinet", | |
| "target_id": "4", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Carefully place the items inside this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "4", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Close the cabinet doors after reorganization.", | |
| "label": "cabinet", | |
| "target_id": "4", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Adjust the position of the stool.", | |
| "scan_id": "ARKitScenes_45662897", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk over to the swivel stool with a leather backrest.", | |
| "label": "stool", | |
| "target_id": "2", | |
| "target_object": "stool", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Rotate the stool to face the TV directly.", | |
| "label": "stool", | |
| "target_id": "2", | |
| "target_object": "stool", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Inspect for repairs in the bathroom.", | |
| "scan_id": "ARKitScenes_44358576", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Check the faucet on the sink for any leaks or drips.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Ensure the sink drain is working properly and clear of any clogs.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Examine the toilet for any irregularities such as leaks or cracks.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Test the flush mechanism of the toilet to ensure proper functioning.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize items into the cabinets", | |
| "scan_id": "ARKitScenes_41098110", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the cabinet at the 2 o'clock direction near the bed.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Pick an item from the table next to the stool.", | |
| "label": "table", | |
| "target_id": "4", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "5", | |
| "anchor_object": "stool", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Place the item inside the open cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Walk to the cabinet at the 9 o'clock direction near the bed.", | |
| "label": "cabinet", | |
| "target_id": "6", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Open this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "6", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Pick another item from the same table.", | |
| "label": "table", | |
| "target_id": "4", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "8. Place this item inside the open cabinet.", | |
| "label": "cabinet", | |
| "target_id": "6", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "9. Close the first cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "10. Close the second cabinet.", | |
| "label": "cabinet", | |
| "target_id": "6", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Take a nap.", | |
| "scan_id": "ARKitScenes_42899020", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the bedroom where the king size bed is located.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Lie down on the bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the cabinet and its mirror.", | |
| "scan_id": "ARKitScenes_48018711", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the white wooden cabinet in the kitchen.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Wipe the wooden surfaces of the cabinet including the door.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize the cabinets in the bedroom.", | |
| "scan_id": "ARKitScenes_45261495", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the black cabinet at a 3 o'clock direction near the bunk bed.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the drawers of this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Arrange items neatly inside the drawers.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close the drawers after organizing.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Walk to the other cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Sort and store miscellaneous items into this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize bathroom supplies.", | |
| "scan_id": "ARKitScenes_47334896", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the bathroom cabinet opposite the washing machine.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "washing machine", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the cabinet doors.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Take out all items from it.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Organize the toiletries into categories.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Place them back neatly inside the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Close the cabinet doors.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Do laundry.", | |
| "scan_id": "ARKitScenes_42899526", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white, oblong washing machine that is a top-loader.", | |
| "label": "washing machine", | |
| "target_id": "3", | |
| "target_object": "washing machine", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the lid of the washing machine.", | |
| "label": "washing machine", | |
| "target_id": "3", | |
| "target_object": "washing machine", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the lid of the washing machine.", | |
| "label": "washing machine", | |
| "target_id": "3", | |
| "target_object": "washing machine", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Start the washing machine using the control panel.", | |
| "label": "washing machine", | |
| "target_id": "3", | |
| "target_object": "washing machine", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare the bathroom for cleaning.", | |
| "scan_id": "ARKitScenes_47429688", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the shiny toilet used for urinating.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Close the toilet lid.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Walk to the bathtub next to the toilet.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Remove any items from around the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize spices in the cabinet.", | |
| "scan_id": "ARKitScenes_48018711", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white wooden cabinet located in the kitchen.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the cabinet's door to access the inside shelves.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the cabinet door after organizing the spices.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Baby's potty training.", | |
| "scan_id": "ARKitScenes_47204876", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white plastic toilet in the bathroom.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the seat of the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Help your baby sit on the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Wait for the baby to finish.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Help the baby up from the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Put the seat down on the toilet.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_45261548", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the toilet located behind the bathroom cabinet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the lid of the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Sit down to use it for personal hygiene and waste disposal.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Once done, flush it using the handle.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Close the lid of the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Evening wind down meditation.", | |
| "scan_id": "ARKitScenes_41127005", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the bed behind the cabinet.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Sit cross-legged on the bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Close your eyes and begin to meditate.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Watch a television show.", | |
| "scan_id": "ARKitScenes_48018921", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the black glass-made flat screen TV.", | |
| "label": "tv", | |
| "target_id": "9", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Grab the remote from the second shelf of the black cabinet next to the TV.", | |
| "label": "cabinet", | |
| "target_id": "9", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "12", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Turn on the TV using the remote.", | |
| "label": "tv", | |
| "target_id": "9", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Place the remote back in the same place in the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "9", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "12", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Sit on the sofa beside the other sofa to watch your show.", | |
| "label": "sofa", | |
| "target_id": "10", | |
| "target_object": "sofa", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize items in the bathroom cabinet.", | |
| "scan_id": "ARKitScenes_41125303", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the cabinet in front of the toilet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the bottom drawer of this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Arrange the items inside neatly.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close the drawer when finished.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Watch a movie with friends in the living area.", | |
| "scan_id": "ARKitScenes_45663347", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the grey and white stainless steel coffee table.", | |
| "label": "table", | |
| "target_id": null, | |
| "target_object": null, | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "17", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Turn on the TV placed higher than the marble coffee table near here.", | |
| "label": "tv", | |
| "target_id": "25", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "17", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Walk to the grey leather reclining sofa opposite the TV.", | |
| "label": "sofa", | |
| "target_id": "25", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "22", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Sit down comfortably to watch the movie.", | |
| "label": "sofa", | |
| "target_id": "22", | |
| "target_object": "sofa", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash your hands.", | |
| "scan_id": "ARKitScenes_41098066", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Turn on the faucet of the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Wash your hands under the running water.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Turn the faucet off.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Test the whirlpool function of the bathtub.", | |
| "scan_id": "ARKitScenes_47429688", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white, rectangular-shaped bathtub.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Fill the bathtub halfway with water.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Turn on the whirlpool function.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Observe the whirlpool function for a few minutes to ensure it works correctly.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Turn off the whirlpool function.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Drain the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "2", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Set an ambient dinner setting with candles.", | |
| "scan_id": "ARKitScenes_48018921", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Reach for the white cabinet below the shelf near the black chairs.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "shelf", | |
| "anchor_type": "explicit" | |
| }, | |
| { | |
| "anchor_id": "4", | |
| "anchor_object": "chair", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Take out two candles from inside the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Place the candles at both ends of the white rectangular dining table.", | |
| "label": "table", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Return to the cabinet to get a lighter.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Light each candle to create a cozy atmosphere.", | |
| "label": "table", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Sit at the black chair aligned with the other chairs to enjoy the ambiance.", | |
| "label": "chair", | |
| "target_id": "5", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare for bedtime hygiene routine.", | |
| "scan_id": "ARKitScenes_41125872", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet before sleeping.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the sink to brush your teeth.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Brush your teeth at this sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Rinse and set the toothbrush back in place near the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare a quick meal using the stove.", | |
| "scan_id": "ARKitScenes_44358176", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white stainless steel camping stove.", | |
| "label": "stove", | |
| "target_id": "5", | |
| "target_object": "stove", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Turn the knob to light it.", | |
| "label": "stove", | |
| "target_id": "5", | |
| "target_object": "stove", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Return to the stove to cook the meal.", | |
| "label": "stove", | |
| "target_id": "5", | |
| "target_object": "stove", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Once cooked, turn off the stove.", | |
| "label": "stove", | |
| "target_id": "5", | |
| "target_object": "stove", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Enjoy a movie night.", | |
| "scan_id": "ARKitScenes_47332951", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the double bed facing the storage cabinet.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lie down on the bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Grab the remote from the nightstand beside the bed.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Turn on the tv that is positioned higher than the bed.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Adjust the volume and settings using the remote.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Set up a bedtime viewing scene.", | |
| "scan_id": "ARKitScenes_47430060", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the TV which is elevated above the nearby cabinet.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn the TV on to a calming sleep program.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the king size bed next to the cabinet.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Fluff up the pillows on this bed for comfort.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Adjust the volume on the TV to be softly audible from the bed using the remote on the cabinet.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| }, | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Lie down and prepare for restful sleep to the sounds of the program.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Test the swivel feature of the stool.", | |
| "scan_id": "ARKitScenes_45662897", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white, swivel stool attached to the wall.", | |
| "label": "stool", | |
| "target_id": "2", | |
| "target_object": "stool", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Sit down on it.", | |
| "label": "stool", | |
| "target_id": "2", | |
| "target_object": "stool", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Swivel to the left and then to the right to check its functionality.", | |
| "label": "stool", | |
| "target_id": "2", | |
| "target_object": "stool", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_41069100", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the toilet near the bathtub.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet for your needs.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Flush the toilet after use.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_47430940", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white, oblong-shaped porcelain toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the toilet's lid.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Put the lid down after using it.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the bathtub.", | |
| "scan_id": "ARKitScenes_41098066", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the bathtub behind the toilet.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Scrub the surface of the bathtub with a brush (assuming there is one available nearby).", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Rinse the bathtub with water from the faucet.", | |
| "label": "bathtub", | |
| "target_id": "1", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Rearrange the sleeping arrangement for a blue bunk bed.", | |
| "scan_id": "ARKitScenes_42445100", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the blue triangular-shaped bunk bed near the white bunk bed.", | |
| "label": "bed", | |
| "target_id": null, | |
| "target_object": null, | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Reverse the bed to face the opposite direction.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Redress the bed with the covers properly aligned.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Take a relaxing bath.", | |
| "scan_id": "ARKitScenes_48018591", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white rectangular bathtub.", | |
| "label": "bathtub", | |
| "target_id": "4", | |
| "target_object": "bathtub", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Wait until the bathtub is appropriately filled.", | |
| "label": "bathtub", | |
| "target_id": "4", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Undress and step into the bathtub.", | |
| "label": "bathtub", | |
| "target_id": "4", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Soak and relax in the warm water.", | |
| "label": "bathtub", | |
| "target_id": "4", | |
| "target_object": "bathtub", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Rearrange the furniture for better TV viewing.", | |
| "scan_id": "ARKitScenes_48458311", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the cabinet used as a television stand.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Carefully move the cabinet with the TV to a new location that allows a better viewing angle.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "tv", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Ensure the TV is stable on the cabinet after moving.", | |
| "label": "tv", | |
| "target_id": "2", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash hands after using the toilet.", | |
| "scan_id": "ARKitScenes_48018591", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white oblong toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet for urinating.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Flush the toilet using the handle.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Move to the white porcelain sink just beyond the toilet.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Turn on the faucet at the sink.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Wash hands thoroughly under running water.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Turn off the faucet once done.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare for a presentation.", | |
| "scan_id": "ARKitScenes_42898360", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Collect stationery supplies from the bottom drawer of the wooden cabinet with a black handle, near the microwave.", | |
| "label": "cabinet", | |
| "target_id": "15", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "12", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Arrange these supplies neatly on the black and white concrete coffee table in front of the sofa.", | |
| "label": "table", | |
| "target_id": "15", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "9", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| }, | |
| { | |
| "anchor_id": "7", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Fetch the remote from the shelf beside the cabinet and turn on the sleek, black flat-screen TV above this table.", | |
| "label": "shelf", | |
| "target_id": "11", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "15", | |
| "anchor_object": "shelf", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Choose the appropriate input on the TV for the presentation.", | |
| "label": "tv", | |
| "target_id": "11", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Ensure all graphical presentations are displayed correctly on the screen.", | |
| "label": "tv", | |
| "target_id": "11", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize a daily medicine routine.", | |
| "scan_id": "ARKitScenes_42898360", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white, wooden storage cabinet with two drawers and a mirror on top.", | |
| "label": "cabinet", | |
| "target_id": "12", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the top drawer to take out the medicine box.", | |
| "label": "cabinet", | |
| "target_id": "12", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Sort the necessary medicine into daily doses.", | |
| "label": "cabinet", | |
| "target_id": "12", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close the drawer securely.", | |
| "label": "cabinet", | |
| "target_id": "12", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Take a nap in the chair.", | |
| "scan_id": "ARKitScenes_42898094", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white wooden chair hanging from the ceiling.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Sit down comfortably in the chair.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Lean back to relax and nap in a hanging chair.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize the kitchen.", | |
| "scan_id": "ARKitScenes_47332467", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Collect all loose utensils and place them into the stainless steel sink for washing.", | |
| "label": "sink", | |
| "target_id": "23", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "9", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Arrange the cleaned utensils back into the cabinet beside the kitchen stove.", | |
| "label": "cabinet", | |
| "target_id": "23", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "6", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Check and organize the spices and condiments in the storage spaces of the display cabinet.", | |
| "label": "cabinet", | |
| "target_id": "23", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Place any decorative items or small appliances back on their designated spots on the cabinet shelves.", | |
| "label": "cabinet", | |
| "target_id": "6", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "23", | |
| "anchor_object": "shelf", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare for a nap.", | |
| "scan_id": "ARKitScenes_41165734", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Approach the bed close to the toilet.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Smooth out the bedding on the bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Climb onto the bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Settle down for a nap.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the toilet.", | |
| "scan_id": "ARKitScenes_47115258", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white, wooden toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the seat cover of the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Scrub the toilet bowl with a cleaner (assuming it's available).", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Lower the toilet seat cover.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Flush the toilet to rinse the cleaner away.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Create a casual viewing area.", | |
| "scan_id": "ARKitScenes_45662897", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the sleek, modern TV.", | |
| "label": "tv", | |
| "target_id": "1", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Ensure the TV is off.", | |
| "label": "tv", | |
| "target_id": "1", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the swivel stool.", | |
| "label": "stool", | |
| "target_id": "1", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "stool", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Move the stool closer to the TV for an optimal viewing distance.", | |
| "label": "stool", | |
| "target_id": "2", | |
| "target_object": "stool", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "tv", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Routine bathroom cleaning.", | |
| "scan_id": "ARKitScenes_42898125", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the cabinet with a white color and heart-shaped design.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Wipe the sink on this cabinet with a cleaning cloth. (Note: Assuming there's a cleaning cloth, since the scene graph does not specify one; otherwise, skip this step.)", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Scrub the toilet located behind the cabinet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare to relax and read a book in the bathroom.", | |
| "scan_id": "ARKitScenes_47332297", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white porcelain toilet with a blackmail poster on the seat.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Close the seat cover of this toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Head to the white leather rocking chair at the 7 o'clock direction far from the toilet.", | |
| "label": "chair", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "chair", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Sit on the rocking chair.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Watch a movie on the TV.", | |
| "scan_id": "ARKitScenes_45662897", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the sleek, modern tv on the wall.", | |
| "label": "tv", | |
| "target_id": "1", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the TV using the remote control (assumed to be kept nearby).", | |
| "label": "tv", | |
| "target_id": "1", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the white, wooden stool with a leather seat.", | |
| "label": "stool", | |
| "target_id": "2", | |
| "target_object": "stool", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Sit on the stool to enjoy a movie.", | |
| "label": "stool", | |
| "target_id": "2", | |
| "target_object": "stool", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the bathroom.", | |
| "scan_id": "ARKitScenes_41125872", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Clean it with some cleaning supplies.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Scrub the toilet using appropriate cleaning utensils.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Return to the sink to wash the cleaning materials.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Pick an outfit for tomorrow.", | |
| "scan_id": "ARKitScenes_41127098", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the cabinet to the right of another cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open it and browse through the clothes.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Select an outfit for the next day.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Lay the chosen outfit on the bed next to this cabinet.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Freshen up in the morning.", | |
| "scan_id": "ARKitScenes_41125872", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Wash your hands here.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the toilet area.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Return to the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Wash your hands again.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize the bed for daytime use.", | |
| "scan_id": "ARKitScenes_42898068", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Approach the beige king size bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Check the firmness of the velvet pillows, rearrange if necessary.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Dust off the headboard and footboard of the bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Walk to the TV.", | |
| "label": "tv", | |
| "target_id": "2", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 5, | |
| "action": "5. Turn off the TV if it's on.", | |
| "label": "tv", | |
| "target_id": "2", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Morning routine after waking up.", | |
| "scan_id": "ARKitScenes_41126728", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Get up from the bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Walk over to the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Freshen up by washing your face.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Use the toilet on the left.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Flush the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Return to the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Brush your teeth here.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "8. Go back to the bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "9. Make the bed to start the day right.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize and clean the central work table.", | |
| "scan_id": "ARKitScenes_42446117", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Approach the wooden rectangular table that's covered in wrapping paper and other items.", | |
| "label": "table", | |
| "target_id": "10", | |
| "target_object": "table", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Pick up and fold any loose wrapping paper on the table.", | |
| "label": "table", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "10", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Organize objects like the plant, laptop, and bottle of wine into respective areas on the table.", | |
| "label": "table", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "10", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Clear any trash or unnecessary items on it.", | |
| "label": "table", | |
| "target_id": "2", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "10", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Wipe the surface of the table to make it clean and neat.", | |
| "label": "table", | |
| "target_id": "10", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Wash hands in the bathroom.", | |
| "scan_id": "ARKitScenes_44358576", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white porcelain sink in the bathroom.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Turn on the faucet on the side of the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wash hands under the running water.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Turn off the faucet once hands are clean.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the bathroom.", | |
| "scan_id": "ARKitScenes_40958754", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Go to the sink nearby.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Wash your hands.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Warm up by the fireplace.", | |
| "scan_id": "ARKitScenes_42899828", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the rough-textured fireplace.", | |
| "label": "fireplace", | |
| "target_id": "1", | |
| "target_object": "fireplace", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Light the fireplace for heat.", | |
| "label": "fireplace", | |
| "target_id": "1", | |
| "target_object": "fireplace", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Go to the wooden wall shelf nearby.", | |
| "label": "shelf", | |
| "target_id": "1", | |
| "target_object": "fireplace", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "shelf", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Fetch a book from this shelf.", | |
| "label": "shelf", | |
| "target_id": "2", | |
| "target_object": "shelf", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Return to the front of the fireplace.", | |
| "label": "fireplace", | |
| "target_id": "2", | |
| "target_object": "shelf", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "fireplace", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Sit close by to enjoy the warmth while reading.", | |
| "label": "fireplace", | |
| "target_id": "2", | |
| "target_object": "shelf", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "fireplace", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_42446072", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white toilet located next to the bathtub.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "4", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Use the toilet for urination or defecation.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Flush the toilet after using.", | |
| "label": "toilet", | |
| "target_id": "3", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Wash your hands at the nearby white ceramic sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Quick toilet usage before going out.", | |
| "scan_id": "ARKitScenes_47430690", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the white, oblong public toilet to the right of the bathtub.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bathtub", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Use the toilet for your needs.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Walk to the white sink nearby.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Wash your hands at the sink with the white faucet.", | |
| "label": "sink", | |
| "target_id": "3", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare for bedtime.", | |
| "scan_id": "ARKitScenes_41126728", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the sink.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Wash your hands here.", | |
| "label": "sink", | |
| "target_id": "1", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Walk to the bed far from the toilet.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "toilet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Lie down on this bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Relax and watch TV in the living room.", | |
| "scan_id": "ARKitScenes_42446446", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the dark brown leather sectional sofa.", | |
| "label": "sofa", | |
| "target_id": "21", | |
| "target_object": "sofa", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Sit down comfortably here.", | |
| "label": "sofa", | |
| "target_id": "21", | |
| "target_object": "sofa", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Reach for the remote from the wooden table adjacent to it.", | |
| "label": "table", | |
| "target_id": "3", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "24", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Turn on the flat screen TV mounted above the fireplace.", | |
| "label": "tv", | |
| "target_id": "34", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "33", | |
| "anchor_object": "fireplace", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Select your favorite channel using the remote.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Clean the bathroom sink.", | |
| "scan_id": "ARKitScenes_47332297", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white porcelain sink with a faucet, placed in the corner.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the faucet to run water.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Rinse the sink with the water.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close the faucet.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize bathroom essentials.", | |
| "scan_id": "ARKitScenes_45261548", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Go to the white, stainless steel cabinet in the bathroom.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Open the cabinet door.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Close the cabinet door.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize the bedside area.", | |
| "scan_id": "ARKitScenes_48018269", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the rectangular wooden table near the wooden single bed.", | |
| "label": "table", | |
| "target_id": "3", | |
| "target_object": "table", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Remove any items currently on this table.", | |
| "label": "table", | |
| "target_id": "3", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wipe the table's surface with a cloth.", | |
| "label": "table", | |
| "target_id": "3", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Go behind this table to fetch the cloth from the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "3", | |
| "target_object": "table", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Return to the table and continue to wipe it down thoroughly.", | |
| "label": "table", | |
| "target_id": "3", | |
| "target_object": "table", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize the storage space.", | |
| "scan_id": "ARKitScenes_42898163", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Start with the tall rectangular grey and white wooden storage cabinet.", | |
| "label": "cabinet", | |
| "target_id": "12", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Sort out items that are not necessary and set them aside on the nearby brown wooden table used as a coffee table.", | |
| "label": "table", | |
| "target_id": "32", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "33", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Wipe the shelves of the cabinet using a cloth kept in the grey and white kitchen cabinet.", | |
| "label": "cabinet", | |
| "target_id": "11", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Neatly place the useful items back into the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "12", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 5, | |
| "action": "5. Take the discarded items to the wooden cabinet used to store pots and pans and assess if any can be stored there.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare a microwave dinner.", | |
| "scan_id": "ARKitScenes_47332467", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Open the glass doors of the tall white and glass display cabinet.", | |
| "label": "cabinet", | |
| "target_id": "1", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Take out the microwave oven from within it.", | |
| "label": "cabinet", | |
| "target_id": "11", | |
| "target_object": "oven", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Place the microwave oven on the kitchen counter in front of the white, stainless steel sink.", | |
| "label": "cabinet", | |
| "target_id": "11", | |
| "target_object": "oven", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "9", | |
| "anchor_object": "sink", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Open the microwave oven and place your dinner inside it.", | |
| "label": "cabinet", | |
| "target_id": "11", | |
| "target_object": "oven", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Set the timer and start the microwave.", | |
| "label": "cabinet", | |
| "target_id": "11", | |
| "target_object": "oven", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Once the timer goes off, open the microwave and take out your dinner.", | |
| "label": "cabinet", | |
| "target_id": "11", | |
| "target_object": "oven", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "7. Serve the dinner on the wooden dining table adjacent to the leather chairs.", | |
| "label": "table", | |
| "target_id": "23", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "18", | |
| "anchor_object": "table", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare to visit a guest.", | |
| "scan_id": "ARKitScenes_45261072", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the bathroom to use the toilet.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Use the toilet for regular relief.", | |
| "label": "toilet", | |
| "target_id": "1", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Walk immediately to the sink to freshen up.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Wash your face and hands using the faucet on the sink.", | |
| "label": "sink", | |
| "target_id": "2", | |
| "target_object": "sink", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Enjoy a relaxing evening watching TV from the bed.", | |
| "scan_id": "ARKitScenes_47334080", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the black or white TV with a flat screen texture.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Turn the TV on.", | |
| "label": "tv", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Perambulate to the right of the TV to the bed close by the desk chair.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Lie down on the grey and white checkered double bed.", | |
| "label": "bed", | |
| "target_id": "3", | |
| "target_object": "tv", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare an area for a small gathering.", | |
| "scan_id": "ARKitScenes_48018203", | |
| "action_steps": [ | |
| { | |
| "action_id": 1, | |
| "action": "1. Walk to the chair next to the cabinet.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 2, | |
| "action": "2. Pull the chair slightly away from the sofa and cabinet to create more space.", | |
| "label": "chair", | |
| "target_id": "3", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| }, | |
| { | |
| "anchor_id": "2", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": 3, | |
| "action": "3. Check the cabinet for any beverages or snacks that can be served.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": 4, | |
| "action": "4. Return to the sofa to rest after preparing the gathering area.", | |
| "label": "sofa", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Prepare the bunk beds for sleep.", | |
| "scan_id": "ARKitScenes_42445100", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Go to the white wooden bunk bed on the left.", | |
| "label": "bed", | |
| "target_id": null, | |
| "target_object": null, | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Pull out the covers on it.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Fluff the pillow on this bed.", | |
| "label": "bed", | |
| "target_id": "1", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Walk to the blue triangular-shaped bunk bed near the white bunk bed.", | |
| "label": "bed", | |
| "target_id": null, | |
| "target_object": null, | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Pull out the covers on this bed.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "6. Fluff the pillow on this bed.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "bed", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Have a relaxing reading session before sleep.", | |
| "scan_id": "ARKitScenes_42897681", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk up to the beige cabinet nearby the wooden bed.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Open the cabinet and pick out a book.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Move to the bed in the bedroom.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Sit comfortably on the bed.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Begin your reading session.", | |
| "label": "bed", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "bed", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Enjoy a moment of relaxation on the chair.", | |
| "scan_id": "ARKitScenes_45261399", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the blue velvet lounge chair.", | |
| "label": "chair", | |
| "target_id": "2", | |
| "target_object": "chair", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Sit down and relax in the chair.", | |
| "label": "chair", | |
| "target_id": "2", | |
| "target_object": "chair", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize kitchen essentials.", | |
| "scan_id": "ARKitScenes_42445500", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Collect various kitchen items from the white, wooden storage cabinet with a light on top and a wicker basket inside.", | |
| "label": "cabinet", | |
| "target_id": "34", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "14", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Walk to the white kitchen cabinet with a blue stove top and stove.", | |
| "label": "cabinet", | |
| "target_id": null, | |
| "target_object": null, | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Store the items neatly inside this cabinet.", | |
| "label": "cabinet", | |
| "target_id": "34", | |
| "target_object": "object", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "19", | |
| "anchor_object": "cabinet", | |
| "anchor_type": "explicit" | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Use the toilet.", | |
| "scan_id": "ARKitScenes_44358418", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the white toilet with a seat and lid.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": true, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Lift the lid of the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Use the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Close the lid after using the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "5. Flush the toilet.", | |
| "label": "toilet", | |
| "target_id": "2", | |
| "target_object": "toilet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| }, | |
| { | |
| "task_description": "Organize the items on the cabinet.", | |
| "scan_id": "ARKitScenes_48018203", | |
| "action_steps": [ | |
| { | |
| "action_id": null, | |
| "action": "1. Walk to the cabinet between the sofa and the chair.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": true, | |
| "anchors": [ | |
| { | |
| "anchor_id": "1", | |
| "anchor_object": "sofa", | |
| "anchor_type": "explicit" | |
| }, | |
| { | |
| "anchor_id": "3", | |
| "anchor_object": "chair", | |
| "anchor_type": "explicit" | |
| } | |
| ], | |
| "anchor_source": "rule_backfill" | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "2. Arrange any items that appear out of place on top of the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "3. Wipe the surface of the cabinet if needed.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| }, | |
| { | |
| "action_id": null, | |
| "action": "4. Step back to review your organization of the cabinet.", | |
| "label": "cabinet", | |
| "target_id": "2", | |
| "target_object": "cabinet", | |
| "target_changed": false, | |
| "anchors": [] | |
| } | |
| ] | |
| } | |
| ] |