Edge-by-edge traversability annotations for one indoor scene, by agent type.

Agent: HUMAN
node_55|node_52: traversable: yes
note: Auto-approved: able-bodied human
node_52|node_53: traversable: yes
question: Can [Agent] move from the area by the bar stools in the Kitchen to the dining table area in the Dining room?
node_53|node_54: traversable: yes
question: Can [Agent] move from the dining table area in the Dining room to the patio table area in the Yard?
node_52|node_43: traversable: yes
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_43|node_51: traversable: yes
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_51|node_45: traversable: yes
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_44|node_49: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_49|node_43: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_51|node_47: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_46|node_51: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_51|node_43: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_49: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_49|node_48: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_52: traversable: yes
question: Can [Agent] move from the area near the chairs in the Master bedroom to the area by the stove in the Kitchen?
node_45|node_51: traversable: yes
question: Can [Agent] move from the computer desk area in the Home office and gym to the patio table area in the Yard?
node_47|node_51: traversable: yes
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?
node_49|node_44: traversable: yes
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?

Agent: WHEELCHAIR
node_55|node_52: traversable: yes
question: Can [Agent] move from the area by the sectional sofa in the Entrance and living room to the area near the sink in the Kitchen?
node_52|node_53: traversable: yes
question: Can [Agent] move from the area by the bar stools in the Kitchen to the dining table area in the Dining room?
node_53|node_54: traversable: no
note: dining room is too narrow and cluttered to pass; yard is lower than indoor floor
question: Can [Agent] move from the dining table area in the Dining room to the patio table area in the Yard?
node_52|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_43|node_51: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_51|node_45: traversable: yes
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_44|node_49: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_49|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_51|node_47: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_46|node_51: traversable: no
note: no turning space in the hallway
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_51|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_49: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_49|node_48: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_52: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the chairs in the Master bedroom to the area by the stove in the Kitchen?
node_45|node_51: traversable: yes
question: Can [Agent] move from the computer desk area in the Home office and gym to the patio table area in the Yard?
node_47|node_51: traversable: yes
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?
node_49|node_44: traversable: yes
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?

Agent: ROBOT
node_55|node_52: traversable: yes
question: Can [Agent] move from the area by the sectional sofa in the Entrance and living room to the area near the sink in the Kitchen?
node_52|node_53: traversable: yes
question: Can [Agent] move from the area by the bar stools in the Kitchen to the dining table area in the Dining room?
node_53|node_54: traversable: no
note: space is too cluttered
question: Can [Agent] move from the dining table area in the Dining room to the patio table area in the Yard?
node_52|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_43|node_51: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_51|node_45: traversable: no
note: door too narrow
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_44|node_49: traversable: no
note: door too narrow
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_49|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_51|node_47: traversable: no
note: door too narrow
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_46|node_51: traversable: no
note: door too narrow
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_51|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_49: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_49|node_48: traversable: no
note: door too narrow
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_52: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the chairs in the Master bedroom to the area by the stove in the Kitchen?
node_45|node_51: traversable: no
note: door too narrow
question: Can [Agent] move from the computer desk area in the Home office and gym to the patio table area in the Yard?
node_47|node_51: traversable: no
note: door too narrow
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?
node_49|node_44: traversable: no
note: door too narrow
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?

Agent: SWEEPER
node_55|node_52: traversable: yes
question: Can [Agent] move from the area by the sectional sofa in the Entrance and living room to the area near the sink in the Kitchen?
node_52|node_53: traversable: yes
question: Can [Agent] move from the area by the bar stools in the Kitchen to the dining table area in the Dining room?
node_53|node_54: traversable: no
note: door is closed; height difference to yard; door sill
question: Can [Agent] move from the dining table area in the Dining room to the patio table area in the Yard?
node_52|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_43|node_51: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_51|node_45: traversable: yes
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_44|node_49: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_49|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_51|node_47: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_46|node_51: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_51|node_43: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_49: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_49|node_48: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_52: traversable: no
note: cannot go up/down stairs
question: Can [Agent] move from the area near the chairs in the Master bedroom to the area by the stove in the Kitchen?
node_45|node_51: traversable: yes
question: Can [Agent] move from the computer desk area in the Home office and gym to the patio table area in the Yard?
node_47|node_51: traversable: yes
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?
node_49|node_44: traversable: yes
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?

Agent: QUADRUPEDAL
node_55|node_52: traversable: yes
question: Can [Agent] move from the area by the sectional sofa in the Entrance and living room to the area near the sink in the Kitchen?
node_52|node_53: traversable: yes
question: Can [Agent] move from the area by the bar stools in the Kitchen to the dining table area in the Dining room?
node_53|node_54: traversable: no
note: cannot open door; dining space too cluttered
question: Can [Agent] move from the dining table area in the Dining room to the patio table area in the Yard?
node_52|node_43: traversable: yes
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_43|node_51: traversable: yes
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_51|node_45: traversable: yes
question: Can [Agent] move from the area near the main entrance door in the Entrance and living room to the area at the elliptical machine in the Home office and gym?
node_44|node_49: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_49|node_43: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_51|node_47: traversable: yes
question: Can [Agent] move from the area by the white bed in the Master bedroom to the toilet area in the Bathroom with mat?
node_46|node_51: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_51|node_43: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_49: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_49|node_48: traversable: yes
question: Can [Agent] move from the area by the floral bed in the Bedroom with floral sheets to the double vanity area in the Master bedroom bathroom?
node_43|node_52: traversable: yes
question: Can [Agent] move from the area near the chairs in the Master bedroom to the area by the stove in the Kitchen?
node_45|node_51: traversable: yes
question: Can [Agent] move from the computer desk area in the Home office and gym to the patio table area in the Yard?
node_47|node_51: traversable: yes
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?
node_49|node_44: traversable: yes
question: Can [Agent] move from the sink area in the Bathroom with mat to the area by the white bed in the Master bedroom?