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trial_T20190914_020559_534073-2
Put a knife in the refrigerator and a slice of potato in the microwave.
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0", "" ], [ "89", " Shelf", " 2.759", " 0.552", " 0.145", " 0", " 0", " 0", "" ], [ "90", " Fridge", " 1.975", " 0.0", " -0.537", " 0", " 0", " 0", "" ], [ "91", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "92", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "93", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "94", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "95", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "96", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "97", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "98", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "99", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "100", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "101", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "102", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "103", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "105", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "106", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 1.0 0 90 0 1 Pan -1.056 0.956 -0.672 0 180 0 55 2 Statue -1.278 0.920 0.030 0 0 0 76 3 Ladle -1.278 0.950 0.241 0 0 0 76 4 DishSponge -1.075 0.910 -1.469 0 0 0 83 5 Kettle -0.650 0.113 0.218 0 180 0 78 6 Pot -1.056 0.956 -1.127 0 0 0 80 7 Spatula -0.634 0.928 0.241 0 0 0 76 8 Spatula -0.252 0.711 0.098 0 90 0 82 9 Fork 0.008 0.914 0.294 0 270 0 76 10 Spoon 0.969 0.912 -1.760 0 0 0 83 11 Spoon 1.194 0.912 -1.929 0 0 0 83 12 Egg 2.000 1.132 -0.458 0 270 0 90 13 Plate 1.891 1.426 -0.737 0 270 0 90 14 Knife 0.055 0.786 -2.008 0 0 0 93 15 Knife -0.375 1.155 0.662 0 0 0 79 16 Tomato 0.071 1.181 0.573 0 0 0 79 17 Tomato -1.239 0.960 -1.469 0 0 0 83 18 Bowl 1.836 0.814 -0.644 0 270 0 90 19 SaltShaker -0.420 0.909 0.294 0 0 0 76 20 SaltShaker 2.798 0.548 0.038 0 180 0 89 21 PepperShaker 2.798 0.548 0.245 0 180 0 89 22 PepperShaker 3.002 0.876 0.195 0 180 0 87 23 Mug 0.501 0.955 -1.900 0 0 0 99 24 Apple 2.055 0.865 -0.458 0 270 0 90 25 Pan 1.743 0.9 -1.969 0 308.846 0 83 26 Knife -0.822 1.155 0.441 0 180 0 79 27 Bowl -1.379 0.908 -2.014 0 0 0 83 28 Fork -0.152 1.132 0.618 0 0 0 79 29 Cup 0.101 0.750 -1.938 0 0 0 93 30 Ladle 1.805 1.689 -1.737 0 90 0 61 31 Apple 1.910 1.064 -1.297 0 270 0 88 32 Kettle 1.000 1.658 -2.126 0 0 0 62 33 Vase 1.571 0.119 -1.462 0 0 0 57 34 Potato -0.152 1.161 0.485 0 0 0 79 35 Pot -1.289 0.957 -0.756 0 180 0 58 36 Bread -0.598 1.213 0.573 0 0 0 79 37 Plate 1.63 0.115 -1.201 0 0 0 57 38 Spatula -0.376 0.778 -2.118 0 90 0 93 39 PaperTowelRoll 2.491 0.984 0.168 0 180 0 87 40 Vase -0.205 0.919 0.241 0 0 0 76 41 Egg 1.419 0.944 -2.014 0 0 0 83 42 SoapBottle -1.232 1.660 -0.285 0 0 0 66 43 SaltShaker -0.119 0.691 0.222 0 180 0 82 44 Lettuce -0.822 1.208 0.573 0 0 0 79 45 PepperShaker -0.679 0.688 0.146 0 180 0 77 46 ButterKnife -0.290 0.763 -2.063 0 180 0 93 47 DishSponge -0.053 0.695 0.139 0 180 0 82 48 Vase -1.413 0.911 -0.292 0 0 0 76 49 Spoon -1.018 0.912 -2.182 0 0 0 83 50 Tomato 1.845 0.112 0.166 0 0 0 86 51 Mug 2.000 0.812 -0.271 0 270 0 90 52 Statue -0.420 0.920 0.030 0 0 0 76 53 Drawer -0.819 0.75 -1.690 0 0 0 54 Cabinet -1.149 2.264 -0.838 0 90 0 55 StoveBurner -1.056 0.949 -0.671 0 180 0 56 Cabinet 1.738 2.019 -2.000 0 0 0 57 Cabinet 1.389 0.469 -1.059 0 0 0 58 StoveBurner -1.289 0.949 -0.755 0 180 0 59 Faucet -0.157 1.052 -2.196 0 270 0 60 Cabinet 1.75 2.019 -1.029 0 0 0 61 Cabinet 1.75 2.019 -1.399 0 0 0 62 Cabinet 1.179 2.019 -2.0 0 0 0 63 Cabinet 0.199 2.019 -2.0 0 0 0 64 Cabinet -1.100 2.019 -2.0 0 0 0 65 Cabinet -1.149 2.019 -1.979 0 0 0 66 Cabinet -1.149 2.019 -0.770 0 0 0 67 Cabinet -1.149 2.019 0.380 0 0 0 68 Cabinet -0.819 0.469 -1.689 0 0 0 69 Cabinet -0.839 0.469 -1.664 0 0 0 70 Cabinet -0.839 0.469 -0.049 0 0 0 71 Cabinet -0.414 0.370 -0.009 0 0 0 72 Sink -0.118 0.875 -2.009 0 0 0 73 StoveBurner -1.289 0.949 -1.019 0 0 0 74 Cabinet 0.119 2.264 -2.0 0 0 0 75 Cabinet -0.459 2.264 -2.0 0 0 0 76 CounterTop -0.665 0.949 0.188 0 0 0 77 Drawer -0.449 0.75 -0.010 0 180 0 78 Cabinet -0.450 0.469 -0.009 0 0 0 79 CounterTop -0.630 1.167 0.573 0 0 0 80 StoveBurner -1.056 0.949 -1.126 0 0 0 81 Cabinet 1.376 0.460 -1.685 0 0 0 82 Drawer -0.070 0.75 -0.009 0 180 0 83 CounterTop 1.159 0.946 -2.013 0 0 0 84 Cabinet -1.150 2.264 -1.418 0 90 0 85 HousePlant -1.246 1.108 0.606 0 0 0 86 GarbageCan 1.923 -0.010 0.137 0 0 0 87 Shelf 2.759 0.880 0.144 0 0 0 88 Microwave 1.827 0.900 -1.354 0 270 0 89 Shelf 2.759 0.552 0.145 0 0 0 90 Fridge 1.975 0.0 -0.537 0 0 0 91 LightSwitch 0.404 1.297 2.0 0 180 0 92 Shelf 2.760 0.172 0.145 0 0 0 93 SinkBasin -0.129 0.752 -2.007 0 0 0 94 StoveKnob -0.873 0.903 -0.827 45 90 0 95 StoveKnob -0.873 0.903 -0.676 45 90 0 96 StoveKnob -0.873 0.903 -0.966 45 90 0 97 StoveKnob -0.873 0.903 -1.123 45 90 0 98 Toaster 0.840 0.900 -2.057 0 0 0 99 CoffeeMachine 0.501 0.900 -2.125 0 0 0 100 ShelvingUnit 2.760 0.006 0.144 0 0 0 101 Stool -0.826 0.010 0.908 0 347.513 0 102 Stool -0.132 0.010 0.883 0 71.555 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn right, turn left, walk to counter, turn left to face the two stools. | STEP 2: Pick up the yellow knife from the counter. | STEP 3: Turn left, go to end of counter, turn right, walk to other side of counter, turn right, walk to stove, turn right and go to counter. | STEP 4: Slice the potato on the upper level of the counter. | STEP 5: Turn right, walk to refrigerator, turn right, turn left to face refrigerator. | STEP 6: Put knife in the refrigerator. | STEP 7: Turn left, turn left, walk forward to stove, turn right, go toward counter. | STEP 8: Take potato slice from the counter. | STEP 9: Turn right, walk to refrigerator, turn left to face refrigerator. | STEP 10: Put potato in refrigerator on shelf below knife, close refrigerator, remove potato slice. | STEP 11: Walk toward the refrigerator, turn right, walk forward, turn right, turn left, walk to microwave. | STEP 12: Put potato slice in the microwave. | END" ]
[ [ "STEP 1: Turn right, turn left, walk to counter, turn left to face the two stools. ", " STEP 2: Pick up the yellow knife from the counter. ", " STEP 3: Turn left, go to end of counter, turn right, walk to other side of counter, turn right, walk to stove, turn right and go to counter. ", " STEP 4: Slice the potato on the upper level of the counter. ", " STEP 5: Turn right, walk to refrigerator, turn right, turn left to face refrigerator. ", " STEP 6: Put knife in the refrigerator. ", " STEP 7: Turn left, turn left, walk forward to stove, turn right, go toward counter. ", " STEP 8: Take potato slice from the counter. ", " STEP 9: Turn right, walk to refrigerator, turn left to face refrigerator. ", " STEP 10: Put potato in refrigerator on shelf below knife, close refrigerator, remove potato slice. ", " STEP 11: Walk toward the refrigerator, turn right, walk forward, turn right, turn left, walk to microwave. ", " STEP 12: Put potato slice in the microwave. ", " END" ] ]
seen
trial_T20190914_020559_534073-3
Put a slice of bread in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 1.0 0 90 0 1 Pan -1.056 0.956 -0.672 0 180 0 55 2 Statue -1.278 0.920 0.030 0 0 0 76 3 Ladle -1.278 0.950 0.241 0 0 0 76 4 DishSponge -1.075 0.910 -1.469 0 0 0 83 5 Kettle -0.650 0.113 0.218 0 180 0 78 6 Pot -1.056 0.956 -1.127 0 0 0 80 7 Spatula -0.634 0.928 0.241 0 0 0 76 8 Spatula -0.252 0.711 0.098 0 90 0 82 9 Fork 0.008 0.914 0.294 0 270 0 76 10 Spoon 0.969 0.912 -1.760 0 0 0 83 11 Spoon 1.194 0.912 -1.929 0 0 0 83 12 Egg 2.000 1.132 -0.458 0 270 0 90 13 Plate 1.891 1.426 -0.737 0 270 0 90 14 Knife 0.055 0.786 -2.008 0 0 0 93 15 Knife -0.375 1.155 0.662 0 0 0 79 16 Tomato 0.071 1.181 0.573 0 0 0 79 17 Tomato -1.239 0.960 -1.469 0 0 0 83 18 Bowl 1.836 0.814 -0.644 0 270 0 90 19 SaltShaker -0.420 0.909 0.294 0 0 0 76 20 SaltShaker 2.798 0.548 0.038 0 180 0 89 21 PepperShaker 2.798 0.548 0.245 0 180 0 89 22 PepperShaker 3.002 0.876 0.195 0 180 0 87 23 Mug 0.501 0.955 -1.900 0 0 0 99 24 Apple 2.055 0.865 -0.458 0 270 0 90 25 Pan 1.743 0.9 -1.969 0 308.846 0 83 26 Knife -0.822 1.155 0.441 0 180 0 79 27 Bowl -1.379 0.908 -2.014 0 0 0 83 28 Fork -0.152 1.132 0.618 0 0 0 79 29 Cup 0.101 0.750 -1.938 0 0 0 93 30 Ladle 1.805 1.689 -1.737 0 90 0 61 31 Apple 1.910 1.064 -1.297 0 270 0 88 32 Kettle 1.000 1.658 -2.126 0 0 0 62 33 Vase 1.571 0.119 -1.462 0 0 0 57 34 Potato -0.152 1.161 0.485 0 0 0 79 35 Pot -1.289 0.957 -0.756 0 180 0 58 36 Bread -0.598 1.213 0.573 0 0 0 79 37 Plate 1.63 0.115 -1.201 0 0 0 57 38 Spatula -0.376 0.778 -2.118 0 90 0 93 39 PaperTowelRoll 2.491 0.984 0.168 0 180 0 87 40 Vase -0.205 0.919 0.241 0 0 0 76 41 Egg 1.419 0.944 -2.014 0 0 0 83 42 SoapBottle -1.232 1.660 -0.285 0 0 0 66 43 SaltShaker -0.119 0.691 0.222 0 180 0 82 44 Lettuce -0.822 1.208 0.573 0 0 0 79 45 PepperShaker -0.679 0.688 0.146 0 180 0 77 46 ButterKnife -0.290 0.763 -2.063 0 180 0 93 47 DishSponge -0.053 0.695 0.139 0 180 0 82 48 Vase -1.413 0.911 -0.292 0 0 0 76 49 Spoon -1.018 0.912 -2.182 0 0 0 83 50 Tomato 1.845 0.112 0.166 0 0 0 86 51 Mug 2.000 0.812 -0.271 0 270 0 90 52 Statue -0.420 0.920 0.030 0 0 0 76 53 Drawer -0.819 0.75 -1.690 0 0 0 54 Cabinet -1.149 2.264 -0.838 0 90 0 55 StoveBurner -1.056 0.949 -0.671 0 180 0 56 Cabinet 1.738 2.019 -2.000 0 0 0 57 Cabinet 1.389 0.469 -1.059 0 0 0 58 StoveBurner -1.289 0.949 -0.755 0 180 0 59 Faucet -0.157 1.052 -2.196 0 270 0 60 Cabinet 1.75 2.019 -1.029 0 0 0 61 Cabinet 1.75 2.019 -1.399 0 0 0 62 Cabinet 1.179 2.019 -2.0 0 0 0 63 Cabinet 0.199 2.019 -2.0 0 0 0 64 Cabinet -1.100 2.019 -2.0 0 0 0 65 Cabinet -1.149 2.019 -1.979 0 0 0 66 Cabinet -1.149 2.019 -0.770 0 0 0 67 Cabinet -1.149 2.019 0.380 0 0 0 68 Cabinet -0.819 0.469 -1.689 0 0 0 69 Cabinet -0.839 0.469 -1.664 0 0 0 70 Cabinet -0.839 0.469 -0.049 0 0 0 71 Cabinet -0.414 0.370 -0.009 0 0 0 72 Sink -0.118 0.875 -2.009 0 0 0 73 StoveBurner -1.289 0.949 -1.019 0 0 0 74 Cabinet 0.119 2.264 -2.0 0 0 0 75 Cabinet -0.459 2.264 -2.0 0 0 0 76 CounterTop -0.665 0.949 0.188 0 0 0 77 Drawer -0.449 0.75 -0.010 0 180 0 78 Cabinet -0.450 0.469 -0.009 0 0 0 79 CounterTop -0.630 1.167 0.573 0 0 0 80 StoveBurner -1.056 0.949 -1.126 0 0 0 81 Cabinet 1.376 0.460 -1.685 0 0 0 82 Drawer -0.070 0.75 -0.009 0 180 0 83 CounterTop 1.159 0.946 -2.013 0 0 0 84 Cabinet -1.150 2.264 -1.418 0 90 0 85 HousePlant -1.246 1.108 0.606 0 0 0 86 GarbageCan 1.923 -0.010 0.137 0 0 0 87 Shelf 2.759 0.880 0.144 0 0 0 88 Microwave 1.827 0.900 -1.354 0 270 0 89 Shelf 2.759 0.552 0.145 0 0 0 90 Fridge 1.975 0.0 -0.537 0 0 0 91 LightSwitch 0.404 1.297 2.0 0 180 0 92 Shelf 2.760 0.172 0.145 0 0 0 93 SinkBasin -0.129 0.752 -2.007 0 0 0 94 StoveKnob -0.873 0.903 -0.827 45 90 0 95 StoveKnob -0.873 0.903 -0.676 45 90 0 96 StoveKnob -0.873 0.903 -0.966 45 90 0 97 StoveKnob -0.873 0.903 -1.123 45 90 0 98 Toaster 0.840 0.900 -2.057 0 0 0 99 CoffeeMachine 0.501 0.900 -2.125 0 0 0 100 ShelvingUnit 2.760 0.006 0.144 0 0 0 101 Stool -0.826 0.010 0.908 0 347.513 0 102 Stool -0.132 0.010 0.883 0 71.555 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the counter by the stove. | STEP 4: Cut the bread on the counter. | STEP 5: Turn around and go to the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Turn around and go to the counter by the stove. | STEP 8: Pick up a slice of bread. | STEP 9: Turn around and go to the refrigerator. | STEP 10: Chill the slice of bread in the refrigerator. | STEP 11: Turn around and go to the microwave. | STEP 12: Put the slice of bread in the microwave. | END" ]
[ [ "STEP 1: Turn around and go to the counter. ", " STEP 2: Pick up the knife on the counter. ", " STEP 3: Turn around and go to the counter by the stove. ", " STEP 4: Cut the bread on the counter. ", " STEP 5: Turn around and go to the refrigerator. ", " STEP 6: Put the knife in the refrigerator. ", " STEP 7: Turn around and go to the counter by the stove. ", " STEP 8: Pick up a slice of bread. ", " STEP 9: Turn around and go to the refrigerator. ", " STEP 10: Chill the slice of bread in the refrigerator. ", " STEP 11: Turn around and go to the microwave. ", " STEP 12: Put the slice of bread in the microwave. ", " END" ] ]
seen
trial_T20190914_020559_534073-4
Slice bread to put in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 1.0 0 90 0 1 Pan -1.056 0.956 -0.672 0 180 0 55 2 Statue -1.278 0.920 0.030 0 0 0 76 3 Ladle -1.278 0.950 0.241 0 0 0 76 4 DishSponge -1.075 0.910 -1.469 0 0 0 83 5 Kettle -0.650 0.113 0.218 0 180 0 78 6 Pot -1.056 0.956 -1.127 0 0 0 80 7 Spatula -0.634 0.928 0.241 0 0 0 76 8 Spatula -0.252 0.711 0.098 0 90 0 82 9 Fork 0.008 0.914 0.294 0 270 0 76 10 Spoon 0.969 0.912 -1.760 0 0 0 83 11 Spoon 1.194 0.912 -1.929 0 0 0 83 12 Egg 2.000 1.132 -0.458 0 270 0 90 13 Plate 1.891 1.426 -0.737 0 270 0 90 14 Knife 0.055 0.786 -2.008 0 0 0 93 15 Knife -0.375 1.155 0.662 0 0 0 79 16 Tomato 0.071 1.181 0.573 0 0 0 79 17 Tomato -1.239 0.960 -1.469 0 0 0 83 18 Bowl 1.836 0.814 -0.644 0 270 0 90 19 SaltShaker -0.420 0.909 0.294 0 0 0 76 20 SaltShaker 2.798 0.548 0.038 0 180 0 89 21 PepperShaker 2.798 0.548 0.245 0 180 0 89 22 PepperShaker 3.002 0.876 0.195 0 180 0 87 23 Mug 0.501 0.955 -1.900 0 0 0 99 24 Apple 2.055 0.865 -0.458 0 270 0 90 25 Pan 1.743 0.9 -1.969 0 308.846 0 83 26 Knife -0.822 1.155 0.441 0 180 0 79 27 Bowl -1.379 0.908 -2.014 0 0 0 83 28 Fork -0.152 1.132 0.618 0 0 0 79 29 Cup 0.101 0.750 -1.938 0 0 0 93 30 Ladle 1.805 1.689 -1.737 0 90 0 61 31 Apple 1.910 1.064 -1.297 0 270 0 88 32 Kettle 1.000 1.658 -2.126 0 0 0 62 33 Vase 1.571 0.119 -1.462 0 0 0 57 34 Potato -0.152 1.161 0.485 0 0 0 79 35 Pot -1.289 0.957 -0.756 0 180 0 58 36 Bread -0.598 1.213 0.573 0 0 0 79 37 Plate 1.63 0.115 -1.201 0 0 0 57 38 Spatula -0.376 0.778 -2.118 0 90 0 93 39 PaperTowelRoll 2.491 0.984 0.168 0 180 0 87 40 Vase -0.205 0.919 0.241 0 0 0 76 41 Egg 1.419 0.944 -2.014 0 0 0 83 42 SoapBottle -1.232 1.660 -0.285 0 0 0 66 43 SaltShaker -0.119 0.691 0.222 0 180 0 82 44 Lettuce -0.822 1.208 0.573 0 0 0 79 45 PepperShaker -0.679 0.688 0.146 0 180 0 77 46 ButterKnife -0.290 0.763 -2.063 0 180 0 93 47 DishSponge -0.053 0.695 0.139 0 180 0 82 48 Vase -1.413 0.911 -0.292 0 0 0 76 49 Spoon -1.018 0.912 -2.182 0 0 0 83 50 Tomato 1.845 0.112 0.166 0 0 0 86 51 Mug 2.000 0.812 -0.271 0 270 0 90 52 Statue -0.420 0.920 0.030 0 0 0 76 53 Drawer -0.819 0.75 -1.690 0 0 0 54 Cabinet -1.149 2.264 -0.838 0 90 0 55 StoveBurner -1.056 0.949 -0.671 0 180 0 56 Cabinet 1.738 2.019 -2.000 0 0 0 57 Cabinet 1.389 0.469 -1.059 0 0 0 58 StoveBurner -1.289 0.949 -0.755 0 180 0 59 Faucet -0.157 1.052 -2.196 0 270 0 60 Cabinet 1.75 2.019 -1.029 0 0 0 61 Cabinet 1.75 2.019 -1.399 0 0 0 62 Cabinet 1.179 2.019 -2.0 0 0 0 63 Cabinet 0.199 2.019 -2.0 0 0 0 64 Cabinet -1.100 2.019 -2.0 0 0 0 65 Cabinet -1.149 2.019 -1.979 0 0 0 66 Cabinet -1.149 2.019 -0.770 0 0 0 67 Cabinet -1.149 2.019 0.380 0 0 0 68 Cabinet -0.819 0.469 -1.689 0 0 0 69 Cabinet -0.839 0.469 -1.664 0 0 0 70 Cabinet -0.839 0.469 -0.049 0 0 0 71 Cabinet -0.414 0.370 -0.009 0 0 0 72 Sink -0.118 0.875 -2.009 0 0 0 73 StoveBurner -1.289 0.949 -1.019 0 0 0 74 Cabinet 0.119 2.264 -2.0 0 0 0 75 Cabinet -0.459 2.264 -2.0 0 0 0 76 CounterTop -0.665 0.949 0.188 0 0 0 77 Drawer -0.449 0.75 -0.010 0 180 0 78 Cabinet -0.450 0.469 -0.009 0 0 0 79 CounterTop -0.630 1.167 0.573 0 0 0 80 StoveBurner -1.056 0.949 -1.126 0 0 0 81 Cabinet 1.376 0.460 -1.685 0 0 0 82 Drawer -0.070 0.75 -0.009 0 180 0 83 CounterTop 1.159 0.946 -2.013 0 0 0 84 Cabinet -1.150 2.264 -1.418 0 90 0 85 HousePlant -1.246 1.108 0.606 0 0 0 86 GarbageCan 1.923 -0.010 0.137 0 0 0 87 Shelf 2.759 0.880 0.144 0 0 0 88 Microwave 1.827 0.900 -1.354 0 270 0 89 Shelf 2.759 0.552 0.145 0 0 0 90 Fridge 1.975 0.0 -0.537 0 0 0 91 LightSwitch 0.404 1.297 2.0 0 180 0 92 Shelf 2.760 0.172 0.145 0 0 0 93 SinkBasin -0.129 0.752 -2.007 0 0 0 94 StoveKnob -0.873 0.903 -0.827 45 90 0 95 StoveKnob -0.873 0.903 -0.676 45 90 0 96 StoveKnob -0.873 0.903 -0.966 45 90 0 97 StoveKnob -0.873 0.903 -1.123 45 90 0 98 Toaster 0.840 0.900 -2.057 0 0 0 99 CoffeeMachine 0.501 0.900 -2.125 0 0 0 100 ShelvingUnit 2.760 0.006 0.144 0 0 0 101 Stool -0.826 0.010 0.908 0 347.513 0 102 Stool -0.132 0.010 0.883 0 71.555 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn and go to the counter on the side with the black stools. | STEP 2: Pick up the knife that is on the counter. | STEP 3: With the knife in hand go to the counter where the red vase and salt is. | STEP 4: With the knife slice the bread that is on the higher counter behind the red vase. | STEP 5: With the knife in hand go to the fridge. | STEP 6: With the knife in one hand open the fridge with the other. Place the knife on the top shelf in front of the egg. Close the fridge. | STEP 7: Turn and go to the counter where the red vase is. | STEP 8: Grab a slice of bread that is closest to you. | STEP 9: With the slice of bread in hand go to the fridge. | STEP 10: Open the door while holding the slice of bread. Place the slice of bread on the second shelf to the left of the bowl. Close the door. Open the door and grab the slice of bread on the second shelf. | STEP 11: Turn and go to the microwave with the slice of bread in hand. | STEP 12: Open the microwave door and put the slice of bread on the front of the plate. Close the door. | END" ]
[ [ "STEP 1: Turn and go to the counter on the side with the black stools. ", " STEP 2: Pick up the knife that is on the counter. ", " STEP 3: With the knife in hand go to the counter where the red vase and salt is. ", " STEP 4: With the knife slice the bread that is on the higher counter behind the red vase. ", " STEP 5: With the knife in hand go to the fridge. ", " STEP 6: With the knife in one hand open the fridge with the other. Place the knife on the top shelf in front of the egg. Close the fridge. ", " STEP 7: Turn and go to the counter where the red vase is. ", " STEP 8: Grab a slice of bread that is closest to you. ", " STEP 9: With the slice of bread in hand go to the fridge. ", " STEP 10: Open the door while holding the slice of bread. Place the slice of bread on the second shelf to the left of the bowl. Close the door. Open the door and grab the slice of bread on the second shelf. ", " STEP 11: Turn and go to the microwave with the slice of bread in hand. ", " STEP 12: Open the microwave door and put the slice of bread on the front of the plate. Close the door. ", " END" ] ]
seen
trial_T20190914_020559_534073-5
Put an apple in the microwave with the potato slice.
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0", "" ], [ "76", " CounterTop", " -0.665", " 0.949", " 0.188", " 0", " 0", " 0", "" ], [ "77", " Drawer", " -0.449", " 0.75", " -0.010", " 0", " 180", " 0", "" ], [ "78", " Cabinet", " -0.450", " 0.469", " -0.009", " 0", " 0", " 0", "" ], [ "79", " CounterTop", " -0.630", " 1.167", " 0.573", " 0", " 0", " 0", "" ], [ "80", " StoveBurner", " -1.056", " 0.949", " -1.126", " 0", " 0", " 0", "" ], [ "81", " Cabinet", " 1.376", " 0.460", " -1.685", " 0", " 0", " 0", "" ], [ "82", " Drawer", " -0.070", " 0.75", " -0.009", " 0", " 180", " 0", "" ], [ "83", " CounterTop", " 1.159", " 0.946", " -2.013", " 0", " 0", " 0", "" ], [ "84", " Cabinet", " -1.150", " 2.264", " -1.418", " 0", " 90", " 0", "" ], [ "85", " HousePlant", " -1.246", " 1.108", " 0.606", " 0", " 0", " 0", "" ], [ "86", " GarbageCan", " 1.923", " -0.010", " 0.137", " 0", " 0", " 0", "" ], [ "87", " Shelf", " 2.759", " 0.880", " 0.144", " 0", " 0", " 0", "" ], [ "88", " Microwave", " 1.827", " 0.900", " -1.354", " 0", " 270", " 0", "" ], [ "89", " Shelf", " 2.759", " 0.552", " 0.145", " 0", " 0", " 0", "" ], [ "90", " Fridge", " 1.975", " 0.0", " -0.537", " 0", " 0", " 0", "" ], [ "91", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "92", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "93", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "94", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "95", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "96", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "97", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "98", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "99", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "100", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "101", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "102", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "103", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "105", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "106", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 1.0 0 90 0 1 Pan -1.056 0.956 -0.672 0 180 0 55 2 Statue -1.278 0.920 0.030 0 0 0 76 3 Ladle -1.278 0.950 0.241 0 0 0 76 4 DishSponge -1.075 0.910 -1.469 0 0 0 83 5 Kettle -0.650 0.113 0.218 0 180 0 78 6 Pot -1.056 0.956 -1.127 0 0 0 80 7 Spatula -0.634 0.928 0.241 0 0 0 76 8 Spatula -0.252 0.711 0.098 0 90 0 82 9 Fork 0.008 0.914 0.294 0 270 0 76 10 Spoon 0.969 0.912 -1.760 0 0 0 83 11 Spoon 1.194 0.912 -1.929 0 0 0 83 12 Egg 2.000 1.132 -0.458 0 270 0 90 13 Plate 1.891 1.426 -0.737 0 270 0 90 14 Knife 0.055 0.786 -2.008 0 0 0 93 15 Knife -0.375 1.155 0.662 0 0 0 79 16 Tomato 0.071 1.181 0.573 0 0 0 79 17 Tomato -1.239 0.960 -1.469 0 0 0 83 18 Bowl 1.836 0.814 -0.644 0 270 0 90 19 SaltShaker -0.420 0.909 0.294 0 0 0 76 20 SaltShaker 2.798 0.548 0.038 0 180 0 89 21 PepperShaker 2.798 0.548 0.245 0 180 0 89 22 PepperShaker 3.002 0.876 0.195 0 180 0 87 23 Mug 0.501 0.955 -1.900 0 0 0 99 24 Apple 2.055 0.865 -0.458 0 270 0 90 25 Pan 1.743 0.9 -1.969 0 308.846 0 83 26 Knife -0.822 1.155 0.441 0 180 0 79 27 Bowl -1.379 0.908 -2.014 0 0 0 83 28 Fork -0.152 1.132 0.618 0 0 0 79 29 Cup 0.101 0.750 -1.938 0 0 0 93 30 Ladle 1.805 1.689 -1.737 0 90 0 61 31 Apple 1.910 1.064 -1.297 0 270 0 88 32 Kettle 1.000 1.658 -2.126 0 0 0 62 33 Vase 1.571 0.119 -1.462 0 0 0 57 34 Potato -0.152 1.161 0.485 0 0 0 79 35 Pot -1.289 0.957 -0.756 0 180 0 58 36 Bread -0.598 1.213 0.573 0 0 0 79 37 Plate 1.63 0.115 -1.201 0 0 0 57 38 Spatula -0.376 0.778 -2.118 0 90 0 93 39 PaperTowelRoll 2.491 0.984 0.168 0 180 0 87 40 Vase -0.205 0.919 0.241 0 0 0 76 41 Egg 1.419 0.944 -2.014 0 0 0 83 42 SoapBottle -1.232 1.660 -0.285 0 0 0 66 43 SaltShaker -0.119 0.691 0.222 0 180 0 82 44 Lettuce -0.822 1.208 0.573 0 0 0 79 45 PepperShaker -0.679 0.688 0.146 0 180 0 77 46 ButterKnife -0.290 0.763 -2.063 0 180 0 93 47 DishSponge -0.053 0.695 0.139 0 180 0 82 48 Vase -1.413 0.911 -0.292 0 0 0 76 49 Spoon -1.018 0.912 -2.182 0 0 0 83 50 Tomato 1.845 0.112 0.166 0 0 0 86 51 Mug 2.000 0.812 -0.271 0 270 0 90 52 Statue -0.420 0.920 0.030 0 0 0 76 53 Drawer -0.819 0.75 -1.690 0 0 0 54 Cabinet -1.149 2.264 -0.838 0 90 0 55 StoveBurner -1.056 0.949 -0.671 0 180 0 56 Cabinet 1.738 2.019 -2.000 0 0 0 57 Cabinet 1.389 0.469 -1.059 0 0 0 58 StoveBurner -1.289 0.949 -0.755 0 180 0 59 Faucet -0.157 1.052 -2.196 0 270 0 60 Cabinet 1.75 2.019 -1.029 0 0 0 61 Cabinet 1.75 2.019 -1.399 0 0 0 62 Cabinet 1.179 2.019 -2.0 0 0 0 63 Cabinet 0.199 2.019 -2.0 0 0 0 64 Cabinet -1.100 2.019 -2.0 0 0 0 65 Cabinet -1.149 2.019 -1.979 0 0 0 66 Cabinet -1.149 2.019 -0.770 0 0 0 67 Cabinet -1.149 2.019 0.380 0 0 0 68 Cabinet -0.819 0.469 -1.689 0 0 0 69 Cabinet -0.839 0.469 -1.664 0 0 0 70 Cabinet -0.839 0.469 -0.049 0 0 0 71 Cabinet -0.414 0.370 -0.009 0 0 0 72 Sink -0.118 0.875 -2.009 0 0 0 73 StoveBurner -1.289 0.949 -1.019 0 0 0 74 Cabinet 0.119 2.264 -2.0 0 0 0 75 Cabinet -0.459 2.264 -2.0 0 0 0 76 CounterTop -0.665 0.949 0.188 0 0 0 77 Drawer -0.449 0.75 -0.010 0 180 0 78 Cabinet -0.450 0.469 -0.009 0 0 0 79 CounterTop -0.630 1.167 0.573 0 0 0 80 StoveBurner -1.056 0.949 -1.126 0 0 0 81 Cabinet 1.376 0.460 -1.685 0 0 0 82 Drawer -0.070 0.75 -0.009 0 180 0 83 CounterTop 1.159 0.946 -2.013 0 0 0 84 Cabinet -1.150 2.264 -1.418 0 90 0 85 HousePlant -1.246 1.108 0.606 0 0 0 86 GarbageCan 1.923 -0.010 0.137 0 0 0 87 Shelf 2.759 0.880 0.144 0 0 0 88 Microwave 1.827 0.900 -1.354 0 270 0 89 Shelf 2.759 0.552 0.145 0 0 0 90 Fridge 1.975 0.0 -0.537 0 0 0 91 LightSwitch 0.404 1.297 2.0 0 180 0 92 Shelf 2.760 0.172 0.145 0 0 0 93 SinkBasin -0.129 0.752 -2.007 0 0 0 94 StoveKnob -0.873 0.903 -0.827 45 90 0 95 StoveKnob -0.873 0.903 -0.676 45 90 0 96 StoveKnob -0.873 0.903 -0.966 45 90 0 97 StoveKnob -0.873 0.903 -1.123 45 90 0 98 Toaster 0.840 0.900 -2.057 0 0 0 99 CoffeeMachine 0.501 0.900 -2.125 0 0 0 100 ShelvingUnit 2.760 0.006 0.144 0 0 0 101 Stool -0.826 0.010 0.908 0 347.513 0 102 Stool -0.132 0.010 0.883 0 71.555 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn around, walk to the counter. | STEP 2: Pick up the knife next to the bread. | STEP 3: Walk around to the other side of the counter. | STEP 4: Slice up the potato on the top shelf of the counter. | STEP 5: Walk to the refrigerator to the right of the counter. | STEP 6: Put the knife in the refrigerator. | STEP 7: Turn around, walk back to the counter, face the left counter. | STEP 8: Take a slice of potato | STEP 9: Go back to the refrigerator. | STEP 10: Put the potato slice in the refrigerator for a few seconds, take the potato slice out of the refrigerator. | STEP 11: Turn to the right, take a step, turn to the left, take a step, turn to the left, take a step. | STEP 12: Put the potato slice in the microwave to the right of the refrigerator. | END" ]
[ [ "STEP 1: Turn around, walk to the counter. ", " STEP 2: Pick up the knife next to the bread. ", " STEP 3: Walk around to the other side of the counter. ", " STEP 4: Slice up the potato on the top shelf of the counter. ", " STEP 5: Walk to the refrigerator to the right of the counter. ", " STEP 6: Put the knife in the refrigerator. ", " STEP 7: Turn around, walk back to the counter, face the left counter. ", " STEP 8: Take a slice of potato ", " STEP 9: Go back to the refrigerator. ", " STEP 10: Put the potato slice in the refrigerator for a few seconds, take the potato slice out of the refrigerator. ", " STEP 11: Turn to the right, take a step, turn to the left, take a step, turn to the left, take a step. ", " STEP 12: Put the potato slice in the microwave to the right of the refrigerator. ", " END" ] ]
seen
trial_T20190909_065955_824764-0
Put both bottles of cleaner in the trash can by the toilet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.5", " 0.900", " -2.0", " 0", " 0", " 0", "" ], [ "1", " Cloth", " -2.085", " 0.042", " -2.968", " 0", " 270", " 0", " 28" ], [ "2", " Cloth", " -1.974", " 0.042", " -2.108", " 0", " 270", " 0", " 28" ], [ "3", " TissueBox", " 0.852", " 0.818", " -1.874", " 0", " 90", " 0", " 32" ], [ "4", " SprayBottle", " 0.811", " 0.815", " -0.825", " 0", " 90", " 0", " 31" ], [ "5", " SoapBottle", " 0.054", " 0.955", " -3.874", " 0", " 90", " 0", " 26" ], [ "6", " SoapBottle", " 0.811", " 0.821", " -0.522", " 0", " 90", " 0", " 31" ], [ "7", " Cloth", " -1.640", " 0.042", " -3.542", " 0", " 270", " 0", " 28" ], [ "8", " Candle", " 0.824", " 0.817", " -1.470", " 0", " 90", " 0", " 32" ], [ "9", " HandTowel", " -2.166", " 1.500", " -0.037", " 0", " 0", " 0", " 23" ], [ "10", " Towel", " -1.525", " 1.685", " -0.105", " 0", " 180", " 0", " 21" ], [ "11", " SoapBar", " -2.196", " 0.832", " -0.713", " 0", " 0", " 0", " 27" ], [ "12", " ToiletPaper", " -0.070", " 0.949", " -3.820", " 0", " 90", " 0", " 26" ], [ "13", " Plunger", " 0.854", " -0.000", " -3.905", " 0", " 0", " 0", " Floor|-01.66|" ], [ "14", " SprayBottle", " 0.895", " 0.815", " -0.825", " 0", " 90", " 0", " 31" ], [ "15", " TissueBox", " -1.555", " 0.818", " -0.137", " 0", " 0", " 0", " 30" ], [ "16", " ToiletPaper", " 0.405", " 0.729", " -3.885", " 0", " 0", " 270", " 29" ], [ "17", " ScrubBrush", " 0.684", " -0.000", " -3.905", " 0", " 0", " 0", " Floor|-01.66|" ], [ "18", " Sink", " -2.171", " 0.294", " -0.660", " 0", " 90", " 0", "" ], [ "19", " Bathtub", " -2.122", " -0.088", " -3.116", " 0", " 0", " 0", "" ], [ "20", " Mirror", " -2.503", " 1.423", " -0.703", " 0", " 0", " 0", "" ], [ "21", " TowelHolder", " -1.524", " 1.671", " 0.001", " 0", " 180", " 0", "" ], [ "22", " GarbageCan", " -0.525", " -0.050", " -3.763", " 0", " 0", " 0", "" ], [ "23", " HandTowelHolder", " -2.166", " 1.602", " 0.000", " 0", " 90", " 0", "" ], [ "24", " LightSwitch", " 0.321", " 1.327", " 0.000", " 0", " 180", " 0", "" ], [ "25", " Window", " -0.540", " 1.625", " -3.996", " 90", " 0", " 0", "" ], [ "26", " Toilet", " 0.004", " -0.000", " -3.436", " 0", " 0", " 0", "" ], [ "27", " SinkBasin", " -2.176", " 0.824", " -0.659", " 0", " 0", " 0", "" ], [ "28", " BathtubBasin", " -1.862", " 0.033", " -2.723", " 0", " 270", " 0", "" ], [ "29", " ToiletPaperHanger", " 0.462", " 0.841", " -3.978", " 0", " 0", " 0", "" ], [ "30", " SideTable", " -1.526", " 0.001", " -0.172", " 0", " 0", " 0", "" ], [ "31", " SideTable", " 0.780", " 0.001", " -0.667", " 0", " 90", " 0", "" ], [ "32", " SideTable", " 0.793", " 0.001", " -1.817", " 0", " 90", " 0", "" ], [ "33", " ShowerCurtain", " -1.320", " 1.781", " -3.864", " 0", " 0", " 5.987", "" ], [ "34", " Faucet", " -2.431", " 0.982", " -0.660", " 0", " 90", " 0", "" ], [ "35", " Faucet", " -1.909", " 0.666", " -3.855", " 0", " 180", " 0", "" ], [ "36", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "37", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "38", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "39", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -2.0 0 0 0 1 Cloth -2.085 0.042 -2.968 0 270 0 28 2 Cloth -1.974 0.042 -2.108 0 270 0 28 3 TissueBox 0.852 0.818 -1.874 0 90 0 32 4 SprayBottle 0.811 0.815 -0.825 0 90 0 31 5 SoapBottle 0.054 0.955 -3.874 0 90 0 26 6 SoapBottle 0.811 0.821 -0.522 0 90 0 31 7 Cloth -1.640 0.042 -3.542 0 270 0 28 8 Candle 0.824 0.817 -1.470 0 90 0 32 9 HandTowel -2.166 1.500 -0.037 0 0 0 23 10 Towel -1.525 1.685 -0.105 0 180 0 21 11 SoapBar -2.196 0.832 -0.713 0 0 0 27 12 ToiletPaper -0.070 0.949 -3.820 0 90 0 26 13 Plunger 0.854 -0.000 -3.905 0 0 0 Floor|-01.66| 14 SprayBottle 0.895 0.815 -0.825 0 90 0 31 15 TissueBox -1.555 0.818 -0.137 0 0 0 30 16 ToiletPaper 0.405 0.729 -3.885 0 0 270 29 17 ScrubBrush 0.684 -0.000 -3.905 0 0 0 Floor|-01.66| 18 Sink -2.171 0.294 -0.660 0 90 0 19 Bathtub -2.122 -0.088 -3.116 0 0 0 20 Mirror -2.503 1.423 -0.703 0 0 0 21 TowelHolder -1.524 1.671 0.001 0 180 0 22 GarbageCan -0.525 -0.050 -3.763 0 0 0 23 HandTowelHolder -2.166 1.602 0.000 0 90 0 24 LightSwitch 0.321 1.327 0.000 0 180 0 25 Window -0.540 1.625 -3.996 90 0 0 26 Toilet 0.004 -0.000 -3.436 0 0 0 27 SinkBasin -2.176 0.824 -0.659 0 0 0 28 BathtubBasin -1.862 0.033 -2.723 0 270 0 29 ToiletPaperHanger 0.462 0.841 -3.978 0 0 0 30 SideTable -1.526 0.001 -0.172 0 0 0 31 SideTable 0.780 0.001 -0.667 0 90 0 32 SideTable 0.793 0.001 -1.817 0 90 0 33 ShowerCurtain -1.320 1.781 -3.864 0 0 5.987 34 Faucet -2.431 0.982 -0.660 0 90 0 35 Faucet -1.909 0.666 -3.855 0 180 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Walk to the door and turn right. | STEP 2: Pick up the cleaner from the white cabinet. | STEP 3: Walk to the trash can next to the toilet. | STEP 4: Put the bottle of cleaner in the trash can. | STEP 5: Walk back to the cabinet with the other bottle of cleaner. | STEP 6: Pick up the other bottle of cleaner. | STEP 7: Return to the trash can with the cleaner in it. | STEP 8: Put the second bottle of cleaner in the trash can. | END" ]
[ [ "STEP 1: Walk to the door and turn right. ", " STEP 2: Pick up the cleaner from the white cabinet. ", " STEP 3: Walk to the trash can next to the toilet. ", " STEP 4: Put the bottle of cleaner in the trash can. ", " STEP 5: Walk back to the cabinet with the other bottle of cleaner. ", " STEP 6: Pick up the other bottle of cleaner. ", " STEP 7: Return to the trash can with the cleaner in it. ", " STEP 8: Put the second bottle of cleaner in the trash can. ", " END" ] ]
seen
trial_T20190909_065955_824764-1
put two spray bottles in bin
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -2.0 0 0 0 1 Cloth -2.085 0.042 -2.968 0 270 0 28 2 Cloth -1.974 0.042 -2.108 0 270 0 28 3 TissueBox 0.852 0.818 -1.874 0 90 0 32 4 SprayBottle 0.811 0.815 -0.825 0 90 0 31 5 SoapBottle 0.054 0.955 -3.874 0 90 0 26 6 SoapBottle 0.811 0.821 -0.522 0 90 0 31 7 Cloth -1.640 0.042 -3.542 0 270 0 28 8 Candle 0.824 0.817 -1.470 0 90 0 32 9 HandTowel -2.166 1.500 -0.037 0 0 0 23 10 Towel -1.525 1.685 -0.105 0 180 0 21 11 SoapBar -2.196 0.832 -0.713 0 0 0 27 12 ToiletPaper -0.070 0.949 -3.820 0 90 0 26 13 Plunger 0.854 -0.000 -3.905 0 0 0 Floor|-01.66| 14 SprayBottle 0.895 0.815 -0.825 0 90 0 31 15 TissueBox -1.555 0.818 -0.137 0 0 0 30 16 ToiletPaper 0.405 0.729 -3.885 0 0 270 29 17 ScrubBrush 0.684 -0.000 -3.905 0 0 0 Floor|-01.66| 18 Sink -2.171 0.294 -0.660 0 90 0 19 Bathtub -2.122 -0.088 -3.116 0 0 0 20 Mirror -2.503 1.423 -0.703 0 0 0 21 TowelHolder -1.524 1.671 0.001 0 180 0 22 GarbageCan -0.525 -0.050 -3.763 0 0 0 23 HandTowelHolder -2.166 1.602 0.000 0 90 0 24 LightSwitch 0.321 1.327 0.000 0 180 0 25 Window -0.540 1.625 -3.996 90 0 0 26 Toilet 0.004 -0.000 -3.436 0 0 0 27 SinkBasin -2.176 0.824 -0.659 0 0 0 28 BathtubBasin -1.862 0.033 -2.723 0 270 0 29 ToiletPaperHanger 0.462 0.841 -3.978 0 0 0 30 SideTable -1.526 0.001 -0.172 0 0 0 31 SideTable 0.780 0.001 -0.667 0 90 0 32 SideTable 0.793 0.001 -1.817 0 90 0 33 ShowerCurtain -1.320 1.781 -3.864 0 0 5.987 34 Faucet -2.431 0.982 -0.660 0 90 0 35 Faucet -1.909 0.666 -3.855 0 180 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: walk to face shelf with yellow spray bottles | STEP 2: pick up yellow spray bottle from shelf | STEP 3: walk to face trash bin next to toilet | STEP 4: put spray bottle in bin | STEP 5: walk to face shelf with yellow spray bottle | STEP 6: pick up yellow spray bottle from shelf | STEP 7: walk to face trash bin next to toilet | STEP 8: put spray bottle in bin | END" ]
[ [ "STEP 1: walk to face shelf with yellow spray bottles ", " STEP 2: pick up yellow spray bottle from shelf ", " STEP 3: walk to face trash bin next to toilet ", " STEP 4: put spray bottle in bin ", " STEP 5: walk to face shelf with yellow spray bottle ", " STEP 6: pick up yellow spray bottle from shelf ", " STEP 7: walk to face trash bin next to toilet ", " STEP 8: put spray bottle in bin ", " END" ] ]
seen
trial_T20190909_065955_824764-2
Move two yellow spray bottles into a small bin.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -2.0 0 0 0 1 Cloth -2.085 0.042 -2.968 0 270 0 28 2 Cloth -1.974 0.042 -2.108 0 270 0 28 3 TissueBox 0.852 0.818 -1.874 0 90 0 32 4 SprayBottle 0.811 0.815 -0.825 0 90 0 31 5 SoapBottle 0.054 0.955 -3.874 0 90 0 26 6 SoapBottle 0.811 0.821 -0.522 0 90 0 31 7 Cloth -1.640 0.042 -3.542 0 270 0 28 8 Candle 0.824 0.817 -1.470 0 90 0 32 9 HandTowel -2.166 1.500 -0.037 0 0 0 23 10 Towel -1.525 1.685 -0.105 0 180 0 21 11 SoapBar -2.196 0.832 -0.713 0 0 0 27 12 ToiletPaper -0.070 0.949 -3.820 0 90 0 26 13 Plunger 0.854 -0.000 -3.905 0 0 0 Floor|-01.66| 14 SprayBottle 0.895 0.815 -0.825 0 90 0 31 15 TissueBox -1.555 0.818 -0.137 0 0 0 30 16 ToiletPaper 0.405 0.729 -3.885 0 0 270 29 17 ScrubBrush 0.684 -0.000 -3.905 0 0 0 Floor|-01.66| 18 Sink -2.171 0.294 -0.660 0 90 0 19 Bathtub -2.122 -0.088 -3.116 0 0 0 20 Mirror -2.503 1.423 -0.703 0 0 0 21 TowelHolder -1.524 1.671 0.001 0 180 0 22 GarbageCan -0.525 -0.050 -3.763 0 0 0 23 HandTowelHolder -2.166 1.602 0.000 0 90 0 24 LightSwitch 0.321 1.327 0.000 0 180 0 25 Window -0.540 1.625 -3.996 90 0 0 26 Toilet 0.004 -0.000 -3.436 0 0 0 27 SinkBasin -2.176 0.824 -0.659 0 0 0 28 BathtubBasin -1.862 0.033 -2.723 0 270 0 29 ToiletPaperHanger 0.462 0.841 -3.978 0 0 0 30 SideTable -1.526 0.001 -0.172 0 0 0 31 SideTable 0.780 0.001 -0.667 0 90 0 32 SideTable 0.793 0.001 -1.817 0 90 0 33 ShowerCurtain -1.320 1.781 -3.864 0 0 5.987 34 Faucet -2.431 0.982 -0.660 0 90 0 35 Faucet -1.909 0.666 -3.855 0 180 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Walk towards the door, then turn right and walk up to the box. | STEP 2: Pick up the closest yellow spray bottle off of the box. | STEP 3: Turn around and walk towards the sink, then hang a left and walk over to the small bin to the right of the toilet. | STEP 4: Put the yellow spray bottle into the small bin. | STEP 5: Turn around and walk towards the door, then turn right and walk up to the box. | STEP 6: Pick up the yellow spray bottle off of the box. | STEP 7: Turn around and walk forward, then hang a left and walk up to the small bin to the right of the toilet. | STEP 8: Put the yellow spray bottle into the small bin. | END" ]
[ [ "STEP 1: Walk towards the door, then turn right and walk up to the box. ", " STEP 2: Pick up the closest yellow spray bottle off of the box. ", " STEP 3: Turn around and walk towards the sink, then hang a left and walk over to the small bin to the right of the toilet. ", " STEP 4: Put the yellow spray bottle into the small bin. ", " STEP 5: Turn around and walk towards the door, then turn right and walk up to the box. ", " STEP 6: Pick up the yellow spray bottle off of the box. ", " STEP 7: Turn around and walk forward, then hang a left and walk up to the small bin to the right of the toilet. ", " STEP 8: Put the yellow spray bottle into the small bin. ", " END" ] ]
seen
trial_T20190907_224032_931193-0
Put a cleaned coffee mug on the coffee maker.
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], [ "63", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "69", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "70", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "71", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "72", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "73", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "74", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "75", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "76", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "77", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "78", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "79", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "80", " LightSwitch", " -0.615", " 1.378", " 3.0", " 0", " 180", " 0", "" ], [ "81", " Faucet", " -1.686", " 0.954", " 0.176", " 0", " 236.223", " 0", "" ], [ "82", " Stool", " -1.008", " 0.008", " 1.955", " 0", " 18.279", " 0", "" ], [ "83", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 90 0 1 Pan -0.244 0.829 1.684 0 0 0 50 2 Potato -2.777 0.960 1.284 0 90 0 70 3 Potato -2.837 1.484 2.221 0 90 0 69 4 Ladle -0.147 0.867 0.426 0 0 0 51 5 DishSponge -0.360 0.694 1.178 0 0 0 47 6 DishSponge -2.881 1.435 0.708 0 0 0 60 7 ButterKnife -0.496 0.694 1.252 0 90 0 47 8 Fork -0.462 0.695 1.288 0 270 0 47 9 Fork -1.542 0.824 0.539 0 0 0 51 10 Egg -2.711 0.945 1.178 0 90 0 70 11 Egg -1.876 0.847 0.032 0 0 0 51 12 Plate -2.000 0.130 0.362 0 0 0 63 13 Plate -2.671 1.148 2.133 0 90 0 69 14 Tomato -2.726 1.495 2.133 0 90 0 69 15 Tomato -2.671 0.874 1.957 0 90 0 69 16 SoapBottle -2.882 1.432 0.941 0 0 0 59 17 Bowl -2.540 1.845 2.368 0 0 0 61 18 SaltShaker -2.834 1.430 0.605 0 0 0 60 19 PepperShaker -2.258 0.818 0.500 0 0 0 51 20 PepperShaker -2.569 0.116 1.589 0 0 0 62 21 Mug -2.726 0.819 2.309 0 90 0 69 22 Apple -2.844 0.994 1.178 0 90 0 70 23 Apple -0.362 0.129 2.606 0 0 0 71 24 Fork -2.631 0.693 1.474 0 90 0 56 25 Ladle -2.540 1.893 1.926 0 0 0 45 26 Pan -0.244 0.829 2.075 0 180 0 46 27 SoapBottle -0.314 0.821 0.500 0 0 0 51 28 Pot -0.531 0.822 2.096 0 0 0 48 29 Tomato -2.669 1.181 2.373 0 0 0 69 30 Potato -2.837 0.863 1.957 0 90 0 69 31 SaltShaker -2.890 0.818 0.462 0 0 0 51 32 Plate -1.522 0.130 0.440 0 0 0 64 33 Spatula -2.504 0.838 0.625 0 90 0 51 34 Knife -2.662 0.819 0.557 90 300.034 0 51 35 Egg -0.362 0.080 2.505 0 0 0 71 36 Cup -2.837 1.144 1.957 0 90 0 69 37 ButterKnife -1.151 0.823 0.426 0 0 0 51 38 Lettuce -2.837 1.529 2.397 0 90 0 69 39 PepperShaker -2.377 1.431 0.142 0 0 0 58 40 DishSponge -1.161 0.697 0.410 0 0 0 55 41 Bread -0.979 0.855 0.249 0 29.999 0 51 42 Spoon -1.077 0.699 0.377 0 90 0 55 43 Mug -0.646 0.888 0.367 0 0 0 79 44 Bowl -1.967 0.699 0.295 0 0 0 78 45 Cabinet -2.377 2.015 1.720 0 0 0 46 StoveBurner -0.244 0.820 2.075 0 180 0 47 Drawer -0.402 0.703 1.252 0 0 0 48 StoveBurner -0.518 0.820 2.075 0 180 0 49 Sink -1.838 0.726 0.343 0 180 0 50 StoveBurner -0.244 0.820 1.684 0 0 0 51 CounterTop -1.557 0.859 0.277 0 0 0 52 StoveBurner -0.518 0.820 1.684 0 0 0 53 Drawer -0.404 0.704 0.912 0 0 0 54 Drawer -0.861 0.709 0.420 0 0 0 55 Drawer -1.133 0.706 0.418 0 0 0 56 Drawer -2.589 0.703 1.511 0 0 0 57 Cabinet -2.772 1.803 0.508 0 0 0 58 Cabinet -2.460 1.803 0.231 0 0 0 59 Cabinet -2.781 1.798 0.825 0 0 0 60 Cabinet -2.781 1.798 0.815 0 0 0 61 Cabinet -2.377 2.009 2.581 0 0 0 62 Cabinet -2.442 0.385 1.672 0 0 0 63 Cabinet -2.238 0.385 0.564 0 0 0 64 Cabinet -1.286 0.385 0.564 0 0 0 65 Cabinet -1.262 0.385 0.565 0 0 0 66 Cabinet -0.734 0.385 0.565 0 0 0 67 Cabinet -0.549 0.385 0.751 0 0 0 68 Cabinet -0.549 0.385 1.412 0 0 0 69 Fridge -2.782 0.0 2.221 0 0 0 70 Microwave -2.794 0.812 1.348 0 90 0 71 GarbageCan -0.329 2.205 2.606 0 0 0 72 StoveKnob -0.069 0.998 1.773 0 180 107.470 73 StoveKnob -0.069 0.998 1.613 0 180 107.470 74 StoveKnob -0.069 0.998 2.171 0 180 107.470 75 StoveKnob -0.069 0.998 2.024 0 180 107.470 76 Window -1.720 1.342 -0.208 90 0 0 77 Toaster -0.171 0.812 0.735 0 270 0 78 SinkBasin -1.745 0.687 0.295 0 0 0 79 CoffeeMachine -0.539 0.812 0.185 0 0 0 80 LightSwitch -0.615 1.378 3.0 0 180 0 81 Faucet -1.686 0.954 0.176 0 236.223 0 82 Stool -1.008 0.008 1.955 0 18.279 0 83 NorthWall 84 EastWall 85 SouthWall 86 WestWall
[ "STEP 1: move to the counter to the left of the sink | STEP 2: pick up a mug from the coffee maker | STEP 3: move to the sink to the right of you | STEP 4: clean the mug in the sink | STEP 5: move to the counter to the left of the sink | STEP 6: put the mug on the coffee maker | END" ]
[ [ "STEP 1: move to the counter to the left of the sink ", " STEP 2: pick up a mug from the coffee maker ", " STEP 3: move to the sink to the right of you ", " STEP 4: clean the mug in the sink ", " STEP 5: move to the counter to the left of the sink ", " STEP 6: put the mug on the coffee maker ", " END" ] ]
seen
trial_T20190907_224032_931193-1
Place the mug filled with water in the coffee machine.
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], [ "37", " ButterKnife", " -1.151", " 0.823", " 0.426", " 0", " 0", " 0", " 51" ], [ "38", " Lettuce", " -2.837", " 1.529", " 2.397", " 0", " 90", " 0", " 69" ], [ "39", " PepperShaker", " -2.377", " 1.431", " 0.142", " 0", " 0", " 0", " 58" ], [ "40", " DishSponge", " -1.161", " 0.697", " 0.410", " 0", " 0", " 0", " 55" ], [ "41", " Bread", " -0.979", " 0.855", " 0.249", " 0", " 29.999", " 0", " 51" ], [ "42", " Spoon", " -1.077", " 0.699", " 0.377", " 0", " 90", " 0", " 55" ], [ "43", " Mug", " -0.646", " 0.888", " 0.367", " 0", " 0", " 0", " 79" ], [ "44", " Bowl", " -1.967", " 0.699", " 0.295", " 0", " 0", " 0", " 78" ], [ "45", " Cabinet", " -2.377", " 2.015", " 1.720", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -0.244", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "47", " Drawer", " -0.402", " 0.703", " 1.252", " 0", " 0", " 0", "" ], [ "48", " StoveBurner", " -0.518", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "49", " Sink", " -1.838", " 0.726", " 0.343", " 0", " 180", " 0", "" ], [ "50", " StoveBurner", " -0.244", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "51", " CounterTop", " -1.557", " 0.859", " 0.277", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " -0.518", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "53", " Drawer", " -0.404", " 0.704", " 0.912", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -0.861", " 0.709", " 0.420", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -1.133", " 0.706", " 0.418", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -2.589", " 0.703", " 1.511", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.772", " 1.803", " 0.508", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.460", " 1.803", " 0.231", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.781", " 1.798", " 0.825", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.781", " 1.798", " 0.815", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "69", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "70", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "71", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "72", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "73", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "74", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "75", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "76", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "77", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "78", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "79", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "80", " LightSwitch", " -0.615", " 1.378", " 3.0", " 0", " 180", " 0", "" ], [ "81", " Faucet", " -1.686", " 0.954", " 0.176", " 0", " 236.223", " 0", "" ], [ "82", " Stool", " -1.008", " 0.008", " 1.955", " 0", " 18.279", " 0", "" ], [ "83", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 90 0 1 Pan -0.244 0.829 1.684 0 0 0 50 2 Potato -2.777 0.960 1.284 0 90 0 70 3 Potato -2.837 1.484 2.221 0 90 0 69 4 Ladle -0.147 0.867 0.426 0 0 0 51 5 DishSponge -0.360 0.694 1.178 0 0 0 47 6 DishSponge -2.881 1.435 0.708 0 0 0 60 7 ButterKnife -0.496 0.694 1.252 0 90 0 47 8 Fork -0.462 0.695 1.288 0 270 0 47 9 Fork -1.542 0.824 0.539 0 0 0 51 10 Egg -2.711 0.945 1.178 0 90 0 70 11 Egg -1.876 0.847 0.032 0 0 0 51 12 Plate -2.000 0.130 0.362 0 0 0 63 13 Plate -2.671 1.148 2.133 0 90 0 69 14 Tomato -2.726 1.495 2.133 0 90 0 69 15 Tomato -2.671 0.874 1.957 0 90 0 69 16 SoapBottle -2.882 1.432 0.941 0 0 0 59 17 Bowl -2.540 1.845 2.368 0 0 0 61 18 SaltShaker -2.834 1.430 0.605 0 0 0 60 19 PepperShaker -2.258 0.818 0.500 0 0 0 51 20 PepperShaker -2.569 0.116 1.589 0 0 0 62 21 Mug -2.726 0.819 2.309 0 90 0 69 22 Apple -2.844 0.994 1.178 0 90 0 70 23 Apple -0.362 0.129 2.606 0 0 0 71 24 Fork -2.631 0.693 1.474 0 90 0 56 25 Ladle -2.540 1.893 1.926 0 0 0 45 26 Pan -0.244 0.829 2.075 0 180 0 46 27 SoapBottle -0.314 0.821 0.500 0 0 0 51 28 Pot -0.531 0.822 2.096 0 0 0 48 29 Tomato -2.669 1.181 2.373 0 0 0 69 30 Potato -2.837 0.863 1.957 0 90 0 69 31 SaltShaker -2.890 0.818 0.462 0 0 0 51 32 Plate -1.522 0.130 0.440 0 0 0 64 33 Spatula -2.504 0.838 0.625 0 90 0 51 34 Knife -2.662 0.819 0.557 90 300.034 0 51 35 Egg -0.362 0.080 2.505 0 0 0 71 36 Cup -2.837 1.144 1.957 0 90 0 69 37 ButterKnife -1.151 0.823 0.426 0 0 0 51 38 Lettuce -2.837 1.529 2.397 0 90 0 69 39 PepperShaker -2.377 1.431 0.142 0 0 0 58 40 DishSponge -1.161 0.697 0.410 0 0 0 55 41 Bread -0.979 0.855 0.249 0 29.999 0 51 42 Spoon -1.077 0.699 0.377 0 90 0 55 43 Mug -0.646 0.888 0.367 0 0 0 79 44 Bowl -1.967 0.699 0.295 0 0 0 78 45 Cabinet -2.377 2.015 1.720 0 0 0 46 StoveBurner -0.244 0.820 2.075 0 180 0 47 Drawer -0.402 0.703 1.252 0 0 0 48 StoveBurner -0.518 0.820 2.075 0 180 0 49 Sink -1.838 0.726 0.343 0 180 0 50 StoveBurner -0.244 0.820 1.684 0 0 0 51 CounterTop -1.557 0.859 0.277 0 0 0 52 StoveBurner -0.518 0.820 1.684 0 0 0 53 Drawer -0.404 0.704 0.912 0 0 0 54 Drawer -0.861 0.709 0.420 0 0 0 55 Drawer -1.133 0.706 0.418 0 0 0 56 Drawer -2.589 0.703 1.511 0 0 0 57 Cabinet -2.772 1.803 0.508 0 0 0 58 Cabinet -2.460 1.803 0.231 0 0 0 59 Cabinet -2.781 1.798 0.825 0 0 0 60 Cabinet -2.781 1.798 0.815 0 0 0 61 Cabinet -2.377 2.009 2.581 0 0 0 62 Cabinet -2.442 0.385 1.672 0 0 0 63 Cabinet -2.238 0.385 0.564 0 0 0 64 Cabinet -1.286 0.385 0.564 0 0 0 65 Cabinet -1.262 0.385 0.565 0 0 0 66 Cabinet -0.734 0.385 0.565 0 0 0 67 Cabinet -0.549 0.385 0.751 0 0 0 68 Cabinet -0.549 0.385 1.412 0 0 0 69 Fridge -2.782 0.0 2.221 0 0 0 70 Microwave -2.794 0.812 1.348 0 90 0 71 GarbageCan -0.329 2.205 2.606 0 0 0 72 StoveKnob -0.069 0.998 1.773 0 180 107.470 73 StoveKnob -0.069 0.998 1.613 0 180 107.470 74 StoveKnob -0.069 0.998 2.171 0 180 107.470 75 StoveKnob -0.069 0.998 2.024 0 180 107.470 76 Window -1.720 1.342 -0.208 90 0 0 77 Toaster -0.171 0.812 0.735 0 270 0 78 SinkBasin -1.745 0.687 0.295 0 0 0 79 CoffeeMachine -0.539 0.812 0.185 0 0 0 80 LightSwitch -0.615 1.378 3.0 0 180 0 81 Faucet -1.686 0.954 0.176 0 236.223 0 82 Stool -1.008 0.008 1.955 0 18.279 0 83 NorthWall 84 EastWall 85 SouthWall 86 WestWall
[ "STEP 1: Turn to the right and walk straight to face the counter to the left of the sink. | STEP 2: Pick up the coffee mug from the coffee maker. | STEP 3: Move to the right to face the sink. | STEP 4: Place the mug in the sink, fill the sink up with water and pick up the mug. | STEP 5: Move to the left to face the coffee machine. | STEP 6: Place the mug in the coffee machine. | END" ]
[ [ "STEP 1: Turn to the right and walk straight to face the counter to the left of the sink. ", " STEP 2: Pick up the coffee mug from the coffee maker. ", " STEP 3: Move to the right to face the sink. ", " STEP 4: Place the mug in the sink, fill the sink up with water and pick up the mug. ", " STEP 5: Move to the left to face the coffee machine. ", " STEP 6: Place the mug in the coffee machine. ", " END" ] ]
seen
trial_T20190907_224032_931193-2
Wash mug and return to coffee maker.
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" 180", " 0", "" ], [ "50", " StoveBurner", " -0.244", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "51", " CounterTop", " -1.557", " 0.859", " 0.277", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " -0.518", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "53", " Drawer", " -0.404", " 0.704", " 0.912", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -0.861", " 0.709", " 0.420", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -1.133", " 0.706", " 0.418", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -2.589", " 0.703", " 1.511", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.772", " 1.803", " 0.508", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.460", " 1.803", " 0.231", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.781", " 1.798", " 0.825", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.781", " 1.798", " 0.815", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "69", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "70", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "71", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "72", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "73", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "74", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "75", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "76", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "77", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "78", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "79", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "80", " LightSwitch", " -0.615", " 1.378", " 3.0", " 0", " 180", " 0", "" ], [ "81", " Faucet", " -1.686", " 0.954", " 0.176", " 0", " 236.223", " 0", "" ], [ "82", " Stool", " -1.008", " 0.008", " 1.955", " 0", " 18.279", " 0", "" ], [ "83", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 90 0 1 Pan -0.244 0.829 1.684 0 0 0 50 2 Potato -2.777 0.960 1.284 0 90 0 70 3 Potato -2.837 1.484 2.221 0 90 0 69 4 Ladle -0.147 0.867 0.426 0 0 0 51 5 DishSponge -0.360 0.694 1.178 0 0 0 47 6 DishSponge -2.881 1.435 0.708 0 0 0 60 7 ButterKnife -0.496 0.694 1.252 0 90 0 47 8 Fork -0.462 0.695 1.288 0 270 0 47 9 Fork -1.542 0.824 0.539 0 0 0 51 10 Egg -2.711 0.945 1.178 0 90 0 70 11 Egg -1.876 0.847 0.032 0 0 0 51 12 Plate -2.000 0.130 0.362 0 0 0 63 13 Plate -2.671 1.148 2.133 0 90 0 69 14 Tomato -2.726 1.495 2.133 0 90 0 69 15 Tomato -2.671 0.874 1.957 0 90 0 69 16 SoapBottle -2.882 1.432 0.941 0 0 0 59 17 Bowl -2.540 1.845 2.368 0 0 0 61 18 SaltShaker -2.834 1.430 0.605 0 0 0 60 19 PepperShaker -2.258 0.818 0.500 0 0 0 51 20 PepperShaker -2.569 0.116 1.589 0 0 0 62 21 Mug -2.726 0.819 2.309 0 90 0 69 22 Apple -2.844 0.994 1.178 0 90 0 70 23 Apple -0.362 0.129 2.606 0 0 0 71 24 Fork -2.631 0.693 1.474 0 90 0 56 25 Ladle -2.540 1.893 1.926 0 0 0 45 26 Pan -0.244 0.829 2.075 0 180 0 46 27 SoapBottle -0.314 0.821 0.500 0 0 0 51 28 Pot -0.531 0.822 2.096 0 0 0 48 29 Tomato -2.669 1.181 2.373 0 0 0 69 30 Potato -2.837 0.863 1.957 0 90 0 69 31 SaltShaker -2.890 0.818 0.462 0 0 0 51 32 Plate -1.522 0.130 0.440 0 0 0 64 33 Spatula -2.504 0.838 0.625 0 90 0 51 34 Knife -2.662 0.819 0.557 90 300.034 0 51 35 Egg -0.362 0.080 2.505 0 0 0 71 36 Cup -2.837 1.144 1.957 0 90 0 69 37 ButterKnife -1.151 0.823 0.426 0 0 0 51 38 Lettuce -2.837 1.529 2.397 0 90 0 69 39 PepperShaker -2.377 1.431 0.142 0 0 0 58 40 DishSponge -1.161 0.697 0.410 0 0 0 55 41 Bread -0.979 0.855 0.249 0 29.999 0 51 42 Spoon -1.077 0.699 0.377 0 90 0 55 43 Mug -0.646 0.888 0.367 0 0 0 79 44 Bowl -1.967 0.699 0.295 0 0 0 78 45 Cabinet -2.377 2.015 1.720 0 0 0 46 StoveBurner -0.244 0.820 2.075 0 180 0 47 Drawer -0.402 0.703 1.252 0 0 0 48 StoveBurner -0.518 0.820 2.075 0 180 0 49 Sink -1.838 0.726 0.343 0 180 0 50 StoveBurner -0.244 0.820 1.684 0 0 0 51 CounterTop -1.557 0.859 0.277 0 0 0 52 StoveBurner -0.518 0.820 1.684 0 0 0 53 Drawer -0.404 0.704 0.912 0 0 0 54 Drawer -0.861 0.709 0.420 0 0 0 55 Drawer -1.133 0.706 0.418 0 0 0 56 Drawer -2.589 0.703 1.511 0 0 0 57 Cabinet -2.772 1.803 0.508 0 0 0 58 Cabinet -2.460 1.803 0.231 0 0 0 59 Cabinet -2.781 1.798 0.825 0 0 0 60 Cabinet -2.781 1.798 0.815 0 0 0 61 Cabinet -2.377 2.009 2.581 0 0 0 62 Cabinet -2.442 0.385 1.672 0 0 0 63 Cabinet -2.238 0.385 0.564 0 0 0 64 Cabinet -1.286 0.385 0.564 0 0 0 65 Cabinet -1.262 0.385 0.565 0 0 0 66 Cabinet -0.734 0.385 0.565 0 0 0 67 Cabinet -0.549 0.385 0.751 0 0 0 68 Cabinet -0.549 0.385 1.412 0 0 0 69 Fridge -2.782 0.0 2.221 0 0 0 70 Microwave -2.794 0.812 1.348 0 90 0 71 GarbageCan -0.329 2.205 2.606 0 0 0 72 StoveKnob -0.069 0.998 1.773 0 180 107.470 73 StoveKnob -0.069 0.998 1.613 0 180 107.470 74 StoveKnob -0.069 0.998 2.171 0 180 107.470 75 StoveKnob -0.069 0.998 2.024 0 180 107.470 76 Window -1.720 1.342 -0.208 90 0 0 77 Toaster -0.171 0.812 0.735 0 270 0 78 SinkBasin -1.745 0.687 0.295 0 0 0 79 CoffeeMachine -0.539 0.812 0.185 0 0 0 80 LightSwitch -0.615 1.378 3.0 0 180 0 81 Faucet -1.686 0.954 0.176 0 236.223 0 82 Stool -1.008 0.008 1.955 0 18.279 0 83 NorthWall 84 EastWall 85 SouthWall 86 WestWall
[ "STEP 1: Turn right, proceed to counter with bread and knife on it across room. | STEP 2: Pick up coffee mug from coffee maker. | STEP 3: Move to the right to the sink. | STEP 4: Put mug in left side of sink, behind the fork. Turn water on, then off, then drain water. Pick up mug from sink. | STEP 5: Turn left, go back to coffee maker and face it. | STEP 6: Place mug back on coffee maker. | END" ]
[ [ "STEP 1: Turn right, proceed to counter with bread and knife on it across room. ", " STEP 2: Pick up coffee mug from coffee maker. ", " STEP 3: Move to the right to the sink. ", " STEP 4: Put mug in left side of sink, behind the fork. Turn water on, then off, then drain water. Pick up mug from sink. ", " STEP 5: Turn left, go back to coffee maker and face it. ", " STEP 6: Place mug back on coffee maker. ", " END" ] ]
seen
trial_T20190908_113131_743545-0
Pick up a credit card and turn a lamp on.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.893 1.25 0 270 0 1 KeyChain -3.576 0.643 4.463 0 0 0 32 2 KeyChain -1.216 0.823 1.087 0 63.501 0 37 3 CreditCard -4.319 0.442 0.449 0 0 0 33 4 RemoteControl -1.189 0.823 1.436 0 16.180 0 37 5 Box -2.561 0.816 4.786 0 0 0 29 6 KeyChain -4.060 0.433 2.225 0 0 0 36 7 Newspaper -3.788 0.648 4.463 0 0 0 32 8 CreditCard -4.060 0.431 2.883 0 0 0 36 9 RemoteControl -2.440 0.517 4.609 0 270 0 30 10 Laptop -5.326 0.477 2.426 0 0 0 38 11 Plate -1.842 0.819 1.723 0 25.739 0 37 12 Pillow -4.161 0.542 0.575 0 0 0 33 13 Statue -3.999 0.647 4.120 0 0 0 32 14 Vase -3.984 0.434 2.061 0 0 0 36 15 Watch -0.976 0.822 1.892 0 142.099 0 37 16 Television -3.794 1.152 4.554 0 180 0 17 GarbageCan -0.264 -0.040 4.728 0 271.354 0 18 FloorLamp -5.663 -0.010 4.679 0 315 0 19 HousePlant -5.703 0.596 3.938 0 0 0 20 LightSwitch 0.0 1.292 3.378 0 270 0 21 Painting -4.156 1.656 -0.002 90 180 0 22 Painting -1.623 1.565 -0.002 90 180 0 23 Window -6.040 1.550 2.102 90 270 0 24 Window -6.040 1.531 0.859 90 270 0 25 Window -6.040 1.531 4.236 90 270 0 26 Chair -0.667 -0.006 0.656 0 321.278 0 27 Chair -1.932 -0.006 2.413 0 154.294 0 28 SideTable -4.928 -0.002 0.272 0 27.993 0 29 SideTable -2.561 -0.002 4.623 0 180 0 30 Drawer -2.560 0.532 4.446 0 180 0 31 SideTable -5.676 -0.002 3.949 0 0 0 32 SideTable -3.793 0.013 4.463 0 0 0 33 Sofa -3.540 -0.020 0.460 0 0 0 34 Chair -5.146 -0.001 0.817 0 53.761 0 35 Chair -0.354 -0.006 1.654 0 261.279 0 36 CoffeeTable -4.003 -0.007 2.454 0 270 0 37 DiningTable -1.395 -0.006 1.447 0 0 0 38 Sofa -5.470 0.007 2.504 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Go right and then turn to the right to face the table in front of the couch. | STEP 2: Pick the credit card up from the table. | STEP 3: Go left and then left again to face the lamp in the corner. | STEP 4: Turn the lamp on. | END" ]
[ [ "STEP 1: Go right and then turn to the right to face the table in front of the couch. ", " STEP 2: Pick the credit card up from the table. ", " STEP 3: Go left and then left again to face the lamp in the corner. ", " STEP 4: Turn the lamp on. ", " END" ] ]
seen
trial_T20190908_113131_743545-1
Hold a credit card and turn on a lamp.
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[ "STEP 1: Turn to the right and around to the far side of the coffee table. | STEP 2: Pick up the credit card from the left side of the coffee table. | STEP 3: Carry the credit card and turn around. Move to the right of the couch. | STEP 4: Hold the credit card and turn on the lamp. | END" ]
[ [ "STEP 1: Turn to the right and around to the far side of the coffee table. ", " STEP 2: Pick up the credit card from the left side of the coffee table. ", " STEP 3: Carry the credit card and turn around. Move to the right of the couch. ", " STEP 4: Hold the credit card and turn on the lamp. ", " END" ] ]
seen
trial_T20190908_113131_743545-2
take the bank card from the coffee table, turn on the lamp
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[ "STEP 1: turn right, head to the coffee table | STEP 2: take the bank card from the coffee table | STEP 3: turn left, head to the lamp in the corner | STEP 4: turn on the lamp | END" ]
[ [ "STEP 1: turn right, head to the coffee table ", " STEP 2: take the bank card from the coffee table ", " STEP 3: turn left, head to the lamp in the corner ", " STEP 4: turn on the lamp ", " END" ] ]
seen
trial_T20190918_223149_385351-0
Put two cell phones on the sofa
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.916 1.75 0 90 0 1 Statue -3.260 0.595 -0.622 0 0 0 48 2 Newspaper -0.204 0.916 1.946 0 0 0 58 3 CellPhone -0.023 0.910 2.188 0 0 0 58 4 RemoteControl 3.237 0.586 1.265 0 180 0 39 5 Laptop -2.812 0.561 1.600 0 270 0 53 6 Book 0.116 0.902 1.073 0 29.999 0 58 7 Box 3.173 0.206 -0.048 0 19.470 0 44 8 Statue 3.160 0.597 0.497 0 180 0 41 9 CreditCard 0.003 0.159 1.412 0 0 0 56 10 Laptop -2.780 0.365 -1.874 0 0 0 35 11 WateringCan 2.893 0.014 -1.916 0 328.832 0 12 Newspaper -0.145 0.669 1.464 0 0 0 66 13 Vase -2.168 1.195 -2.183 0 0 0 14 CellPhone 3.237 0.592 0.232 0 180 0 41 15 RemoteControl -2.958 0.564 2.012 0 270 0 53 16 Vase -1.046 1.195 -2.151 0 0 0 17 Pillow -2.893 0.616 0.818 0 0 0 53 18 KeyChain 3.082 0.591 -0.375 0 180 0 44 19 Cabinet 0.333 0.514 -2.015 0 0 0 20 DeskLamp 3.143 0.591 1.457 0 270 0 21 LightSwitch -0.927 1.316 2.846 0 180 0 22 HousePlant 0.491 0.874 -1.581 0 0 0 23 Television 0.069 1.406 1.698 0 270 0 24 GarbageCan 3.164 0.026 0.891 0 0 0 25 Painting -1.561 1.408 -2.318 90 180 0 26 Painting 3.367 1.789 -0.949 90 270 0 27 Painting -3.488 1.386 -0.507 90 270 0 28 FloorLamp 3.103 0.025 -2.341 0 135 0 29 Window 1.133 1.218 -2.740 90 0 0 30 Window -3.368 1.180 -1.539 90 90 0 31 Window 2.898 1.218 -2.740 90 0 0 32 Window 2.006 1.218 -2.740 90 0 0 33 Window -0.193 1.157 -2.563 90 0 0 34 Window -2.970 1.157 -2.563 90 0 0 35 ArmChair -2.859 0.026 -2.036 0 29.994 0 36 SideTable -0.170 0.027 -2.279 0 0 0 37 Drawer -0.173 0.465 -2.135 0 0 0 38 Drawer 3.104 0.167 1.400 0 270 0 39 SideTable 3.163 0.032 1.400 0 270 0 40 Drawer 3.103 0.418 1.401 0 270 0 41 SideTable 3.163 0.032 0.364 0 270 0 42 Drawer -3.241 0.418 -0.490 0 90 0 43 Drawer 3.104 0.167 -0.574 0 270 0 44 SideTable 3.163 0.032 -0.574 0 270 0 45 Drawer 3.104 0.167 0.364 0 270 0 46 Drawer 3.104 0.419 -0.574 0 270 0 47 Drawer -3.241 0.167 -0.489 0 90 0 48 SideTable -3.300 0.032 -0.489 0 90 0 49 Drawer 3.104 0.419 0.364 0 270 0 50 Chair 1.049 0.031 -2.190 0 29.997 0 51 DogBed 2.739 0.032 2.260 0 45 0 52 Chair 2.037 0.031 -2.232 0 350.485 0 53 Sofa -2.957 0.032 1.393 0 90 0 54 Drawer -0.189 0.232 0.954 0 270 0 55 Drawer -0.415 0.854 1.921 0 270 0 56 Drawer -0.415 0.351 1.414 0 270 0 57 Drawer -0.415 0.603 1.414 0 270 0 58 Dresser -0.052 0.028 1.667 0 270 0 59 Drawer -0.190 0.484 0.954 0 270 0 60 Drawer -0.190 0.736 0.954 0 270 0 61 Drawer -0.415 0.603 1.921 0 270 0 62 Drawer -0.415 0.603 2.384 0 270 0 63 Drawer -0.415 0.351 2.384 0 270 0 64 Drawer -0.415 0.854 2.384 0 270 0 65 Drawer -0.415 0.351 1.921 0 270 0 66 Drawer -0.415 0.854 1.414 0 270 0 67 Stool 3.135 0.029 -1.625 0 330.001 0 68 Chair 1.631 0.029 2.210 0 161.562 0 69 NorthWall 70 EastWall 71 SouthWall 72 WestWall
[ "STEP 1: Manage to take a side step to your left | STEP 2: Pick up the cell phone off of the table | STEP 3: Turn around and walk to the sofa | STEP 4: Put the cell phone down on the sofa cushion to the left of the box | STEP 5: Turn left twice so that you end up facing a small chest of drawers with a statue on it | STEP 6: Pick up the cell phone off of the chest of drawers | STEP 7: Turn around and head right so you are facing the sofa again | STEP 8: Put the cell phone down on the sofa cushion to the right of the box | END" ]
[ [ "STEP 1: Manage to take a side step to your left ", " STEP 2: Pick up the cell phone off of the table ", " STEP 3: Turn around and walk to the sofa ", " STEP 4: Put the cell phone down on the sofa cushion to the left of the box ", " STEP 5: Turn left twice so that you end up facing a small chest of drawers with a statue on it ", " STEP 6: Pick up the cell phone off of the chest of drawers ", " STEP 7: Turn around and head right so you are facing the sofa again ", " STEP 8: Put the cell phone down on the sofa cushion to the right of the box ", " END" ] ]
seen
trial_T20190918_223149_385351-1
Put two cells phones on the sofa.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.916 1.75 0 90 0 1 Statue -3.260 0.595 -0.622 0 0 0 48 2 Newspaper -0.204 0.916 1.946 0 0 0 58 3 CellPhone -0.023 0.910 2.188 0 0 0 58 4 RemoteControl 3.237 0.586 1.265 0 180 0 39 5 Laptop -2.812 0.561 1.600 0 270 0 53 6 Book 0.116 0.902 1.073 0 29.999 0 58 7 Box 3.173 0.206 -0.048 0 19.470 0 44 8 Statue 3.160 0.597 0.497 0 180 0 41 9 CreditCard 0.003 0.159 1.412 0 0 0 56 10 Laptop -2.780 0.365 -1.874 0 0 0 35 11 WateringCan 2.893 0.014 -1.916 0 328.832 0 12 Newspaper -0.145 0.669 1.464 0 0 0 66 13 Vase -2.168 1.195 -2.183 0 0 0 14 CellPhone 3.237 0.592 0.232 0 180 0 41 15 RemoteControl -2.958 0.564 2.012 0 270 0 53 16 Vase -1.046 1.195 -2.151 0 0 0 17 Pillow -2.893 0.616 0.818 0 0 0 53 18 KeyChain 3.082 0.591 -0.375 0 180 0 44 19 Cabinet 0.333 0.514 -2.015 0 0 0 20 DeskLamp 3.143 0.591 1.457 0 270 0 21 LightSwitch -0.927 1.316 2.846 0 180 0 22 HousePlant 0.491 0.874 -1.581 0 0 0 23 Television 0.069 1.406 1.698 0 270 0 24 GarbageCan 3.164 0.026 0.891 0 0 0 25 Painting -1.561 1.408 -2.318 90 180 0 26 Painting 3.367 1.789 -0.949 90 270 0 27 Painting -3.488 1.386 -0.507 90 270 0 28 FloorLamp 3.103 0.025 -2.341 0 135 0 29 Window 1.133 1.218 -2.740 90 0 0 30 Window -3.368 1.180 -1.539 90 90 0 31 Window 2.898 1.218 -2.740 90 0 0 32 Window 2.006 1.218 -2.740 90 0 0 33 Window -0.193 1.157 -2.563 90 0 0 34 Window -2.970 1.157 -2.563 90 0 0 35 ArmChair -2.859 0.026 -2.036 0 29.994 0 36 SideTable -0.170 0.027 -2.279 0 0 0 37 Drawer -0.173 0.465 -2.135 0 0 0 38 Drawer 3.104 0.167 1.400 0 270 0 39 SideTable 3.163 0.032 1.400 0 270 0 40 Drawer 3.103 0.418 1.401 0 270 0 41 SideTable 3.163 0.032 0.364 0 270 0 42 Drawer -3.241 0.418 -0.490 0 90 0 43 Drawer 3.104 0.167 -0.574 0 270 0 44 SideTable 3.163 0.032 -0.574 0 270 0 45 Drawer 3.104 0.167 0.364 0 270 0 46 Drawer 3.104 0.419 -0.574 0 270 0 47 Drawer -3.241 0.167 -0.489 0 90 0 48 SideTable -3.300 0.032 -0.489 0 90 0 49 Drawer 3.104 0.419 0.364 0 270 0 50 Chair 1.049 0.031 -2.190 0 29.997 0 51 DogBed 2.739 0.032 2.260 0 45 0 52 Chair 2.037 0.031 -2.232 0 350.485 0 53 Sofa -2.957 0.032 1.393 0 90 0 54 Drawer -0.189 0.232 0.954 0 270 0 55 Drawer -0.415 0.854 1.921 0 270 0 56 Drawer -0.415 0.351 1.414 0 270 0 57 Drawer -0.415 0.603 1.414 0 270 0 58 Dresser -0.052 0.028 1.667 0 270 0 59 Drawer -0.190 0.484 0.954 0 270 0 60 Drawer -0.190 0.736 0.954 0 270 0 61 Drawer -0.415 0.603 1.921 0 270 0 62 Drawer -0.415 0.603 2.384 0 270 0 63 Drawer -0.415 0.351 2.384 0 270 0 64 Drawer -0.415 0.854 2.384 0 270 0 65 Drawer -0.415 0.351 1.921 0 270 0 66 Drawer -0.415 0.854 1.414 0 270 0 67 Stool 3.135 0.029 -1.625 0 330.001 0 68 Chair 1.631 0.029 2.210 0 161.562 0 69 NorthWall 70 EastWall 71 SouthWall 72 WestWall
[ "STEP 1: Turn and go to the dresser | STEP 2: Pick up the cell phone on the dresser | STEP 3: Turn and go to the sofa. | STEP 4: Put the cell phone on the sofa. | STEP 5: Turn around and go to the small table by the wall. | STEP 6: Pick up the cell phone on the small table. | STEP 7: Turn around and go to the sofa. | STEP 8: Put the cell phone on the sofa. | END" ]
[ [ "STEP 1: Turn and go to the dresser ", " STEP 2: Pick up the cell phone on the dresser ", " STEP 3: Turn and go to the sofa. ", " STEP 4: Put the cell phone on the sofa. ", " STEP 5: Turn around and go to the small table by the wall. ", " STEP 6: Pick up the cell phone on the small table. ", " STEP 7: Turn around and go to the sofa. ", " STEP 8: Put the cell phone on the sofa. ", " END" ] ]
seen
trial_T20190918_223149_385351-2
Move the phones to the sofa.
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"11", " WateringCan", " 2.893", " 0.014", " -1.916", " 0", " 328.832", " 0", "" ], [ "12", " Newspaper", " -0.145", " 0.669", " 1.464", " 0", " 0", " 0", " 66" ], [ "13", " Vase", " -2.168", " 1.195", " -2.183", " 0", " 0", " 0", "" ], [ "14", " CellPhone", " 3.237", " 0.592", " 0.232", " 0", " 180", " 0", " 41" ], [ "15", " RemoteControl", " -2.958", " 0.564", " 2.012", " 0", " 270", " 0", " 53" ], [ "16", " Vase", " -1.046", " 1.195", " -2.151", " 0", " 0", " 0", "" ], [ "17", " Pillow", " -2.893", " 0.616", " 0.818", " 0", " 0", " 0", " 53" ], [ "18", " KeyChain", " 3.082", " 0.591", " -0.375", " 0", " 180", " 0", " 44" ], [ "19", " Cabinet", " 0.333", " 0.514", " -2.015", " 0", " 0", " 0", "" ], [ "20", " DeskLamp", " 3.143", " 0.591", " 1.457", " 0", " 270", " 0", "" ], [ "21", " LightSwitch", " -0.927", " 1.316", " 2.846", " 0", " 180", " 0", "" ], [ "22", " HousePlant", " 0.491", " 0.874", " -1.581", " 0", " 0", " 0", "" ], [ "23", " Television", " 0.069", " 1.406", " 1.698", " 0", " 270", " 0", "" ], [ "24", " GarbageCan", " 3.164", " 0.026", " 0.891", " 0", " 0", " 0", "" ], [ "25", " Painting", " -1.561", " 1.408", " -2.318", " 90", " 180", " 0", "" ], [ "26", " Painting", " 3.367", " 1.789", " -0.949", " 90", " 270", " 0", "" ], [ "27", " Painting", " -3.488", " 1.386", " -0.507", " 90", " 270", " 0", "" ], [ "28", " FloorLamp", " 3.103", " 0.025", " -2.341", " 0", " 135", " 0", "" ], [ "29", " Window", " 1.133", " 1.218", " -2.740", " 90", " 0", " 0", "" ], [ "30", " Window", " -3.368", " 1.180", " -1.539", " 90", " 90", " 0", "" ], [ "31", " Window", " 2.898", " 1.218", " -2.740", " 90", " 0", " 0", "" ], [ "32", " Window", " 2.006", " 1.218", " -2.740", " 90", " 0", " 0", "" ], [ "33", " Window", " -0.193", " 1.157", " -2.563", " 90", " 0", " 0", "" ], [ "34", " Window", " -2.970", " 1.157", " -2.563", " 90", " 0", " 0", "" ], [ "35", " ArmChair", " -2.859", " 0.026", " -2.036", " 0", " 29.994", " 0", "" ], [ "36", " SideTable", " -0.170", " 0.027", " -2.279", " 0", " 0", " 0", "" ], [ "37", " Drawer", " -0.173", " 0.465", " -2.135", " 0", " 0", " 0", "" ], [ "38", " Drawer", " 3.104", " 0.167", " 1.400", " 0", " 270", " 0", "" ], [ "39", " SideTable", " 3.163", " 0.032", " 1.400", " 0", " 270", " 0", "" ], [ "40", " Drawer", " 3.103", " 0.418", " 1.401", " 0", " 270", " 0", "" ], [ "41", " SideTable", " 3.163", " 0.032", " 0.364", " 0", " 270", " 0", "" ], [ "42", " Drawer", " -3.241", " 0.418", " -0.490", " 0", " 90", " 0", "" ], [ "43", " Drawer", " 3.104", " 0.167", " -0.574", " 0", " 270", " 0", "" ], [ "44", " SideTable", " 3.163", " 0.032", " -0.574", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 3.104", " 0.167", " 0.364", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 3.104", " 0.419", " -0.574", " 0", " 270", " 0", "" ], [ "47", " Drawer", " -3.241", " 0.167", " -0.489", " 0", " 90", " 0", "" ], [ "48", " SideTable", " -3.300", " 0.032", " -0.489", " 0", " 90", " 0", "" ], [ "49", " Drawer", " 3.104", " 0.419", " 0.364", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.916 1.75 0 90 0 1 Statue -3.260 0.595 -0.622 0 0 0 48 2 Newspaper -0.204 0.916 1.946 0 0 0 58 3 CellPhone -0.023 0.910 2.188 0 0 0 58 4 RemoteControl 3.237 0.586 1.265 0 180 0 39 5 Laptop -2.812 0.561 1.600 0 270 0 53 6 Book 0.116 0.902 1.073 0 29.999 0 58 7 Box 3.173 0.206 -0.048 0 19.470 0 44 8 Statue 3.160 0.597 0.497 0 180 0 41 9 CreditCard 0.003 0.159 1.412 0 0 0 56 10 Laptop -2.780 0.365 -1.874 0 0 0 35 11 WateringCan 2.893 0.014 -1.916 0 328.832 0 12 Newspaper -0.145 0.669 1.464 0 0 0 66 13 Vase -2.168 1.195 -2.183 0 0 0 14 CellPhone 3.237 0.592 0.232 0 180 0 41 15 RemoteControl -2.958 0.564 2.012 0 270 0 53 16 Vase -1.046 1.195 -2.151 0 0 0 17 Pillow -2.893 0.616 0.818 0 0 0 53 18 KeyChain 3.082 0.591 -0.375 0 180 0 44 19 Cabinet 0.333 0.514 -2.015 0 0 0 20 DeskLamp 3.143 0.591 1.457 0 270 0 21 LightSwitch -0.927 1.316 2.846 0 180 0 22 HousePlant 0.491 0.874 -1.581 0 0 0 23 Television 0.069 1.406 1.698 0 270 0 24 GarbageCan 3.164 0.026 0.891 0 0 0 25 Painting -1.561 1.408 -2.318 90 180 0 26 Painting 3.367 1.789 -0.949 90 270 0 27 Painting -3.488 1.386 -0.507 90 270 0 28 FloorLamp 3.103 0.025 -2.341 0 135 0 29 Window 1.133 1.218 -2.740 90 0 0 30 Window -3.368 1.180 -1.539 90 90 0 31 Window 2.898 1.218 -2.740 90 0 0 32 Window 2.006 1.218 -2.740 90 0 0 33 Window -0.193 1.157 -2.563 90 0 0 34 Window -2.970 1.157 -2.563 90 0 0 35 ArmChair -2.859 0.026 -2.036 0 29.994 0 36 SideTable -0.170 0.027 -2.279 0 0 0 37 Drawer -0.173 0.465 -2.135 0 0 0 38 Drawer 3.104 0.167 1.400 0 270 0 39 SideTable 3.163 0.032 1.400 0 270 0 40 Drawer 3.103 0.418 1.401 0 270 0 41 SideTable 3.163 0.032 0.364 0 270 0 42 Drawer -3.241 0.418 -0.490 0 90 0 43 Drawer 3.104 0.167 -0.574 0 270 0 44 SideTable 3.163 0.032 -0.574 0 270 0 45 Drawer 3.104 0.167 0.364 0 270 0 46 Drawer 3.104 0.419 -0.574 0 270 0 47 Drawer -3.241 0.167 -0.489 0 90 0 48 SideTable -3.300 0.032 -0.489 0 90 0 49 Drawer 3.104 0.419 0.364 0 270 0 50 Chair 1.049 0.031 -2.190 0 29.997 0 51 DogBed 2.739 0.032 2.260 0 45 0 52 Chair 2.037 0.031 -2.232 0 350.485 0 53 Sofa -2.957 0.032 1.393 0 90 0 54 Drawer -0.189 0.232 0.954 0 270 0 55 Drawer -0.415 0.854 1.921 0 270 0 56 Drawer -0.415 0.351 1.414 0 270 0 57 Drawer -0.415 0.603 1.414 0 270 0 58 Dresser -0.052 0.028 1.667 0 270 0 59 Drawer -0.190 0.484 0.954 0 270 0 60 Drawer -0.190 0.736 0.954 0 270 0 61 Drawer -0.415 0.603 1.921 0 270 0 62 Drawer -0.415 0.603 2.384 0 270 0 63 Drawer -0.415 0.351 2.384 0 270 0 64 Drawer -0.415 0.854 2.384 0 270 0 65 Drawer -0.415 0.351 1.921 0 270 0 66 Drawer -0.415 0.854 1.414 0 270 0 67 Stool 3.135 0.029 -1.625 0 330.001 0 68 Chair 1.631 0.029 2.210 0 161.562 0 69 NorthWall 70 EastWall 71 SouthWall 72 WestWall
[ "STEP 1: Go to the console table and face the far left end of it. | STEP 2: Pick up the white phone from under the television. | STEP 3: Turn around and bring the phone with you over to the black sofa. | STEP 4: Put the phone down on the left seat cushion. | STEP 5: Turn left and cross the room to go to the black table with the golden statue on it. | STEP 6: Pick up the white phone sitting to the right of the statue. | STEP 7: Bring the phone with you back to the black sofa. | STEP 8: Put the phone down on the right seat cushion. | END" ]
[ [ "STEP 1: Go to the console table and face the far left end of it. ", " STEP 2: Pick up the white phone from under the television. ", " STEP 3: Turn around and bring the phone with you over to the black sofa. ", " STEP 4: Put the phone down on the left seat cushion. ", " STEP 5: Turn left and cross the room to go to the black table with the golden statue on it. ", " STEP 6: Pick up the white phone sitting to the right of the statue. ", " STEP 7: Bring the phone with you back to the black sofa. ", " STEP 8: Put the phone down on the right seat cushion. ", " END" ] ]
seen
trial_T20190906_185419_750853-0
place a plate with keys down on the coffee table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.998 -1.25 0 0 0 1 Plate -0.240 0.978 -2.533 0 90 0 37 2 Vase -4.094 0.886 -1.287 0 0 0 28 3 CreditCard 0.406 0.304 -1.530 0 0 0 25 4 CreditCard -1.080 0.525 0.772 0 0 0 33 5 Box -2.863 1.03 -0.958 0 0 0 28 6 Pillow 0.629 0.482 -1.667 0 0 0 25 7 CreditCard -0.030 0.971 -2.533 0 90 0 37 8 Plate -3.851 0.875 -1.011 0 0 0 28 9 Laptop -0.557 0.523 0.897 0 0 0 33 10 RemoteControl 0.748 0.306 -1.949 0 0 0 25 11 Vase -3.493 0.874 -1.182 0 0 0 28 12 Statue 0.257 0.965 -2.518 0 0 0 37 13 KeyChain -3.207 0.881 -0.992 0 0 0 28 14 Pen -3.650 0.880 -1.090 0 0 0 28 15 Curtains -3.013 1.557 -3.082 0 0 0 16 Television -1.063 0.939 -2.439 0 0 0 17 HousePlant 0.753 0.855 -2.467 0 215.129 0 18 HousePlant 0.739 0.855 -1.159 0 310.776 0 19 FloorLamp -2.186 0.096 1.111 0 0 0 20 GarbageCan -1.946 0.097 -2.899 0 216.243 0 21 Painting -4.326 1.817 -1.223 90 270 0 22 Window 0.010 1.087 0.001 90 270 0 23 Window -2.983 1.544 -3.220 90 180 0 24 LightSwitch -3.907 1.371 1.386 0 180 0 25 ArmChair 0.662 0.103 -1.781 0 270 0 26 Stool 0.765 0.108 -1.148 0 0 0 27 Stool 0.765 0.108 -2.460 0 35.380 0 28 DiningTable -3.428 0.099 -1.188 0 0 0 29 CoffeeTable -1.090 0.097 -0.737 0 0 0 30 Chair -3.793 0.098 -0.841 0 164.999 0 31 Chair -3.073 0.098 -1.515 0 11.313 0 32 Chair -3.810 0.098 -1.549 0 352.857 0 33 Sofa -0.905 0.099 0.959 0 180 0 34 CoffeeTable -1.046 0.096 -2.473 0 180 0 35 Chair -3.068 0.098 -0.882 0 180 0 36 Drawer -0.031 0.872 -2.487 0 0 0 37 SideTable -0.030 0.097 -2.552 0 0 0 38 NorthWall 39 EastWall 40 SouthWall 41 WestWall
[ "STEP 1: walk over to the white table in the living room | STEP 2: grab the keys off of the table | STEP 3: walk over to the smaller white table next to the television | STEP 4: put the keys on the plate on the table | STEP 5: grab the plate with the keys on it | STEP 6: walk over to the white coffee table in between the TV and the couch | STEP 7: place the plate down on the table there | END" ]
[ [ "STEP 1: walk over to the white table in the living room ", " STEP 2: grab the keys off of the table ", " STEP 3: walk over to the smaller white table next to the television ", " STEP 4: put the keys on the plate on the table ", " STEP 5: grab the plate with the keys on it ", " STEP 6: walk over to the white coffee table in between the TV and the couch ", " STEP 7: place the plate down on the table there ", " END" ] ]
seen
trial_T20190906_185419_750853-1
Locate keys to place them on the tray on top of the coffee table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.998 -1.25 0 0 0 1 Plate -0.240 0.978 -2.533 0 90 0 37 2 Vase -4.094 0.886 -1.287 0 0 0 28 3 CreditCard 0.406 0.304 -1.530 0 0 0 25 4 CreditCard -1.080 0.525 0.772 0 0 0 33 5 Box -2.863 1.03 -0.958 0 0 0 28 6 Pillow 0.629 0.482 -1.667 0 0 0 25 7 CreditCard -0.030 0.971 -2.533 0 90 0 37 8 Plate -3.851 0.875 -1.011 0 0 0 28 9 Laptop -0.557 0.523 0.897 0 0 0 33 10 RemoteControl 0.748 0.306 -1.949 0 0 0 25 11 Vase -3.493 0.874 -1.182 0 0 0 28 12 Statue 0.257 0.965 -2.518 0 0 0 37 13 KeyChain -3.207 0.881 -0.992 0 0 0 28 14 Pen -3.650 0.880 -1.090 0 0 0 28 15 Curtains -3.013 1.557 -3.082 0 0 0 16 Television -1.063 0.939 -2.439 0 0 0 17 HousePlant 0.753 0.855 -2.467 0 215.129 0 18 HousePlant 0.739 0.855 -1.159 0 310.776 0 19 FloorLamp -2.186 0.096 1.111 0 0 0 20 GarbageCan -1.946 0.097 -2.899 0 216.243 0 21 Painting -4.326 1.817 -1.223 90 270 0 22 Window 0.010 1.087 0.001 90 270 0 23 Window -2.983 1.544 -3.220 90 180 0 24 LightSwitch -3.907 1.371 1.386 0 180 0 25 ArmChair 0.662 0.103 -1.781 0 270 0 26 Stool 0.765 0.108 -1.148 0 0 0 27 Stool 0.765 0.108 -2.460 0 35.380 0 28 DiningTable -3.428 0.099 -1.188 0 0 0 29 CoffeeTable -1.090 0.097 -0.737 0 0 0 30 Chair -3.793 0.098 -0.841 0 164.999 0 31 Chair -3.073 0.098 -1.515 0 11.313 0 32 Chair -3.810 0.098 -1.549 0 352.857 0 33 Sofa -0.905 0.099 0.959 0 180 0 34 CoffeeTable -1.046 0.096 -2.473 0 180 0 35 Chair -3.068 0.098 -0.882 0 180 0 36 Drawer -0.031 0.872 -2.487 0 0 0 37 SideTable -0.030 0.097 -2.552 0 0 0 38 NorthWall 39 EastWall 40 SouthWall 41 WestWall
[ "STEP 1: Go to the lamp then turn left and move to the white table | STEP 2: Grab the keys on top of the table to the left of the box | STEP 3: Turn left and head straight towards the white coffee table then turn left to the yellow chair | STEP 4: Turn right towards the white side table | STEP 5: Place the keys on the round brown tray that was on the white side table | STEP 6: Turn right and carry the tray straight to the white coffee table | STEP 7: Place the tray on top of the coffee table | END" ]
[ [ "STEP 1: Go to the lamp then turn left and move to the white table ", " STEP 2: Grab the keys on top of the table to the left of the box ", " STEP 3: Turn left and head straight towards the white coffee table then turn left to the yellow chair ", " STEP 4: Turn right towards the white side table ", " STEP 5: Place the keys on the round brown tray that was on the white side table ", " STEP 6: Turn right and carry the tray straight to the white coffee table ", " STEP 7: Place the tray on top of the coffee table ", " END" ] ]
seen
trial_T20190906_185419_750853-2
Putting the keys where they belong.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.998 -1.25 0 0 0 1 Plate -0.240 0.978 -2.533 0 90 0 37 2 Vase -4.094 0.886 -1.287 0 0 0 28 3 CreditCard 0.406 0.304 -1.530 0 0 0 25 4 CreditCard -1.080 0.525 0.772 0 0 0 33 5 Box -2.863 1.03 -0.958 0 0 0 28 6 Pillow 0.629 0.482 -1.667 0 0 0 25 7 CreditCard -0.030 0.971 -2.533 0 90 0 37 8 Plate -3.851 0.875 -1.011 0 0 0 28 9 Laptop -0.557 0.523 0.897 0 0 0 33 10 RemoteControl 0.748 0.306 -1.949 0 0 0 25 11 Vase -3.493 0.874 -1.182 0 0 0 28 12 Statue 0.257 0.965 -2.518 0 0 0 37 13 KeyChain -3.207 0.881 -0.992 0 0 0 28 14 Pen -3.650 0.880 -1.090 0 0 0 28 15 Curtains -3.013 1.557 -3.082 0 0 0 16 Television -1.063 0.939 -2.439 0 0 0 17 HousePlant 0.753 0.855 -2.467 0 215.129 0 18 HousePlant 0.739 0.855 -1.159 0 310.776 0 19 FloorLamp -2.186 0.096 1.111 0 0 0 20 GarbageCan -1.946 0.097 -2.899 0 216.243 0 21 Painting -4.326 1.817 -1.223 90 270 0 22 Window 0.010 1.087 0.001 90 270 0 23 Window -2.983 1.544 -3.220 90 180 0 24 LightSwitch -3.907 1.371 1.386 0 180 0 25 ArmChair 0.662 0.103 -1.781 0 270 0 26 Stool 0.765 0.108 -1.148 0 0 0 27 Stool 0.765 0.108 -2.460 0 35.380 0 28 DiningTable -3.428 0.099 -1.188 0 0 0 29 CoffeeTable -1.090 0.097 -0.737 0 0 0 30 Chair -3.793 0.098 -0.841 0 164.999 0 31 Chair -3.073 0.098 -1.515 0 11.313 0 32 Chair -3.810 0.098 -1.549 0 352.857 0 33 Sofa -0.905 0.099 0.959 0 180 0 34 CoffeeTable -1.046 0.096 -2.473 0 180 0 35 Chair -3.068 0.098 -0.882 0 180 0 36 Drawer -0.031 0.872 -2.487 0 0 0 37 SideTable -0.030 0.097 -2.552 0 0 0 38 NorthWall 39 EastWall 40 SouthWall 41 WestWall
[ "STEP 1: Move to the white dinner table where you will see a brown box and keys. | STEP 2: Pick up the keys that are on the table. | STEP 3: Move across the room to the small white desk with drawers by the TV. | STEP 4: Pick up the gold plate that is on the desk. | STEP 5: Put the keys on the plate. | STEP 6: Carry the plate to the long, low table on the green rug. | STEP 7: Put the plate with the keys on the table. | END" ]
[ [ "STEP 1: Move to the white dinner table where you will see a brown box and keys. ", " STEP 2: Pick up the keys that are on the table. ", " STEP 3: Move across the room to the small white desk with drawers by the TV. ", " STEP 4: Pick up the gold plate that is on the desk. ", " STEP 5: Put the keys on the plate. ", " STEP 6: Carry the plate to the long, low table on the green rug. ", " STEP 7: Put the plate with the keys on the table. ", " END" ] ]
seen
trial_T20190909_140222_907943-0
Inspect a clock by lamp light.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.75", " 0.902", " 0.75", " 0", " 180", " 0", "" ], [ "1", " Mug", " 1.597", " 0.798", " -1.467", " 0", " 0", " 0", " 43" ], [ "2", " Mug", " 0.264", " 0.186", " -2.598", " 0", " 90", " 0", " 53" ], [ "3", " Pencil", " 1.633", " 0.659", " -1.289", " 0", " 0", " 0", " 36" ], [ "4", " CreditCard", " 1.726", " 0.500", " -1.551", " 0", " 0", " 0", " 37" ], [ "5", " CreditCard", " 1.726", " 0.500", " -1.949", " 0", " 0", " 0", " 45" ], [ "6", " Book", " -1.061", " 0.694", " -1.001", " 0", " 0", " 0", " 23" ], [ "7", " Pillow", " -1.061", " 0.755", " -0.146", " 0", " 0", " 0", " 23" ], [ "8", " Book", " -1.436", " 0.671", " 0.115", " 0", " 300.000", " 0", " 23" ], [ "9", " KeyChain", " 1.680", " 0.015", " -1.464", " 0", " 0", " 0", " 40" ], [ "10", " AlarmClock", " 1.597", " 0.800", " -1.655", " 0", " 0", " 0", " 43" ], [ "11", " CreditCard", " 0.306", " 0.354", " -2.598", " 0", " 0", " 0", " 49" ], [ "12", " Laptop", " -0.574", " 0.693", " -0.573", " 0", " 0", " 0", " 23" ], [ "13", " Pen", " 1.680", " 0.505", " -2.036", " 0", " 180", " 0", " 45" ], [ "14", " Pencil", " 1.680", " 0.660", " -1.638", " 0", " 0", " 0", " 36" ], [ "15", " BaseballBat", " -1.844", " 0.678", " -2.203", " 0", " 0", " 8.760", " Floor|+00.01|" ], [ "16", " Pillow", " -1.061", " 0.755", " -0.573", " 0", " 0", " 0", " 23" ], [ "17", " Pillow", " -1.508", " 0.685", " -0.378", " 0", " 288.596", " 0", " 23" ], [ "18", " TennisRacket", " -1.597", " 0.001", " -1.367", " 90", " 37.792", " 0", " Floor|+00.01|" ], [ "19", " CellPhone", " 1.540", " 0.334", " -1.551", " 0", " 0", " 0", " 35" ], [ "20", " CD", " 3.402", " 0.016", " 0.22", " 0", " 0", " 0", " 28" ], [ "21", " Mug", " 1.781", " 0.799", " -2.219", " 0", " 0", " 0", " 43" ], [ "22", " Mirror", " 3.534", " 1.661", " -0.277", " 0", " 90", " 0", "" ], [ "23", " Bed", " -0.842", " -0.000", " -0.361", " 0", " 270", " 0", "" ], [ "24", " DeskLamp", " 1.742", " 0.819", " -1.394", " 0", " 358.556", " 0", "" ], [ "25", " Painting", " 0.246", " 1.564", " -2.665", " 90", " 0", " 0", "" ], [ "26", " Painting", " 1.894", " 1.549", " -2.424", " 90", " 270", " 0", "" ], [ "27", " Painting", " 1.894", " 1.549", " -1.289", " 90", " 270", " 0", "" ], [ "28", " GarbageCan", " 3.378", " 0.000", " 0.220", " 0", " 0", " 0", "" ], [ "29", " LightSwitch", " -0.078", " 1.219", " 1.298", " 0", " 180", " 0", "" ], [ "30", " Window", " -0.486", " 1.409", " -2.691", " 90", " 0", " 0", "" ], [ "31", " Window", " 0.987", " 1.409", " -2.691", " 90", " 0", " 0", "" ], [ "32", " VacuumCleaner", " -1.649", " 0.010", " -2.440", " 0", " 42.426", " 0", "" ], [ "33", " Blinds", " -0.490", " 2.130", " -2.638", " 0", " 0", " 0", "" ], [ "34", " Blinds", " 1.011", " 2.130", " -2.638", " 0", " 0", " 0", "" ], [ "35", " Drawer", " 1.596", " 0.411", " -1.459", " 0", " 270", " 0", "" ], [ "36", " Drawer", " 1.597", " 0.732", " -1.459", " 0", " 270", " 0", "" ], [ "37", " Drawer", " 1.597", " 0.574", " -1.459", " 0", " 270", " 0", "" ], [ "38", " Drawer", " 1.597", " 0.732", " -2.202", " 0", " 270", " 0", "" ], [ "39", " Drawer", " 1.596", " 0.247", " -1.459", " 0", " 270", " 0", "" ], [ "40", " Drawer", " 1.596", " 0.090", " -1.459", " 0", " 270", " 0", "" ], [ "41", " Drawer", " 1.596", " 0.247", " -2.202", " 0", " 270", " 0", "" ], [ "42", " Drawer", " 1.596", " 0.411", " -2.202", " 0", " 270", " 0", "" ], [ "43", " Dresser", " 1.634", " 0.003", " -1.830", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 1.596", " 0.090", " -2.202", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 1.597", " 0.574", " -2.202", " 0", " 270", " 0", "" ], [ "46", " ShelvingUnit", " 0.249", " 0.003", " -2.519", " 0", " 0", " 0", "" ], [ "47", " Shelf", " 0.017", " 0.178", " -2.511", " 0", " 0", " 0", "" ], [ "48", " Shelf", " 0.249", " 0.665", " -2.519", " 0", " 0", " 0", "" ], [ "49", " Shelf", " 0.243", " 0.344", " -2.511", " 0", " 0", " 0", "" ], [ "50", " Shelf", " 0.474", " 0.344", " -2.511", " 0", " 0", " 0", "" ], [ "51", " Shelf", " 0.355", " 0.011", " -2.511", " 0", " 0", " 0", "" ], [ "52", " Shelf", " 0.016", " 0.011", " -2.511", " 0", " 0", " 0", "" ], [ "53", " Shelf", " 0.357", " 0.178", " -2.511", " 0", " 0", " 0", "" ], [ "54", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "57", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.902 0.75 0 180 0 1 Mug 1.597 0.798 -1.467 0 0 0 43 2 Mug 0.264 0.186 -2.598 0 90 0 53 3 Pencil 1.633 0.659 -1.289 0 0 0 36 4 CreditCard 1.726 0.500 -1.551 0 0 0 37 5 CreditCard 1.726 0.500 -1.949 0 0 0 45 6 Book -1.061 0.694 -1.001 0 0 0 23 7 Pillow -1.061 0.755 -0.146 0 0 0 23 8 Book -1.436 0.671 0.115 0 300.000 0 23 9 KeyChain 1.680 0.015 -1.464 0 0 0 40 10 AlarmClock 1.597 0.800 -1.655 0 0 0 43 11 CreditCard 0.306 0.354 -2.598 0 0 0 49 12 Laptop -0.574 0.693 -0.573 0 0 0 23 13 Pen 1.680 0.505 -2.036 0 180 0 45 14 Pencil 1.680 0.660 -1.638 0 0 0 36 15 BaseballBat -1.844 0.678 -2.203 0 0 8.760 Floor|+00.01| 16 Pillow -1.061 0.755 -0.573 0 0 0 23 17 Pillow -1.508 0.685 -0.378 0 288.596 0 23 18 TennisRacket -1.597 0.001 -1.367 90 37.792 0 Floor|+00.01| 19 CellPhone 1.540 0.334 -1.551 0 0 0 35 20 CD 3.402 0.016 0.22 0 0 0 28 21 Mug 1.781 0.799 -2.219 0 0 0 43 22 Mirror 3.534 1.661 -0.277 0 90 0 23 Bed -0.842 -0.000 -0.361 0 270 0 24 DeskLamp 1.742 0.819 -1.394 0 358.556 0 25 Painting 0.246 1.564 -2.665 90 0 0 26 Painting 1.894 1.549 -2.424 90 270 0 27 Painting 1.894 1.549 -1.289 90 270 0 28 GarbageCan 3.378 0.000 0.220 0 0 0 29 LightSwitch -0.078 1.219 1.298 0 180 0 30 Window -0.486 1.409 -2.691 90 0 0 31 Window 0.987 1.409 -2.691 90 0 0 32 VacuumCleaner -1.649 0.010 -2.440 0 42.426 0 33 Blinds -0.490 2.130 -2.638 0 0 0 34 Blinds 1.011 2.130 -2.638 0 0 0 35 Drawer 1.596 0.411 -1.459 0 270 0 36 Drawer 1.597 0.732 -1.459 0 270 0 37 Drawer 1.597 0.574 -1.459 0 270 0 38 Drawer 1.597 0.732 -2.202 0 270 0 39 Drawer 1.596 0.247 -1.459 0 270 0 40 Drawer 1.596 0.090 -1.459 0 270 0 41 Drawer 1.596 0.247 -2.202 0 270 0 42 Drawer 1.596 0.411 -2.202 0 270 0 43 Dresser 1.634 0.003 -1.830 0 270 0 44 Drawer 1.596 0.090 -2.202 0 270 0 45 Drawer 1.597 0.574 -2.202 0 270 0 46 ShelvingUnit 0.249 0.003 -2.519 0 0 0 47 Shelf 0.017 0.178 -2.511 0 0 0 48 Shelf 0.249 0.665 -2.519 0 0 0 49 Shelf 0.243 0.344 -2.511 0 0 0 50 Shelf 0.474 0.344 -2.511 0 0 0 51 Shelf 0.355 0.011 -2.511 0 0 0 52 Shelf 0.016 0.011 -2.511 0 0 0 53 Shelf 0.357 0.178 -2.511 0 0 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Walk forward until the dresser is on your left then turn left and walk to the clock on the dresser. | STEP 2: Pick up the clock that's in front of you. | STEP 3: Walk around the dresser to your left then stand looking down the length of the dresser with the wall on your left and the light in front of you. | STEP 4: Turn on the light. | END" ]
[ [ "STEP 1: Walk forward until the dresser is on your left then turn left and walk to the clock on the dresser. ", " STEP 2: Pick up the clock that's in front of you. ", " STEP 3: Walk around the dresser to your left then stand looking down the length of the dresser with the wall on your left and the light in front of you. ", " STEP 4: Turn on the light. ", " END" ] ]
seen
trial_T20190909_140222_907943-1
look at the clock under the lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.75", " 0.902", " 0.75", " 0", " 180", " 0", "" ], [ "1", " Mug", " 1.597", " 0.798", " -1.467", " 0", " 0", " 0", " 43" ], [ "2", " Mug", " 0.264", " 0.186", " -2.598", " 0", " 90", " 0", " 53" ], [ "3", " Pencil", " 1.633", " 0.659", " -1.289", " 0", " 0", " 0", " 36" ], [ "4", " CreditCard", " 1.726", " 0.500", " -1.551", " 0", " 0", " 0", " 37" ], [ "5", " CreditCard", " 1.726", " 0.500", " -1.949", " 0", " 0", " 0", " 45" ], [ "6", " Book", " -1.061", " 0.694", " -1.001", " 0", " 0", " 0", " 23" ], [ "7", " Pillow", " -1.061", " 0.755", " -0.146", " 0", " 0", " 0", " 23" ], [ "8", " Book", " -1.436", " 0.671", " 0.115", " 0", " 300.000", " 0", " 23" ], [ "9", " KeyChain", " 1.680", " 0.015", " -1.464", " 0", " 0", " 0", " 40" ], [ "10", " AlarmClock", " 1.597", " 0.800", " -1.655", " 0", " 0", " 0", " 43" ], [ "11", " CreditCard", " 0.306", " 0.354", " -2.598", " 0", " 0", " 0", " 49" ], [ "12", " Laptop", " -0.574", " 0.693", " -0.573", " 0", " 0", " 0", " 23" ], [ "13", " Pen", " 1.680", " 0.505", " -2.036", " 0", " 180", " 0", " 45" ], [ "14", " Pencil", " 1.680", " 0.660", " -1.638", " 0", " 0", " 0", " 36" ], [ "15", " BaseballBat", " -1.844", " 0.678", " -2.203", " 0", " 0", " 8.760", " Floor|+00.01|" ], [ "16", " Pillow", " -1.061", " 0.755", " -0.573", " 0", " 0", " 0", " 23" ], [ "17", " Pillow", " -1.508", " 0.685", " -0.378", " 0", " 288.596", " 0", " 23" ], [ "18", " TennisRacket", " -1.597", " 0.001", " -1.367", " 90", " 37.792", " 0", " Floor|+00.01|" ], [ "19", " CellPhone", " 1.540", " 0.334", " -1.551", " 0", " 0", " 0", " 35" ], [ "20", " CD", " 3.402", " 0.016", " 0.22", " 0", " 0", " 0", " 28" ], [ "21", " Mug", " 1.781", " 0.799", " -2.219", " 0", " 0", " 0", " 43" ], [ "22", " Mirror", " 3.534", " 1.661", " -0.277", " 0", " 90", " 0", "" ], [ "23", " Bed", " -0.842", " -0.000", " -0.361", " 0", " 270", " 0", "" ], [ "24", " DeskLamp", " 1.742", " 0.819", " -1.394", " 0", " 358.556", " 0", "" ], [ "25", " Painting", " 0.246", " 1.564", " -2.665", " 90", " 0", " 0", "" ], [ "26", " Painting", " 1.894", " 1.549", " -2.424", " 90", " 270", " 0", "" ], [ "27", " Painting", " 1.894", " 1.549", " -1.289", " 90", " 270", " 0", "" ], [ "28", " GarbageCan", " 3.378", " 0.000", " 0.220", " 0", " 0", " 0", "" ], [ "29", " LightSwitch", " -0.078", " 1.219", " 1.298", " 0", " 180", " 0", "" ], [ "30", " Window", " -0.486", " 1.409", " -2.691", " 90", " 0", " 0", "" ], [ "31", " Window", " 0.987", " 1.409", " -2.691", " 90", " 0", " 0", "" ], [ "32", " VacuumCleaner", " -1.649", " 0.010", " -2.440", " 0", " 42.426", " 0", "" ], [ "33", " Blinds", " -0.490", " 2.130", " -2.638", " 0", " 0", " 0", "" ], [ "34", " Blinds", " 1.011", " 2.130", " -2.638", " 0", " 0", " 0", "" ], [ "35", " Drawer", " 1.596", " 0.411", " -1.459", " 0", " 270", " 0", "" ], [ "36", " Drawer", " 1.597", " 0.732", " -1.459", " 0", " 270", " 0", "" ], [ "37", " Drawer", " 1.597", " 0.574", " -1.459", " 0", " 270", " 0", "" ], [ "38", " Drawer", " 1.597", " 0.732", " -2.202", " 0", " 270", " 0", "" ], [ "39", " Drawer", " 1.596", " 0.247", " -1.459", " 0", " 270", " 0", "" ], [ "40", " Drawer", " 1.596", " 0.090", " -1.459", " 0", " 270", " 0", "" ], [ "41", " Drawer", " 1.596", " 0.247", " -2.202", " 0", " 270", " 0", "" ], [ "42", " Drawer", " 1.596", " 0.411", " -2.202", " 0", " 270", " 0", "" ], [ "43", " Dresser", " 1.634", " 0.003", " -1.830", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 1.596", " 0.090", " -2.202", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 1.597", " 0.574", " -2.202", " 0", " 270", " 0", "" ], [ "46", " ShelvingUnit", " 0.249", " 0.003", " -2.519", " 0", " 0", " 0", "" ], [ "47", " Shelf", " 0.017", " 0.178", " -2.511", " 0", " 0", " 0", "" ], [ "48", " Shelf", " 0.249", " 0.665", " -2.519", " 0", " 0", " 0", "" ], [ "49", " Shelf", " 0.243", " 0.344", " -2.511", " 0", " 0", " 0", "" ], [ "50", " Shelf", " 0.474", " 0.344", " -2.511", " 0", " 0", " 0", "" ], [ "51", " Shelf", " 0.355", " 0.011", " -2.511", " 0", " 0", " 0", "" ], [ "52", " Shelf", " 0.016", " 0.011", " -2.511", " 0", " 0", " 0", "" ], [ "53", " Shelf", " 0.357", " 0.178", " -2.511", " 0", " 0", " 0", "" ], [ "54", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "57", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.902 0.75 0 180 0 1 Mug 1.597 0.798 -1.467 0 0 0 43 2 Mug 0.264 0.186 -2.598 0 90 0 53 3 Pencil 1.633 0.659 -1.289 0 0 0 36 4 CreditCard 1.726 0.500 -1.551 0 0 0 37 5 CreditCard 1.726 0.500 -1.949 0 0 0 45 6 Book -1.061 0.694 -1.001 0 0 0 23 7 Pillow -1.061 0.755 -0.146 0 0 0 23 8 Book -1.436 0.671 0.115 0 300.000 0 23 9 KeyChain 1.680 0.015 -1.464 0 0 0 40 10 AlarmClock 1.597 0.800 -1.655 0 0 0 43 11 CreditCard 0.306 0.354 -2.598 0 0 0 49 12 Laptop -0.574 0.693 -0.573 0 0 0 23 13 Pen 1.680 0.505 -2.036 0 180 0 45 14 Pencil 1.680 0.660 -1.638 0 0 0 36 15 BaseballBat -1.844 0.678 -2.203 0 0 8.760 Floor|+00.01| 16 Pillow -1.061 0.755 -0.573 0 0 0 23 17 Pillow -1.508 0.685 -0.378 0 288.596 0 23 18 TennisRacket -1.597 0.001 -1.367 90 37.792 0 Floor|+00.01| 19 CellPhone 1.540 0.334 -1.551 0 0 0 35 20 CD 3.402 0.016 0.22 0 0 0 28 21 Mug 1.781 0.799 -2.219 0 0 0 43 22 Mirror 3.534 1.661 -0.277 0 90 0 23 Bed -0.842 -0.000 -0.361 0 270 0 24 DeskLamp 1.742 0.819 -1.394 0 358.556 0 25 Painting 0.246 1.564 -2.665 90 0 0 26 Painting 1.894 1.549 -2.424 90 270 0 27 Painting 1.894 1.549 -1.289 90 270 0 28 GarbageCan 3.378 0.000 0.220 0 0 0 29 LightSwitch -0.078 1.219 1.298 0 180 0 30 Window -0.486 1.409 -2.691 90 0 0 31 Window 0.987 1.409 -2.691 90 0 0 32 VacuumCleaner -1.649 0.010 -2.440 0 42.426 0 33 Blinds -0.490 2.130 -2.638 0 0 0 34 Blinds 1.011 2.130 -2.638 0 0 0 35 Drawer 1.596 0.411 -1.459 0 270 0 36 Drawer 1.597 0.732 -1.459 0 270 0 37 Drawer 1.597 0.574 -1.459 0 270 0 38 Drawer 1.597 0.732 -2.202 0 270 0 39 Drawer 1.596 0.247 -1.459 0 270 0 40 Drawer 1.596 0.090 -1.459 0 270 0 41 Drawer 1.596 0.247 -2.202 0 270 0 42 Drawer 1.596 0.411 -2.202 0 270 0 43 Dresser 1.634 0.003 -1.830 0 270 0 44 Drawer 1.596 0.090 -2.202 0 270 0 45 Drawer 1.597 0.574 -2.202 0 270 0 46 ShelvingUnit 0.249 0.003 -2.519 0 0 0 47 Shelf 0.017 0.178 -2.511 0 0 0 48 Shelf 0.249 0.665 -2.519 0 0 0 49 Shelf 0.243 0.344 -2.511 0 0 0 50 Shelf 0.474 0.344 -2.511 0 0 0 51 Shelf 0.355 0.011 -2.511 0 0 0 52 Shelf 0.016 0.011 -2.511 0 0 0 53 Shelf 0.357 0.178 -2.511 0 0 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: go to the dresser | STEP 2: pick up the clock | STEP 3: take the clock to the lamp | STEP 4: turn on the lamp | END" ]
[ [ "STEP 1: go to the dresser ", " STEP 2: pick up the clock ", " STEP 3: take the clock to the lamp ", " STEP 4: turn on the lamp ", " END" ] ]
seen
trial_T20190909_140222_907943-2
Examine a clock in the light of the lamp on the dresser.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.902 0.75 0 180 0 1 Mug 1.597 0.798 -1.467 0 0 0 43 2 Mug 0.264 0.186 -2.598 0 90 0 53 3 Pencil 1.633 0.659 -1.289 0 0 0 36 4 CreditCard 1.726 0.500 -1.551 0 0 0 37 5 CreditCard 1.726 0.500 -1.949 0 0 0 45 6 Book -1.061 0.694 -1.001 0 0 0 23 7 Pillow -1.061 0.755 -0.146 0 0 0 23 8 Book -1.436 0.671 0.115 0 300.000 0 23 9 KeyChain 1.680 0.015 -1.464 0 0 0 40 10 AlarmClock 1.597 0.800 -1.655 0 0 0 43 11 CreditCard 0.306 0.354 -2.598 0 0 0 49 12 Laptop -0.574 0.693 -0.573 0 0 0 23 13 Pen 1.680 0.505 -2.036 0 180 0 45 14 Pencil 1.680 0.660 -1.638 0 0 0 36 15 BaseballBat -1.844 0.678 -2.203 0 0 8.760 Floor|+00.01| 16 Pillow -1.061 0.755 -0.573 0 0 0 23 17 Pillow -1.508 0.685 -0.378 0 288.596 0 23 18 TennisRacket -1.597 0.001 -1.367 90 37.792 0 Floor|+00.01| 19 CellPhone 1.540 0.334 -1.551 0 0 0 35 20 CD 3.402 0.016 0.22 0 0 0 28 21 Mug 1.781 0.799 -2.219 0 0 0 43 22 Mirror 3.534 1.661 -0.277 0 90 0 23 Bed -0.842 -0.000 -0.361 0 270 0 24 DeskLamp 1.742 0.819 -1.394 0 358.556 0 25 Painting 0.246 1.564 -2.665 90 0 0 26 Painting 1.894 1.549 -2.424 90 270 0 27 Painting 1.894 1.549 -1.289 90 270 0 28 GarbageCan 3.378 0.000 0.220 0 0 0 29 LightSwitch -0.078 1.219 1.298 0 180 0 30 Window -0.486 1.409 -2.691 90 0 0 31 Window 0.987 1.409 -2.691 90 0 0 32 VacuumCleaner -1.649 0.010 -2.440 0 42.426 0 33 Blinds -0.490 2.130 -2.638 0 0 0 34 Blinds 1.011 2.130 -2.638 0 0 0 35 Drawer 1.596 0.411 -1.459 0 270 0 36 Drawer 1.597 0.732 -1.459 0 270 0 37 Drawer 1.597 0.574 -1.459 0 270 0 38 Drawer 1.597 0.732 -2.202 0 270 0 39 Drawer 1.596 0.247 -1.459 0 270 0 40 Drawer 1.596 0.090 -1.459 0 270 0 41 Drawer 1.596 0.247 -2.202 0 270 0 42 Drawer 1.596 0.411 -2.202 0 270 0 43 Dresser 1.634 0.003 -1.830 0 270 0 44 Drawer 1.596 0.090 -2.202 0 270 0 45 Drawer 1.597 0.574 -2.202 0 270 0 46 ShelvingUnit 0.249 0.003 -2.519 0 0 0 47 Shelf 0.017 0.178 -2.511 0 0 0 48 Shelf 0.249 0.665 -2.519 0 0 0 49 Shelf 0.243 0.344 -2.511 0 0 0 50 Shelf 0.474 0.344 -2.511 0 0 0 51 Shelf 0.355 0.011 -2.511 0 0 0 52 Shelf 0.016 0.011 -2.511 0 0 0 53 Shelf 0.357 0.178 -2.511 0 0 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Move forward past the bed, turn left, go to the dresser. | STEP 2: Pick up the clock on the dresser. | STEP 3: Bring the clock to the lamp on the left side of the dresser. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Move forward past the bed, turn left, go to the dresser. ", " STEP 2: Pick up the clock on the dresser. ", " STEP 3: Bring the clock to the lamp on the left side of the dresser. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190908_130644_960332-0
Put hot slice of tomato on a table.
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96" ], [ "24", " Bowl", " 1.367", " 0.884", " 2.369", " 0", " 0", " 0", " 108" ], [ "25", " Bread", " -1.383", " 0.813", " 2.459", " 0", " 0", " 0", " 57" ], [ "26", " SaltShaker", " 0.726", " 2.151", " -0.724", " 0", " 0", " 0", " 60" ], [ "27", " PepperShaker", " -1.357", " 1.652", " -0.443", " 0", " 0", " 0", " 63" ], [ "28", " Mug", " 0.041", " 0.753", " -0.691", " 0", " 0", " 0", " 103" ], [ "29", " Mug", " -0.082", " 0.753", " -0.533", " 0", " 0", " 0", " 103" ], [ "30", " Apple", " -0.919", " 0.809", " 2.273", " 0", " 0", " 0", " 57" ], [ "31", " Bread", " 1.069", " 0.935", " 2.683", " 0", " 0", " 0", " 108" ], [ "32", " Glassbottle", " -1.263", " 0.751", " 0.883", " 0", " 90", " 0", " 96" ], [ "33", " Fork", " -1.123", " 0.912", " -0.430", " 0", " 0", " 0", " 82" ], [ "34", " Kettle", " 1.444", " 0.912", " -0.144", " 0", " 0", " 0", " 76" ], [ "35", " Tomato", " -1.378", " 1.470", " 0.987", " 0", " 90", " 0", " 96" ], [ "36", " Plate", " -1.012", " 0.749", " 2.087", " 0", " 0", " 0", " 57" ], [ "37", " CellPhone", " -1.475", " 0.747", " 1.902", " 0", " 0", " 0", " 57" ], [ "38", " Lettuce", " -1.383", " 0.820", " 2.087", " 0", " 0", " 0", " 57" ], [ "39", " Pot", " 0.802", " 0.939", " -0.740", " 0", " 90", " 0", " 85" ], [ "40", " SoapBottle", " 1.356", " 1.657", " -0.393", " 0", " 0", " 0", " 58" ], [ "41", " WineBottle", " -1.099", " 0.342", " 1.302", " 0", " 90", " 0", " 96" ], [ "42", " Spatula", " 1.117", " 0.901", " 2.153", " 0", " 0", " 0", " 108" ], [ "43", " Bowl", " -0.170", " 0.115", " -0.533", " 0", " 0", " 0", " 72" ], [ "44", " Apple", " -0.658", " 0.972", " -0.430", " 0", " 0", " 0", " 82" ], [ "45", " Cup", " 1.523", " 0.910", " -0.428", " 0", " 0", " 0", " 76" ], [ "46", " Knife", " -0.968", " 0.934", " -0.828", " 0", " 90", " 0", " 82" ], [ "47", " Egg", " 0.041", " 0.792", " -0.612", " 0", " 0", " 0", " 103" ], [ "48", " SaltShaker", " -1.264", " 0.113", " 0.289", " 0", " 180", " 0", " 79" ], [ "49", " PepperShaker", " 1.200", " 0.882", " 2.584", " 0", " 0", " 0", " 108" ], [ "50", " Potato", " 1.034", " 0.931", " 2.369", " 0", " 0", " 0", " 108" ], [ "51", " ButterKnife", " -1.012", " 0.748", " 2.459", " 0", " 0", " 0", " 57" ], [ "52", " DishSponge", " -1.383", " 0.748", " 3.015", " 0", " 0", " 0", " 57" ], [ "53", " Pan", " -1.320", " 1.287", " 0.778", " 0", " 180", " 0", " 96" ], [ "54", " Spoon", " 0.103", " 0.759", " -0.651", " 0", " 180", " 0", " 103" ], [ "55", " SprayBottle", " -0.813", " 0.911", " -0.669", " 0", " 0", " 0", " 82" ], [ "56", " Mug", " -1.329", " 1.010", " 0.046", " 0", " 90", " 0", " 102" ], [ "57", " DiningTable", " -1.182", " 0.006", " 2.414", " 0", " 90", " 0", "" ], [ "58", " Cabinet", " 1.184", " 2.059", " 0.375", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 1.184", " 2.059", " -0.635", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 0.591", " 2.309", " -0.645", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.574", " 2.059", " -0.644", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -1.103", 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" 0", " 0", "" ], [ "76", " CounterTop", " 1.274", " 0.947", " 0.064", " 0", " 0", " 0", "" ], [ "77", " Drawer", " 1.116", " 0.792", " -0.015", " 0", " 0", " 0", "" ], [ "78", " Drawer", " -1.116", " 0.792", " 0.210", " 0", " 180", " 0", "" ], [ "79", " Cabinet", " -0.990", " 0.402", " 0.374", " 0", " 180", " 0", "" ], [ "80", " Drawer", " -1.116", " 0.792", " -0.170", " 0", " 180", " 0", "" ], [ "81", " Cabinet", " -0.990", " 0.402", " -0.335", " 0", " 180", " 0", "" ], [ "82", " CounterTop", " -1.001", " 0.947", " -0.669", " 0", " 0", " 0", "" ], [ "83", " StoveBurner", " 0.502", " 0.932", " -0.740", " 0", " 90", " 0", "" ], [ "84", " StoveBurner", " 0.801", " 0.932", " -0.473", " 0", " 0", " 0", "" ], [ "85", " StoveBurner", " 0.801", " 0.932", " -0.740", " 0", " 90", " 0", "" ], [ "86", " Drawer", " 1.116", " 0.792", " 1.081", " 0", " 0", " 0", "" ], [ "87", " Sink", " -0.013", " 0.912", " -0.615", " 0", " 0", " 0", "" ], [ "88", " Drawer", " 1.116", " 0.792", " 0.732", " 0", " 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LightSwitch", " 0.118", " 1.353", " 3.799", " 0", " 180", " 0", "" ], [ "102", " Microwave", " -1.343", " 0.900", " 0.053", " 0", " 90", " 0", "" ], [ "103", " SinkBasin", " -0.029", " 0.748", " -0.612", " 0", " 0", " 0", "" ], [ "104", " Faucet", " -0.026", " 0.927", " -0.808", " 0", " 0", " 0", "" ], [ "105", " Shelf", " -1.182", " 0.127", " 2.414", " 0", " 90", " 0", "" ], [ "106", " Stool", " 1.140", " 0.007", " 3.262", " 1.206", " 20.753", " 0", "" ], [ "107", " Shelf", " -1.182", " 0.435", " 2.414", " 0", " 90", " 0", "" ], [ "108", " DiningTable", " 1.169", " 0.014", " 2.569", " 0", " 0", " 1.896", "" ], [ "109", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "110", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "111", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "112", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.908 2.0 0 0 0 1 SprayBottle -1.325 2.152 0.650 0 0 0 75 2 SprayBottle -1.135 0.911 -0.817 0 0 0 82 3 DishSponge 1.450 0.885 2.153 0 0 0 108 4 DishSponge -1.012 0.749 2.644 0 0 0 57 5 ButterKnife -0.503 0.912 -0.509 0 0 0 82 6 ButterKnife -1.383 0.749 2.830 0 0 0 57 7 Glassbottle -1.099 0.342 0.778 0 90 0 96 8 Glassbottle -1.294 2.154 1.262 0 0 0 74 9 WineBottle 1.245 0.087 1.472 0 0 0 97 10 WineBottle 1.444 0.912 0.706 0 0 0 76 11 Kettle 1.128 0.912 -0.428 0 0 0 76 12 Spatula 1.365 0.926 0.422 0 0 0 76 13 Pot 0.502 0.939 -0.740 0 90 0 83 14 Egg -1.149 1.455 0.778 0 90 0 96 15 Egg -1.329 1.049 -0.057 0 90 0 102 16 Cup 1.450 0.885 2.584 0 0 0 108 17 Plate 1.174 0.117 -0.011 0 0 0 70 18 Plate 1.207 0.912 0.706 0 0 0 76 19 Knife 0.054 0.934 -0.371 0 0 0 82 20 Tomato -1.263 0.800 1.302 0 90 0 96 21 Tomato 1.128 0.961 0.422 0 0 0 76 22 SoapBottle -0.919 0.750 2.459 0 0 0 57 23 Bowl -1.325 1.654 0.222 0 0 0 96 24 Bowl 1.367 0.884 2.369 0 0 0 108 25 Bread -1.383 0.813 2.459 0 0 0 57 26 SaltShaker 0.726 2.151 -0.724 0 0 0 60 27 PepperShaker -1.357 1.652 -0.443 0 0 0 63 28 Mug 0.041 0.753 -0.691 0 0 0 103 29 Mug -0.082 0.753 -0.533 0 0 0 103 30 Apple -0.919 0.809 2.273 0 0 0 57 31 Bread 1.069 0.935 2.683 0 0 0 108 32 Glassbottle -1.263 0.751 0.883 0 90 0 96 33 Fork -1.123 0.912 -0.430 0 0 0 82 34 Kettle 1.444 0.912 -0.144 0 0 0 76 35 Tomato -1.378 1.470 0.987 0 90 0 96 36 Plate -1.012 0.749 2.087 0 0 0 57 37 CellPhone -1.475 0.747 1.902 0 0 0 57 38 Lettuce -1.383 0.820 2.087 0 0 0 57 39 Pot 0.802 0.939 -0.740 0 90 0 85 40 SoapBottle 1.356 1.657 -0.393 0 0 0 58 41 WineBottle -1.099 0.342 1.302 0 90 0 96 42 Spatula 1.117 0.901 2.153 0 0 0 108 43 Bowl -0.170 0.115 -0.533 0 0 0 72 44 Apple -0.658 0.972 -0.430 0 0 0 82 45 Cup 1.523 0.910 -0.428 0 0 0 76 46 Knife -0.968 0.934 -0.828 0 90 0 82 47 Egg 0.041 0.792 -0.612 0 0 0 103 48 SaltShaker -1.264 0.113 0.289 0 180 0 79 49 PepperShaker 1.200 0.882 2.584 0 0 0 108 50 Potato 1.034 0.931 2.369 0 0 0 108 51 ButterKnife -1.012 0.748 2.459 0 0 0 57 52 DishSponge -1.383 0.748 3.015 0 0 0 57 53 Pan -1.320 1.287 0.778 0 180 0 96 54 Spoon 0.103 0.759 -0.651 0 180 0 103 55 SprayBottle -0.813 0.911 -0.669 0 0 0 82 56 Mug -1.329 1.010 0.046 0 90 0 102 57 DiningTable -1.182 0.006 2.414 0 90 0 58 Cabinet 1.184 2.059 0.375 0 0 0 59 Cabinet 1.184 2.059 -0.635 0 0 0 60 Cabinet 0.591 2.309 -0.645 0 0 0 61 Cabinet -0.574 2.059 -0.644 0 0 0 62 Cabinet -1.103 2.059 -0.644 0 0 0 63 Cabinet -1.185 2.059 -0.331 0 0 0 64 Cabinet -1.185 2.059 -0.281 0 0 0 65 Cabinet -1.185 2.059 0.375 0 0 0 66 Cabinet 1.184 2.309 1.174 0 0 0 67 Cabinet 1.184 2.309 0.424 0 0 0 68 Cabinet 0.988 0.402 0.581 0 0 0 69 Cabinet 0.988 0.402 0.531 0 0 0 70 Cabinet 0.988 0.402 -0.178 0 0 0 71 Cabinet 0.335 0.402 -0.348 0 0 0 72 Cabinet -0.374 0.402 -0.348 0 0 0 73 Cabinet 0.988 0.402 1.231 0 0 0 74 Cabinet -1.185 2.309 1.374 0 0 0 75 Cabinet -1.185 2.309 0.424 0 0 0 76 CounterTop 1.274 0.947 0.064 0 0 0 77 Drawer 1.116 0.792 -0.015 0 0 0 78 Drawer -1.116 0.792 0.210 0 180 0 79 Cabinet -0.990 0.402 0.374 0 180 0 80 Drawer -1.116 0.792 -0.170 0 180 0 81 Cabinet -0.990 0.402 -0.335 0 180 0 82 CounterTop -1.001 0.947 -0.669 0 0 0 83 StoveBurner 0.502 0.932 -0.740 0 90 0 84 StoveBurner 0.801 0.932 -0.473 0 0 0 85 StoveBurner 0.801 0.932 -0.740 0 90 0 86 Drawer 1.116 0.792 1.081 0 0 0 87 Sink -0.013 0.912 -0.615 0 0 0 88 Drawer 1.116 0.792 0.732 0 0 0 89 StoveBurner 0.502 0.932 -0.469 0 0 0 90 Drawer 1.116 0.792 0.367 0 0 0 91 StoveKnob 0.550 1.085 -0.912 287.970 180 0 92 StoveKnob 0.884 1.085 -0.912 287.970 180 0 93 StoveKnob 0.432 1.085 -0.912 287.970 180 0 94 StoveKnob 0.777 1.085 -0.912 287.970 180 0 95 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 96 Fridge -1.300 0.008 0.987 0 90 0 97 GarbageCan 1.296 -0.024 1.465 0 0 0 98 Window -0.012 1.641 -0.972 90 0 0 99 Window 1.598 1.646 2.489 90 270 0 100 Toaster 1.356 0.900 1.044 0 270 0 101 LightSwitch 0.118 1.353 3.799 0 180 0 102 Microwave -1.343 0.900 0.053 0 90 0 103 SinkBasin -0.029 0.748 -0.612 0 0 0 104 Faucet -0.026 0.927 -0.808 0 0 0 105 Shelf -1.182 0.127 2.414 0 90 0 106 Stool 1.140 0.007 3.262 1.206 20.753 0 107 Shelf -1.182 0.435 2.414 0 90 0 108 DiningTable 1.169 0.014 2.569 0 0 1.896 109 NorthWall 110 EastWall 111 SouthWall 112 WestWall
[ "STEP 1: Turn to the left, go to the table, hang a left and go to the counter. | STEP 2: Pick up the yellow handled knife that is on the counter. | STEP 3: Turn around, go forward to the fridge on the left. | STEP 4: Open the fridge, cut the tomato inside the fridge into slices. | STEP 5: Turn around, go forward to the counter where the toaster is. | STEP 6: Put the knife in the cabinet under the gray plate. | STEP 7: Turn around, go to the fridge. | STEP 8: Take a slice of tomato out of the fridge. | STEP 9: Turn to the left, go to the microwave ahead on the right. | STEP 10: Put the tomato inside the microwave and turn it on, remove the cooked tomato from the microwave. | STEP 11: Turn to the right, go forward towards the door, hang a right, go forward, turn around to face the white table. | STEP 12: Put the tomato on the table to the right of the frontmost sponge. | END" ]
[ [ "STEP 1: Turn to the left, go to the table, hang a left and go to the counter. ", " STEP 2: Pick up the yellow handled knife that is on the counter. ", " STEP 3: Turn around, go forward to the fridge on the left. ", " STEP 4: Open the fridge, cut the tomato inside the fridge into slices. ", " STEP 5: Turn around, go forward to the counter where the toaster is. ", " STEP 6: Put the knife in the cabinet under the gray plate. ", " STEP 7: Turn around, go to the fridge. ", " STEP 8: Take a slice of tomato out of the fridge. ", " STEP 9: Turn to the left, go to the microwave ahead on the right. ", " STEP 10: Put the tomato inside the microwave and turn it on, remove the cooked tomato from the microwave. ", " STEP 11: Turn to the right, go forward towards the door, hang a right, go forward, turn around to face the white table. ", " STEP 12: Put the tomato on the table to the right of the frontmost sponge. ", " END" ] ]
seen
trial_T20190908_130644_960332-1
put a heated slice tomato on top of the white table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.908 2.0 0 0 0 1 SprayBottle -1.325 2.152 0.650 0 0 0 75 2 SprayBottle -1.135 0.911 -0.817 0 0 0 82 3 DishSponge 1.450 0.885 2.153 0 0 0 108 4 DishSponge -1.012 0.749 2.644 0 0 0 57 5 ButterKnife -0.503 0.912 -0.509 0 0 0 82 6 ButterKnife -1.383 0.749 2.830 0 0 0 57 7 Glassbottle -1.099 0.342 0.778 0 90 0 96 8 Glassbottle -1.294 2.154 1.262 0 0 0 74 9 WineBottle 1.245 0.087 1.472 0 0 0 97 10 WineBottle 1.444 0.912 0.706 0 0 0 76 11 Kettle 1.128 0.912 -0.428 0 0 0 76 12 Spatula 1.365 0.926 0.422 0 0 0 76 13 Pot 0.502 0.939 -0.740 0 90 0 83 14 Egg -1.149 1.455 0.778 0 90 0 96 15 Egg -1.329 1.049 -0.057 0 90 0 102 16 Cup 1.450 0.885 2.584 0 0 0 108 17 Plate 1.174 0.117 -0.011 0 0 0 70 18 Plate 1.207 0.912 0.706 0 0 0 76 19 Knife 0.054 0.934 -0.371 0 0 0 82 20 Tomato -1.263 0.800 1.302 0 90 0 96 21 Tomato 1.128 0.961 0.422 0 0 0 76 22 SoapBottle -0.919 0.750 2.459 0 0 0 57 23 Bowl -1.325 1.654 0.222 0 0 0 96 24 Bowl 1.367 0.884 2.369 0 0 0 108 25 Bread -1.383 0.813 2.459 0 0 0 57 26 SaltShaker 0.726 2.151 -0.724 0 0 0 60 27 PepperShaker -1.357 1.652 -0.443 0 0 0 63 28 Mug 0.041 0.753 -0.691 0 0 0 103 29 Mug -0.082 0.753 -0.533 0 0 0 103 30 Apple -0.919 0.809 2.273 0 0 0 57 31 Bread 1.069 0.935 2.683 0 0 0 108 32 Glassbottle -1.263 0.751 0.883 0 90 0 96 33 Fork -1.123 0.912 -0.430 0 0 0 82 34 Kettle 1.444 0.912 -0.144 0 0 0 76 35 Tomato -1.378 1.470 0.987 0 90 0 96 36 Plate -1.012 0.749 2.087 0 0 0 57 37 CellPhone -1.475 0.747 1.902 0 0 0 57 38 Lettuce -1.383 0.820 2.087 0 0 0 57 39 Pot 0.802 0.939 -0.740 0 90 0 85 40 SoapBottle 1.356 1.657 -0.393 0 0 0 58 41 WineBottle -1.099 0.342 1.302 0 90 0 96 42 Spatula 1.117 0.901 2.153 0 0 0 108 43 Bowl -0.170 0.115 -0.533 0 0 0 72 44 Apple -0.658 0.972 -0.430 0 0 0 82 45 Cup 1.523 0.910 -0.428 0 0 0 76 46 Knife -0.968 0.934 -0.828 0 90 0 82 47 Egg 0.041 0.792 -0.612 0 0 0 103 48 SaltShaker -1.264 0.113 0.289 0 180 0 79 49 PepperShaker 1.200 0.882 2.584 0 0 0 108 50 Potato 1.034 0.931 2.369 0 0 0 108 51 ButterKnife -1.012 0.748 2.459 0 0 0 57 52 DishSponge -1.383 0.748 3.015 0 0 0 57 53 Pan -1.320 1.287 0.778 0 180 0 96 54 Spoon 0.103 0.759 -0.651 0 180 0 103 55 SprayBottle -0.813 0.911 -0.669 0 0 0 82 56 Mug -1.329 1.010 0.046 0 90 0 102 57 DiningTable -1.182 0.006 2.414 0 90 0 58 Cabinet 1.184 2.059 0.375 0 0 0 59 Cabinet 1.184 2.059 -0.635 0 0 0 60 Cabinet 0.591 2.309 -0.645 0 0 0 61 Cabinet -0.574 2.059 -0.644 0 0 0 62 Cabinet -1.103 2.059 -0.644 0 0 0 63 Cabinet -1.185 2.059 -0.331 0 0 0 64 Cabinet -1.185 2.059 -0.281 0 0 0 65 Cabinet -1.185 2.059 0.375 0 0 0 66 Cabinet 1.184 2.309 1.174 0 0 0 67 Cabinet 1.184 2.309 0.424 0 0 0 68 Cabinet 0.988 0.402 0.581 0 0 0 69 Cabinet 0.988 0.402 0.531 0 0 0 70 Cabinet 0.988 0.402 -0.178 0 0 0 71 Cabinet 0.335 0.402 -0.348 0 0 0 72 Cabinet -0.374 0.402 -0.348 0 0 0 73 Cabinet 0.988 0.402 1.231 0 0 0 74 Cabinet -1.185 2.309 1.374 0 0 0 75 Cabinet -1.185 2.309 0.424 0 0 0 76 CounterTop 1.274 0.947 0.064 0 0 0 77 Drawer 1.116 0.792 -0.015 0 0 0 78 Drawer -1.116 0.792 0.210 0 180 0 79 Cabinet -0.990 0.402 0.374 0 180 0 80 Drawer -1.116 0.792 -0.170 0 180 0 81 Cabinet -0.990 0.402 -0.335 0 180 0 82 CounterTop -1.001 0.947 -0.669 0 0 0 83 StoveBurner 0.502 0.932 -0.740 0 90 0 84 StoveBurner 0.801 0.932 -0.473 0 0 0 85 StoveBurner 0.801 0.932 -0.740 0 90 0 86 Drawer 1.116 0.792 1.081 0 0 0 87 Sink -0.013 0.912 -0.615 0 0 0 88 Drawer 1.116 0.792 0.732 0 0 0 89 StoveBurner 0.502 0.932 -0.469 0 0 0 90 Drawer 1.116 0.792 0.367 0 0 0 91 StoveKnob 0.550 1.085 -0.912 287.970 180 0 92 StoveKnob 0.884 1.085 -0.912 287.970 180 0 93 StoveKnob 0.432 1.085 -0.912 287.970 180 0 94 StoveKnob 0.777 1.085 -0.912 287.970 180 0 95 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 96 Fridge -1.300 0.008 0.987 0 90 0 97 GarbageCan 1.296 -0.024 1.465 0 0 0 98 Window -0.012 1.641 -0.972 90 0 0 99 Window 1.598 1.646 2.489 90 270 0 100 Toaster 1.356 0.900 1.044 0 270 0 101 LightSwitch 0.118 1.353 3.799 0 180 0 102 Microwave -1.343 0.900 0.053 0 90 0 103 SinkBasin -0.029 0.748 -0.612 0 0 0 104 Faucet -0.026 0.927 -0.808 0 0 0 105 Shelf -1.182 0.127 2.414 0 90 0 106 Stool 1.140 0.007 3.262 1.206 20.753 0 107 Shelf -1.182 0.435 2.414 0 90 0 108 DiningTable 1.169 0.014 2.569 0 0 1.896 109 NorthWall 110 EastWall 111 SouthWall 112 WestWall
[ "STEP 1: turn around to the left go forward towards the counter | STEP 2: pick up the knife from the counter | STEP 3: turn to the right open the refrigerator slice the tomato that is in there | STEP 4: turn around to the right go forward | STEP 5: open the bottom cabinet that is on the other side of the kitchen | STEP 6: put the knife inside the cabinet | STEP 7: turn around to the right towards the refrigerator | STEP 8: pick up a slice of a tomato | STEP 9: turn to the left go right | STEP 10: open the microwave heat the slice up and get it back out from the microwave | STEP 11: turn around to the right go right go forward towards the white table | STEP 12: put the slice of tomato on the white table | END" ]
[ [ "STEP 1: turn around to the left go forward towards the counter ", " STEP 2: pick up the knife from the counter ", " STEP 3: turn to the right open the refrigerator slice the tomato that is in there ", " STEP 4: turn around to the right go forward ", " STEP 5: open the bottom cabinet that is on the other side of the kitchen ", " STEP 6: put the knife inside the cabinet ", " STEP 7: turn around to the right towards the refrigerator ", " STEP 8: pick up a slice of a tomato ", " STEP 9: turn to the left go right ", " STEP 10: open the microwave heat the slice up and get it back out from the microwave ", " STEP 11: turn around to the right go right go forward towards the white table ", " STEP 12: put the slice of tomato on the white table ", " END" ] ]
seen
trial_T20190908_130644_960332-2
Place a heated tomato slice on a table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.908 2.0 0 0 0 1 SprayBottle -1.325 2.152 0.650 0 0 0 75 2 SprayBottle -1.135 0.911 -0.817 0 0 0 82 3 DishSponge 1.450 0.885 2.153 0 0 0 108 4 DishSponge -1.012 0.749 2.644 0 0 0 57 5 ButterKnife -0.503 0.912 -0.509 0 0 0 82 6 ButterKnife -1.383 0.749 2.830 0 0 0 57 7 Glassbottle -1.099 0.342 0.778 0 90 0 96 8 Glassbottle -1.294 2.154 1.262 0 0 0 74 9 WineBottle 1.245 0.087 1.472 0 0 0 97 10 WineBottle 1.444 0.912 0.706 0 0 0 76 11 Kettle 1.128 0.912 -0.428 0 0 0 76 12 Spatula 1.365 0.926 0.422 0 0 0 76 13 Pot 0.502 0.939 -0.740 0 90 0 83 14 Egg -1.149 1.455 0.778 0 90 0 96 15 Egg -1.329 1.049 -0.057 0 90 0 102 16 Cup 1.450 0.885 2.584 0 0 0 108 17 Plate 1.174 0.117 -0.011 0 0 0 70 18 Plate 1.207 0.912 0.706 0 0 0 76 19 Knife 0.054 0.934 -0.371 0 0 0 82 20 Tomato -1.263 0.800 1.302 0 90 0 96 21 Tomato 1.128 0.961 0.422 0 0 0 76 22 SoapBottle -0.919 0.750 2.459 0 0 0 57 23 Bowl -1.325 1.654 0.222 0 0 0 96 24 Bowl 1.367 0.884 2.369 0 0 0 108 25 Bread -1.383 0.813 2.459 0 0 0 57 26 SaltShaker 0.726 2.151 -0.724 0 0 0 60 27 PepperShaker -1.357 1.652 -0.443 0 0 0 63 28 Mug 0.041 0.753 -0.691 0 0 0 103 29 Mug -0.082 0.753 -0.533 0 0 0 103 30 Apple -0.919 0.809 2.273 0 0 0 57 31 Bread 1.069 0.935 2.683 0 0 0 108 32 Glassbottle -1.263 0.751 0.883 0 90 0 96 33 Fork -1.123 0.912 -0.430 0 0 0 82 34 Kettle 1.444 0.912 -0.144 0 0 0 76 35 Tomato -1.378 1.470 0.987 0 90 0 96 36 Plate -1.012 0.749 2.087 0 0 0 57 37 CellPhone -1.475 0.747 1.902 0 0 0 57 38 Lettuce -1.383 0.820 2.087 0 0 0 57 39 Pot 0.802 0.939 -0.740 0 90 0 85 40 SoapBottle 1.356 1.657 -0.393 0 0 0 58 41 WineBottle -1.099 0.342 1.302 0 90 0 96 42 Spatula 1.117 0.901 2.153 0 0 0 108 43 Bowl -0.170 0.115 -0.533 0 0 0 72 44 Apple -0.658 0.972 -0.430 0 0 0 82 45 Cup 1.523 0.910 -0.428 0 0 0 76 46 Knife -0.968 0.934 -0.828 0 90 0 82 47 Egg 0.041 0.792 -0.612 0 0 0 103 48 SaltShaker -1.264 0.113 0.289 0 180 0 79 49 PepperShaker 1.200 0.882 2.584 0 0 0 108 50 Potato 1.034 0.931 2.369 0 0 0 108 51 ButterKnife -1.012 0.748 2.459 0 0 0 57 52 DishSponge -1.383 0.748 3.015 0 0 0 57 53 Pan -1.320 1.287 0.778 0 180 0 96 54 Spoon 0.103 0.759 -0.651 0 180 0 103 55 SprayBottle -0.813 0.911 -0.669 0 0 0 82 56 Mug -1.329 1.010 0.046 0 90 0 102 57 DiningTable -1.182 0.006 2.414 0 90 0 58 Cabinet 1.184 2.059 0.375 0 0 0 59 Cabinet 1.184 2.059 -0.635 0 0 0 60 Cabinet 0.591 2.309 -0.645 0 0 0 61 Cabinet -0.574 2.059 -0.644 0 0 0 62 Cabinet -1.103 2.059 -0.644 0 0 0 63 Cabinet -1.185 2.059 -0.331 0 0 0 64 Cabinet -1.185 2.059 -0.281 0 0 0 65 Cabinet -1.185 2.059 0.375 0 0 0 66 Cabinet 1.184 2.309 1.174 0 0 0 67 Cabinet 1.184 2.309 0.424 0 0 0 68 Cabinet 0.988 0.402 0.581 0 0 0 69 Cabinet 0.988 0.402 0.531 0 0 0 70 Cabinet 0.988 0.402 -0.178 0 0 0 71 Cabinet 0.335 0.402 -0.348 0 0 0 72 Cabinet -0.374 0.402 -0.348 0 0 0 73 Cabinet 0.988 0.402 1.231 0 0 0 74 Cabinet -1.185 2.309 1.374 0 0 0 75 Cabinet -1.185 2.309 0.424 0 0 0 76 CounterTop 1.274 0.947 0.064 0 0 0 77 Drawer 1.116 0.792 -0.015 0 0 0 78 Drawer -1.116 0.792 0.210 0 180 0 79 Cabinet -0.990 0.402 0.374 0 180 0 80 Drawer -1.116 0.792 -0.170 0 180 0 81 Cabinet -0.990 0.402 -0.335 0 180 0 82 CounterTop -1.001 0.947 -0.669 0 0 0 83 StoveBurner 0.502 0.932 -0.740 0 90 0 84 StoveBurner 0.801 0.932 -0.473 0 0 0 85 StoveBurner 0.801 0.932 -0.740 0 90 0 86 Drawer 1.116 0.792 1.081 0 0 0 87 Sink -0.013 0.912 -0.615 0 0 0 88 Drawer 1.116 0.792 0.732 0 0 0 89 StoveBurner 0.502 0.932 -0.469 0 0 0 90 Drawer 1.116 0.792 0.367 0 0 0 91 StoveKnob 0.550 1.085 -0.912 287.970 180 0 92 StoveKnob 0.884 1.085 -0.912 287.970 180 0 93 StoveKnob 0.432 1.085 -0.912 287.970 180 0 94 StoveKnob 0.777 1.085 -0.912 287.970 180 0 95 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 96 Fridge -1.300 0.008 0.987 0 90 0 97 GarbageCan 1.296 -0.024 1.465 0 0 0 98 Window -0.012 1.641 -0.972 90 0 0 99 Window 1.598 1.646 2.489 90 270 0 100 Toaster 1.356 0.900 1.044 0 270 0 101 LightSwitch 0.118 1.353 3.799 0 180 0 102 Microwave -1.343 0.900 0.053 0 90 0 103 SinkBasin -0.029 0.748 -0.612 0 0 0 104 Faucet -0.026 0.927 -0.808 0 0 0 105 Shelf -1.182 0.127 2.414 0 90 0 106 Stool 1.140 0.007 3.262 1.206 20.753 0 107 Shelf -1.182 0.435 2.414 0 90 0 108 DiningTable 1.169 0.014 2.569 0 0 1.896 109 NorthWall 110 EastWall 111 SouthWall 112 WestWall
[ "STEP 1: Go to the counter to the right of the sink | STEP 2: Pick up the knife from the counter | STEP 3: Go to the fridge | STEP 4: Cut the tomato in the fridge | STEP 5: Go to the toaster | STEP 6: Place the knife in the cabinet underneath the toaster | STEP 7: Go to the fridge | STEP 8: Take a tomato slice out | STEP 9: Go to the microwave | STEP 10: Heat the tomato slice | STEP 11: Go to the big white table | STEP 12: Put the tomato slice on the big white table | END" ]
[ [ "STEP 1: Go to the counter to the right of the sink ", " STEP 2: Pick up the knife from the counter ", " STEP 3: Go to the fridge ", " STEP 4: Cut the tomato in the fridge ", " STEP 5: Go to the toaster ", " STEP 6: Place the knife in the cabinet underneath the toaster ", " STEP 7: Go to the fridge ", " STEP 8: Take a tomato slice out ", " STEP 9: Go to the microwave ", " STEP 10: Heat the tomato slice ", " STEP 11: Go to the big white table ", " STEP 12: Put the tomato slice on the big white table ", " END" ] ]
seen
trial_T20190907_043503_568706-0
Putting a cup with a fork in it on the white table
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Cabinet", " -2.474", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.478", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.518", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.479", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " -1.366", " 0.952", " 0.349", " 0", " 0", " 0", "" ], [ "55", " Sink", " -1.108", " 0.926", " 0.340", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " -0.254", " 0.922", " 4.672", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -1.824", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.535", " 0.922", " 4.274", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -0.254", " 0.922", " 4.274", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -0.536", " 0.922", " 4.672", " 0", " 0", " 0", "" ], [ "61", " CounterTop", " -2.780", " 0.971", " 3.487", " 0", " 0", " 0", "" ], [ "62", " Drawer", " -2.323", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "63", " StoveKnob", " -0.064", " 1.090", " 4.632", " 0", " 0", " 73.865", "" ], [ "64", " StoveKnob", " -0.064", " 1.090", " 4.782", " 0", " 0", " 73.865", "" ], [ "65", " StoveKnob", " -0.064", " 1.090", " 4.382", " 0", " 0", " 73.865", "" ], [ "66", " StoveKnob", " -0.064", " 1.090", " 4.222", " 0", " 0", " 73.865", "" ], [ "67", " Toaster", " -0.286", " 0.861", " 3.520", " 0", " 270", " 0", "" ], [ "68", " GarbageCan", " -2.816", " -0.014", " 0.370", " 358.702", " 26.614", " 2.400", "" ], [ "69", " LightSwitch", " -0.064", " 1.447", " 1.996", " 0", " 270", " 0", "" ], [ "70", " Window", " -3.075", " 1.593", " 1.361", " 90", " 90", " 0", "" ], [ "71", " Fridge", " -2.802", " 0.0", " 4.427", " 0", " 0", " 0", "" ], [ "72", " SinkBasin", " -1.106", " 0.785", " 0.337", " 0", " 0", " 0", "" ], [ "73", " Microwave", " -0.358", " 0.917", " 0.224", " 0", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -2.938", " 0.925", " 3.605", " 0", " 90", " 0", "" ], [ "75", " DiningTable", " -2.733", " -0.003", " 2.607", " 0", " 270", " 0", "" ], [ "76", " Faucet", " -1.077", " 0.920", " 0.028", " 270", " 270", " 0", "" ], [ "77", " DiningTable", " -0.488", " -0.003", " 3.182", " 0", " 270", " 0", "" ], [ "78", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 2.0 0 0 0 1 Potato -2.789 0.926 2.309 0 0 0 75 2 DishSponge -2.892 0.900 2.441 0 0 0 75 3 ButterKnife -0.400 0.900 2.731 0 0 0 77 4 Spatula -0.218 0.677 0.519 0 270 0 43 5 Spatula -2.377 0.915 2.573 0 90 0 75 6 Fork -2.377 0.901 2.045 0 90 0 75 7 Fork -2.583 0.901 2.045 0 90 0 75 8 Fork -2.215 0.662 0.409 0 0 0 62 9 Pot -0.535 0.928 4.274 0 0 0 58 10 Egg -0.403 1.051 0.171 0 0 0 73 11 Egg -2.681 1.219 4.427 0 90 0 71 12 Plate -2.831 0.303 4.352 0 90 0 71 13 Plate -2.301 1.777 0.205 0 0 0 50 14 Knife -2.706 0.961 3.395 0 270 0 61 15 SoapBottle -0.249 1.773 0.205 0 0 0 53 16 SoapBottle -2.583 0.900 2.706 0 0 0 75 17 SaltShaker -1.085 0.924 0.650 0 0 0 54 18 SaltShaker -1.911 1.769 0.114 0 0 0 49 19 Lettuce -0.314 0.980 2.530 0 0 0 77 20 Lettuce -0.572 0.980 2.329 0 0 0 77 21 Mug -0.297 1.018 0.267 0 0 0 73 22 Egg -2.583 0.933 2.309 0 0 0 75 23 Plate -2.805 1.190 4.575 0 90 0 71 24 Fork -2.480 0.901 1.913 0 0 0 75 25 Bread -2.864 0.940 1.983 0 0 0 75 26 Apple -2.037 0.984 0.602 0 0 0 54 27 Lettuce -0.657 0.980 3.334 0 0 0 77 28 Spatula -1.932 0.677 0.519 0 270 0 57 29 Knife -0.228 0.926 2.932 0 90 0 77 30 Potato -2.644 0.325 4.352 0 90 0 71 31 Tomato -2.847 1.250 4.278 0 90 0 71 32 Cup -1.904 0.927 0.433 0 0 0 54 33 SaltShaker -0.272 0.658 0.245 0 0 0 43 34 PepperShaker -2.628 0.931 3.580 0 0 0 61 35 ButterKnife -2.892 0.900 2.706 0 0 0 75 36 SoapBottle -2.480 0.900 2.441 0 0 0 75 37 Pan -0.250 0.926 4.651 0 0 0 56 38 DishSponge -2.781 0.053 0.352 0 26.101 0 68 39 Pot -0.572 0.900 3.133 0 0 0 77 40 Spoon -2.789 0.901 2.573 0 0 0 75 41 Mug -2.628 0.930 3.673 0 180 0 61 42 Bowl -1.746 1.770 0.251 0 0 0 49 43 Drawer -0.325 0.696 0.413 0 0 0 44 Cabinet -0.595 0.490 0.648 0 0 0 45 Cabinet -0.555 0.490 0.646 0 0 0 46 Cabinet -1.591 0.490 0.646 0 0 0 47 Cabinet -1.554 0.490 0.646 0 0 0 48 Cabinet -2.550 0.490 0.646 0 0 0 49 Cabinet -1.514 2.046 0.392 0 0 0 50 Cabinet -2.474 2.046 0.392 0 0 0 51 Cabinet -1.478 2.046 0.392 0 0 0 52 Cabinet -0.518 2.046 0.392 0 0 0 53 Cabinet -0.479 2.046 0.392 0 0 0 54 CounterTop -1.366 0.952 0.349 0 0 0 55 Sink -1.108 0.926 0.340 0 0 0 56 StoveBurner -0.254 0.922 4.672 0 0 0 57 Drawer -1.824 0.696 0.413 0 0 0 58 StoveBurner -0.535 0.922 4.274 0 0 0 59 StoveBurner -0.254 0.922 4.274 0 0 0 60 StoveBurner -0.536 0.922 4.672 0 0 0 61 CounterTop -2.780 0.971 3.487 0 0 0 62 Drawer -2.323 0.696 0.413 0 0 0 63 StoveKnob -0.064 1.090 4.632 0 0 73.865 64 StoveKnob -0.064 1.090 4.782 0 0 73.865 65 StoveKnob -0.064 1.090 4.382 0 0 73.865 66 StoveKnob -0.064 1.090 4.222 0 0 73.865 67 Toaster -0.286 0.861 3.520 0 270 0 68 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 69 LightSwitch -0.064 1.447 1.996 0 270 0 70 Window -3.075 1.593 1.361 90 90 0 71 Fridge -2.802 0.0 4.427 0 0 0 72 SinkBasin -1.106 0.785 0.337 0 0 0 73 Microwave -0.358 0.917 0.224 0 0 0 74 CoffeeMachine -2.938 0.925 3.605 0 90 0 75 DiningTable -2.733 -0.003 2.607 0 270 0 76 Faucet -1.077 0.920 0.028 270 270 0 77 DiningTable -0.488 -0.003 3.182 0 270 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn left and head to the white table | STEP 2: Grab the fork closest to you off the white table | STEP 3: Turn left and head to the counter | STEP 4: Place the fork in the cup that's on the counter | STEP 5: Grab the cup that's on the counter | STEP 6: Turn around and head to the white table on the right | STEP 7: Place the cup on the white table | END" ]
[ [ "STEP 1: Turn left and head to the white table ", " STEP 2: Grab the fork closest to you off the white table ", " STEP 3: Turn left and head to the counter ", " STEP 4: Place the fork in the cup that's on the counter ", " STEP 5: Grab the cup that's on the counter ", " STEP 6: Turn around and head to the white table on the right ", " STEP 7: Place the cup on the white table ", " END" ] ]
seen
trial_T20190907_043503_568706-1
Place cup containing a fork on a table
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" -2.480", " 0.901", " 1.913", " 0", " 0", " 0", " 75" ], [ "25", " Bread", " -2.864", " 0.940", " 1.983", " 0", " 0", " 0", " 75" ], [ "26", " Apple", " -2.037", " 0.984", " 0.602", " 0", " 0", " 0", " 54" ], [ "27", " Lettuce", " -0.657", " 0.980", " 3.334", " 0", " 0", " 0", " 77" ], [ "28", " Spatula", " -1.932", " 0.677", " 0.519", " 0", " 270", " 0", " 57" ], [ "29", " Knife", " -0.228", " 0.926", " 2.932", " 0", " 90", " 0", " 77" ], [ "30", " Potato", " -2.644", " 0.325", " 4.352", " 0", " 90", " 0", " 71" ], [ "31", " Tomato", " -2.847", " 1.250", " 4.278", " 0", " 90", " 0", " 71" ], [ "32", " Cup", " -1.904", " 0.927", " 0.433", " 0", " 0", " 0", " 54" ], [ "33", " SaltShaker", " -0.272", " 0.658", " 0.245", " 0", " 0", " 0", " 43" ], [ "34", " PepperShaker", " -2.628", " 0.931", " 3.580", " 0", " 0", " 0", " 61" ], [ "35", " ButterKnife", " -2.892", " 0.900", " 2.706", " 0", " 0", " 0", " 75" ], [ "36", " SoapBottle", " -2.480", " 0.900", " 2.441", " 0", " 0", " 0", " 75" ], [ "37", " Pan", " -0.250", " 0.926", " 4.651", " 0", " 0", " 0", " 56" ], [ "38", " DishSponge", " -2.781", " 0.053", " 0.352", " 0", " 26.101", " 0", " 68" ], [ "39", " Pot", " -0.572", " 0.900", " 3.133", " 0", " 0", " 0", " 77" ], [ "40", " Spoon", " -2.789", " 0.901", " 2.573", " 0", " 0", " 0", " 75" ], [ "41", " Mug", " -2.628", " 0.930", " 3.673", " 0", " 180", " 0", " 61" ], [ "42", " Bowl", " -1.746", " 1.770", " 0.251", " 0", " 0", " 0", " 49" ], [ "43", " Drawer", " -0.325", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "44", " Cabinet", " -0.595", " 0.490", " 0.648", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -0.555", " 0.490", " 0.646", " 0", " 0", " 0", "" ], [ "46", " Cabinet", " -1.591", " 0.490", " 0.646", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " -1.554", " 0.490", " 0.646", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -2.550", " 0.490", " 0.646", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -1.514", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.474", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.478", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.518", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.479", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " -1.366", " 0.952", " 0.349", " 0", " 0", " 0", "" ], [ "55", " Sink", " -1.108", " 0.926", " 0.340", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " -0.254", " 0.922", " 4.672", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -1.824", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.535", " 0.922", " 4.274", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -0.254", " 0.922", " 4.274", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -0.536", " 0.922", " 4.672", " 0", " 0", " 0", "" ], [ "61", " CounterTop", " -2.780", " 0.971", " 3.487", " 0", " 0", " 0", "" ], [ "62", " Drawer", " -2.323", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "63", " StoveKnob", " -0.064", " 1.090", " 4.632", " 0", " 0", " 73.865", "" ], [ "64", " StoveKnob", " -0.064", " 1.090", " 4.782", " 0", " 0", " 73.865", "" ], [ "65", " StoveKnob", " -0.064", " 1.090", " 4.382", " 0", " 0", " 73.865", "" ], [ "66", " StoveKnob", " -0.064", " 1.090", " 4.222", " 0", " 0", " 73.865", "" ], [ "67", " Toaster", " -0.286", " 0.861", " 3.520", " 0", " 270", " 0", "" ], [ "68", " GarbageCan", " -2.816", " -0.014", " 0.370", " 358.702", " 26.614", " 2.400", "" ], [ "69", " LightSwitch", " -0.064", " 1.447", " 1.996", " 0", " 270", " 0", "" ], [ "70", " Window", " -3.075", " 1.593", " 1.361", " 90", " 90", " 0", "" ], [ "71", " Fridge", " -2.802", " 0.0", " 4.427", " 0", " 0", " 0", "" ], [ "72", " SinkBasin", " -1.106", " 0.785", " 0.337", " 0", " 0", " 0", "" ], [ "73", " Microwave", " -0.358", " 0.917", " 0.224", " 0", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -2.938", " 0.925", " 3.605", " 0", " 90", " 0", "" ], [ "75", " DiningTable", " -2.733", " -0.003", " 2.607", " 0", " 270", " 0", "" ], [ "76", " Faucet", " -1.077", " 0.920", " 0.028", " 270", " 270", " 0", "" ], [ "77", " DiningTable", " -0.488", " -0.003", " 3.182", " 0", " 270", " 0", "" ], [ "78", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 2.0 0 0 0 1 Potato -2.789 0.926 2.309 0 0 0 75 2 DishSponge -2.892 0.900 2.441 0 0 0 75 3 ButterKnife -0.400 0.900 2.731 0 0 0 77 4 Spatula -0.218 0.677 0.519 0 270 0 43 5 Spatula -2.377 0.915 2.573 0 90 0 75 6 Fork -2.377 0.901 2.045 0 90 0 75 7 Fork -2.583 0.901 2.045 0 90 0 75 8 Fork -2.215 0.662 0.409 0 0 0 62 9 Pot -0.535 0.928 4.274 0 0 0 58 10 Egg -0.403 1.051 0.171 0 0 0 73 11 Egg -2.681 1.219 4.427 0 90 0 71 12 Plate -2.831 0.303 4.352 0 90 0 71 13 Plate -2.301 1.777 0.205 0 0 0 50 14 Knife -2.706 0.961 3.395 0 270 0 61 15 SoapBottle -0.249 1.773 0.205 0 0 0 53 16 SoapBottle -2.583 0.900 2.706 0 0 0 75 17 SaltShaker -1.085 0.924 0.650 0 0 0 54 18 SaltShaker -1.911 1.769 0.114 0 0 0 49 19 Lettuce -0.314 0.980 2.530 0 0 0 77 20 Lettuce -0.572 0.980 2.329 0 0 0 77 21 Mug -0.297 1.018 0.267 0 0 0 73 22 Egg -2.583 0.933 2.309 0 0 0 75 23 Plate -2.805 1.190 4.575 0 90 0 71 24 Fork -2.480 0.901 1.913 0 0 0 75 25 Bread -2.864 0.940 1.983 0 0 0 75 26 Apple -2.037 0.984 0.602 0 0 0 54 27 Lettuce -0.657 0.980 3.334 0 0 0 77 28 Spatula -1.932 0.677 0.519 0 270 0 57 29 Knife -0.228 0.926 2.932 0 90 0 77 30 Potato -2.644 0.325 4.352 0 90 0 71 31 Tomato -2.847 1.250 4.278 0 90 0 71 32 Cup -1.904 0.927 0.433 0 0 0 54 33 SaltShaker -0.272 0.658 0.245 0 0 0 43 34 PepperShaker -2.628 0.931 3.580 0 0 0 61 35 ButterKnife -2.892 0.900 2.706 0 0 0 75 36 SoapBottle -2.480 0.900 2.441 0 0 0 75 37 Pan -0.250 0.926 4.651 0 0 0 56 38 DishSponge -2.781 0.053 0.352 0 26.101 0 68 39 Pot -0.572 0.900 3.133 0 0 0 77 40 Spoon -2.789 0.901 2.573 0 0 0 75 41 Mug -2.628 0.930 3.673 0 180 0 61 42 Bowl -1.746 1.770 0.251 0 0 0 49 43 Drawer -0.325 0.696 0.413 0 0 0 44 Cabinet -0.595 0.490 0.648 0 0 0 45 Cabinet -0.555 0.490 0.646 0 0 0 46 Cabinet -1.591 0.490 0.646 0 0 0 47 Cabinet -1.554 0.490 0.646 0 0 0 48 Cabinet -2.550 0.490 0.646 0 0 0 49 Cabinet -1.514 2.046 0.392 0 0 0 50 Cabinet -2.474 2.046 0.392 0 0 0 51 Cabinet -1.478 2.046 0.392 0 0 0 52 Cabinet -0.518 2.046 0.392 0 0 0 53 Cabinet -0.479 2.046 0.392 0 0 0 54 CounterTop -1.366 0.952 0.349 0 0 0 55 Sink -1.108 0.926 0.340 0 0 0 56 StoveBurner -0.254 0.922 4.672 0 0 0 57 Drawer -1.824 0.696 0.413 0 0 0 58 StoveBurner -0.535 0.922 4.274 0 0 0 59 StoveBurner -0.254 0.922 4.274 0 0 0 60 StoveBurner -0.536 0.922 4.672 0 0 0 61 CounterTop -2.780 0.971 3.487 0 0 0 62 Drawer -2.323 0.696 0.413 0 0 0 63 StoveKnob -0.064 1.090 4.632 0 0 73.865 64 StoveKnob -0.064 1.090 4.782 0 0 73.865 65 StoveKnob -0.064 1.090 4.382 0 0 73.865 66 StoveKnob -0.064 1.090 4.222 0 0 73.865 67 Toaster -0.286 0.861 3.520 0 270 0 68 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 69 LightSwitch -0.064 1.447 1.996 0 270 0 70 Window -3.075 1.593 1.361 90 90 0 71 Fridge -2.802 0.0 4.427 0 0 0 72 SinkBasin -1.106 0.785 0.337 0 0 0 73 Microwave -0.358 0.917 0.224 0 0 0 74 CoffeeMachine -2.938 0.925 3.605 0 90 0 75 DiningTable -2.733 -0.003 2.607 0 270 0 76 Faucet -1.077 0.920 0.028 270 270 0 77 DiningTable -0.488 -0.003 3.182 0 270 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn to your left and head the to white table | STEP 2: Pick up the fork that is sitting on the table closest to you | STEP 3: Turn left and walk to the counter directly in front of you | STEP 4: Place the fork in the gold cup | STEP 5: Pick up the gold cup containing the fork | STEP 6: Turn around and head to the white table that is on your right. | STEP 7: Place the gold cup on the table in front of you | END" ]
[ [ "STEP 1: Turn to your left and head the to white table ", " STEP 2: Pick up the fork that is sitting on the table closest to you ", " STEP 3: Turn left and walk to the counter directly in front of you ", " STEP 4: Place the fork in the gold cup ", " STEP 5: Pick up the gold cup containing the fork ", " STEP 6: Turn around and head to the white table that is on your right. ", " STEP 7: Place the gold cup on the table in front of you ", " END" ] ]
seen
trial_T20190907_043503_568706-2
Put a cup with a fork in it on the table next to the stove.
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" 1.219", " 4.427", " 0", " 90", " 0", " 71" ], [ "12", " Plate", " -2.831", " 0.303", " 4.352", " 0", " 90", " 0", " 71" ], [ "13", " Plate", " -2.301", " 1.777", " 0.205", " 0", " 0", " 0", " 50" ], [ "14", " Knife", " -2.706", " 0.961", " 3.395", " 0", " 270", " 0", " 61" ], [ "15", " SoapBottle", " -0.249", " 1.773", " 0.205", " 0", " 0", " 0", " 53" ], [ "16", " SoapBottle", " -2.583", " 0.900", " 2.706", " 0", " 0", " 0", " 75" ], [ "17", " SaltShaker", " -1.085", " 0.924", " 0.650", " 0", " 0", " 0", " 54" ], [ "18", " SaltShaker", " -1.911", " 1.769", " 0.114", " 0", " 0", " 0", " 49" ], [ "19", " Lettuce", " -0.314", " 0.980", " 2.530", " 0", " 0", " 0", " 77" ], [ "20", " Lettuce", " -0.572", " 0.980", " 2.329", " 0", " 0", " 0", " 77" ], [ "21", " Mug", " -0.297", " 1.018", " 0.267", " 0", " 0", " 0", " 73" ], [ "22", " Egg", " -2.583", " 0.933", " 2.309", " 0", " 0", " 0", " 75" ], [ "23", " Plate", " -2.805", " 1.190", " 4.575", " 0", " 90", " 0", " 71" ], [ "24", " Fork", " -2.480", " 0.901", " 1.913", " 0", " 0", " 0", " 75" ], [ "25", " Bread", " -2.864", " 0.940", " 1.983", " 0", " 0", " 0", " 75" ], [ "26", " Apple", " -2.037", " 0.984", " 0.602", " 0", " 0", " 0", " 54" ], [ "27", " Lettuce", " -0.657", " 0.980", " 3.334", " 0", " 0", " 0", " 77" ], [ "28", " Spatula", " -1.932", " 0.677", " 0.519", " 0", " 270", " 0", " 57" ], [ "29", " Knife", " -0.228", " 0.926", " 2.932", " 0", " 90", " 0", " 77" ], [ "30", " Potato", " -2.644", " 0.325", " 4.352", " 0", " 90", " 0", " 71" ], [ "31", " Tomato", " -2.847", " 1.250", " 4.278", " 0", " 90", " 0", " 71" ], [ "32", " Cup", " -1.904", " 0.927", " 0.433", " 0", " 0", " 0", " 54" ], [ "33", " SaltShaker", " -0.272", " 0.658", " 0.245", " 0", " 0", " 0", " 43" ], [ "34", " PepperShaker", " -2.628", " 0.931", " 3.580", " 0", " 0", " 0", " 61" ], [ "35", " ButterKnife", " -2.892", " 0.900", " 2.706", " 0", " 0", " 0", " 75" ], [ "36", " SoapBottle", " -2.480", " 0.900", " 2.441", " 0", " 0", " 0", " 75" ], [ "37", " Pan", " -0.250", " 0.926", " 4.651", " 0", " 0", " 0", " 56" ], [ "38", " DishSponge", " -2.781", " 0.053", " 0.352", " 0", " 26.101", " 0", " 68" ], [ "39", " Pot", " -0.572", " 0.900", " 3.133", " 0", " 0", " 0", " 77" ], [ "40", " Spoon", " -2.789", " 0.901", " 2.573", " 0", " 0", " 0", " 75" ], [ "41", " Mug", " -2.628", " 0.930", " 3.673", " 0", " 180", " 0", " 61" ], [ "42", " Bowl", " -1.746", " 1.770", " 0.251", " 0", " 0", " 0", " 49" ], [ "43", " Drawer", " -0.325", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "44", " Cabinet", " -0.595", " 0.490", " 0.648", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -0.555", " 0.490", " 0.646", " 0", " 0", " 0", "" ], [ "46", " Cabinet", " -1.591", " 0.490", " 0.646", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " -1.554", " 0.490", " 0.646", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -2.550", " 0.490", " 0.646", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -1.514", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.474", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.478", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.518", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.479", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " -1.366", " 0.952", " 0.349", " 0", " 0", " 0", "" ], [ "55", " Sink", " -1.108", " 0.926", " 0.340", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " -0.254", " 0.922", " 4.672", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -1.824", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.535", " 0.922", " 4.274", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -0.254", " 0.922", " 4.274", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -0.536", " 0.922", " 4.672", " 0", " 0", " 0", "" ], [ "61", " CounterTop", " -2.780", " 0.971", " 3.487", " 0", " 0", " 0", "" ], [ "62", " Drawer", " -2.323", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "63", " StoveKnob", " -0.064", " 1.090", " 4.632", " 0", " 0", " 73.865", "" ], [ "64", " StoveKnob", " -0.064", " 1.090", " 4.782", " 0", " 0", " 73.865", "" ], [ "65", " StoveKnob", " -0.064", " 1.090", " 4.382", " 0", " 0", " 73.865", "" ], [ "66", " StoveKnob", " -0.064", " 1.090", " 4.222", " 0", " 0", " 73.865", "" ], [ "67", " Toaster", " -0.286", " 0.861", " 3.520", " 0", " 270", " 0", "" ], [ "68", " GarbageCan", " -2.816", " -0.014", " 0.370", " 358.702", " 26.614", " 2.400", "" ], [ "69", " LightSwitch", " -0.064", " 1.447", " 1.996", " 0", " 270", " 0", "" ], [ "70", " Window", " -3.075", " 1.593", " 1.361", " 90", " 90", " 0", "" ], [ "71", " Fridge", " -2.802", " 0.0", " 4.427", " 0", " 0", " 0", "" ], [ "72", " SinkBasin", " -1.106", " 0.785", " 0.337", " 0", " 0", " 0", "" ], [ "73", " Microwave", " -0.358", " 0.917", " 0.224", " 0", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -2.938", " 0.925", " 3.605", " 0", " 90", " 0", "" ], [ "75", " DiningTable", " -2.733", " -0.003", " 2.607", " 0", " 270", " 0", "" ], [ "76", " Faucet", " -1.077", " 0.920", " 0.028", " 270", " 270", " 0", "" ], [ "77", " DiningTable", " -0.488", " -0.003", " 3.182", " 0", " 270", " 0", "" ], [ "78", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 2.0 0 0 0 1 Potato -2.789 0.926 2.309 0 0 0 75 2 DishSponge -2.892 0.900 2.441 0 0 0 75 3 ButterKnife -0.400 0.900 2.731 0 0 0 77 4 Spatula -0.218 0.677 0.519 0 270 0 43 5 Spatula -2.377 0.915 2.573 0 90 0 75 6 Fork -2.377 0.901 2.045 0 90 0 75 7 Fork -2.583 0.901 2.045 0 90 0 75 8 Fork -2.215 0.662 0.409 0 0 0 62 9 Pot -0.535 0.928 4.274 0 0 0 58 10 Egg -0.403 1.051 0.171 0 0 0 73 11 Egg -2.681 1.219 4.427 0 90 0 71 12 Plate -2.831 0.303 4.352 0 90 0 71 13 Plate -2.301 1.777 0.205 0 0 0 50 14 Knife -2.706 0.961 3.395 0 270 0 61 15 SoapBottle -0.249 1.773 0.205 0 0 0 53 16 SoapBottle -2.583 0.900 2.706 0 0 0 75 17 SaltShaker -1.085 0.924 0.650 0 0 0 54 18 SaltShaker -1.911 1.769 0.114 0 0 0 49 19 Lettuce -0.314 0.980 2.530 0 0 0 77 20 Lettuce -0.572 0.980 2.329 0 0 0 77 21 Mug -0.297 1.018 0.267 0 0 0 73 22 Egg -2.583 0.933 2.309 0 0 0 75 23 Plate -2.805 1.190 4.575 0 90 0 71 24 Fork -2.480 0.901 1.913 0 0 0 75 25 Bread -2.864 0.940 1.983 0 0 0 75 26 Apple -2.037 0.984 0.602 0 0 0 54 27 Lettuce -0.657 0.980 3.334 0 0 0 77 28 Spatula -1.932 0.677 0.519 0 270 0 57 29 Knife -0.228 0.926 2.932 0 90 0 77 30 Potato -2.644 0.325 4.352 0 90 0 71 31 Tomato -2.847 1.250 4.278 0 90 0 71 32 Cup -1.904 0.927 0.433 0 0 0 54 33 SaltShaker -0.272 0.658 0.245 0 0 0 43 34 PepperShaker -2.628 0.931 3.580 0 0 0 61 35 ButterKnife -2.892 0.900 2.706 0 0 0 75 36 SoapBottle -2.480 0.900 2.441 0 0 0 75 37 Pan -0.250 0.926 4.651 0 0 0 56 38 DishSponge -2.781 0.053 0.352 0 26.101 0 68 39 Pot -0.572 0.900 3.133 0 0 0 77 40 Spoon -2.789 0.901 2.573 0 0 0 75 41 Mug -2.628 0.930 3.673 0 180 0 61 42 Bowl -1.746 1.770 0.251 0 0 0 49 43 Drawer -0.325 0.696 0.413 0 0 0 44 Cabinet -0.595 0.490 0.648 0 0 0 45 Cabinet -0.555 0.490 0.646 0 0 0 46 Cabinet -1.591 0.490 0.646 0 0 0 47 Cabinet -1.554 0.490 0.646 0 0 0 48 Cabinet -2.550 0.490 0.646 0 0 0 49 Cabinet -1.514 2.046 0.392 0 0 0 50 Cabinet -2.474 2.046 0.392 0 0 0 51 Cabinet -1.478 2.046 0.392 0 0 0 52 Cabinet -0.518 2.046 0.392 0 0 0 53 Cabinet -0.479 2.046 0.392 0 0 0 54 CounterTop -1.366 0.952 0.349 0 0 0 55 Sink -1.108 0.926 0.340 0 0 0 56 StoveBurner -0.254 0.922 4.672 0 0 0 57 Drawer -1.824 0.696 0.413 0 0 0 58 StoveBurner -0.535 0.922 4.274 0 0 0 59 StoveBurner -0.254 0.922 4.274 0 0 0 60 StoveBurner -0.536 0.922 4.672 0 0 0 61 CounterTop -2.780 0.971 3.487 0 0 0 62 Drawer -2.323 0.696 0.413 0 0 0 63 StoveKnob -0.064 1.090 4.632 0 0 73.865 64 StoveKnob -0.064 1.090 4.782 0 0 73.865 65 StoveKnob -0.064 1.090 4.382 0 0 73.865 66 StoveKnob -0.064 1.090 4.222 0 0 73.865 67 Toaster -0.286 0.861 3.520 0 270 0 68 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 69 LightSwitch -0.064 1.447 1.996 0 270 0 70 Window -3.075 1.593 1.361 90 90 0 71 Fridge -2.802 0.0 4.427 0 0 0 72 SinkBasin -1.106 0.785 0.337 0 0 0 73 Microwave -0.358 0.917 0.224 0 0 0 74 CoffeeMachine -2.938 0.925 3.605 0 90 0 75 DiningTable -2.733 -0.003 2.607 0 270 0 76 Faucet -1.077 0.920 0.028 270 270 0 77 DiningTable -0.488 -0.003 3.182 0 270 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Move to the table to the left of the fridge. | STEP 2: Pick up a fork from the table. | STEP 3: Move to the counter to the left of you and to the right of the sink. | STEP 4: Put the fork inside the cup on the counter. | STEP 5: Pick up the cup from the counter. | STEP 6: Move to the the table on the opposite wall of the one you picked up the fork. | STEP 7: Place the cup on the table. | END" ]
[ [ "STEP 1: Move to the table to the left of the fridge. ", " STEP 2: Pick up a fork from the table. ", " STEP 3: Move to the counter to the left of you and to the right of the sink. ", " STEP 4: Put the fork inside the cup on the counter. ", " STEP 5: Pick up the cup from the counter. ", " STEP 6: Move to the the table on the opposite wall of the one you picked up the fork. ", " STEP 7: Place the cup on the table. ", " END" ] ]
seen
trial_T20190907_212005_457144-0
Carry a statue to turn off the lamp.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.901", " 1.75", " 0", " 0", " 0", "" ], [ "1", " KeyChain", " -3.544", " 0.400", " 3.567", " 0", " 0", " 0", " 39" ], [ "2", " RemoteControl", " -1.169", " 0.758", " 1.695", " 0", " 0", " 0", " 40" ], [ "3", " RemoteControl", " -2.485", " 0.460", " 3.701", " 0", " 0", " 0", " 30" ], [ "4", " Laptop", " -4.300", " 0.486", " 5.094", " 0", " 0", " 0", " 31" ], [ "5", " Laptop", " -1.873", " 0.753", " 0.993", " 0", " 0", " 0", " 40" ], [ "6", " Box", " -1.607", " 0.151", " 6.854", " 0", " 0", " 0", " 37" ], [ "7", " Statue", " -1.451", " 0.761", " 1.695", " 0", " 0", " 0", " 40" ], [ "8", " Watch", " -1.873", " 0.756", " 1.695", " 0", " 0", " 0", " 40" ], [ "9", " WateringCan", " -0.208", " -0.000", " 3.225", " 0", " 63.928", " 0", "" ], [ "10", " Laptop", " -2.005", " 0.839", " 6.699", " 0", " 0", " 0", " 37" ], [ "11", " CreditCard", " -1.310", " 0.755", " 1.554", " 0", " 0", " 0", " 40" ], [ "12", " KeyChain", " -3.652", " 0.698", " 6.791", " 0", " 0", " 0", " 27" ], [ "13", " Pillow", " -4.335", " 0.465", " 4.398", " 0", " 0", " 0", " 31" ], [ "14", " RemoteControl", " -4.077", " 0.486", " 3.626", " 0", " 0", " 0", " 24" ], [ "15", " Curtains", " -0.037", " 2.148", " 0.999", " 0", " 0", " 0", "" ], [ "16", " Painting", " -0.016", " 2.061", " 5.380", " 0", " 0", " 0", "" ], [ "17", " GarbageCan", " -0.256", " -0.010", " 6.799", " 0", " 0", " 0", "" ], [ "18", " FloorLamp", " -4.721", " -0.001", " 3.687", " 0", " 0", " 0", "" ], [ "19", " Television", " -3.192", " 1.184", " 6.767", " 0", " 180", " 0", "" ], [ "20", " HousePlant", " -0.173", " 0.610", " 3.994", " 0", " 0", " 0", "" ], [ "21", " LightSwitch", " -3.483", " 1.470", " 0.001", " 0", " 0", " 0", "" ], [ "22", " DeskLamp", " -0.258", " 0.611", " 3.312", " 0", " 0", " 0", "" ], [ "23", " Window", " -0.008", " 1.340", " 1.725", " 90", " 270", " 0", "" ], [ "24", " SideTable", " -4.190", " 0.000", " 3.587", " 0", " 0", " 0", "" ], [ "25", " Drawer", " -2.925", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "26", " Drawer", " -3.476", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "27", " Dresser", " -3.201", " -0.001", " 6.791", " 0", " 180", " 0", "" ], [ "28", " Drawer", " -2.925", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "29", " Drawer", " -3.476", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "30", " ArmChair", " -2.448", " 0.002", " 3.501", " 0", " 0", " 0", "" ], [ "31", " Sofa", " -4.425", " 0.014", " 5.062", " 0", " 90", " 0", "" ], [ "32", " Ottoman", " -2.374", " 0.000", " 4.483", " 0", " 0", " 0", "" ], [ "33", " Chair", " -2.151", " 0.004", " 1.284", " 0", " 90", " 0", "" ], [ "34", " Chair", " -1.549", " 0.004", " 1.780", " 0", " 195.000", " 0", "" ], [ "35", " Chair", " -1.626", " 0.004", " 0.778", " 0", " 10.166", " 0", "" ], [ "36", " Chair", " -1.076", " 0.004", " 1.292", " 0", " 265.171", " 0", "" ], [ "37", " SideTable", " -2.071", " 0.000", " 6.699", " 0", " 0", " 0", "" ], [ "38", " SideTable", " -0.244", " -0.000", " 3.524", " 0", " 270", " 0", "" ], [ "39", " ArmChair", " -3.545", " 0.005", " 3.579", " 0", " 0", " 0", "" ], [ "40", " DiningTable", " -1.592", " 0.006", " 1.274", " 0", " 0", " 0", "" ], [ "41", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 1.75 0 0 0 1 KeyChain -3.544 0.400 3.567 0 0 0 39 2 RemoteControl -1.169 0.758 1.695 0 0 0 40 3 RemoteControl -2.485 0.460 3.701 0 0 0 30 4 Laptop -4.300 0.486 5.094 0 0 0 31 5 Laptop -1.873 0.753 0.993 0 0 0 40 6 Box -1.607 0.151 6.854 0 0 0 37 7 Statue -1.451 0.761 1.695 0 0 0 40 8 Watch -1.873 0.756 1.695 0 0 0 40 9 WateringCan -0.208 -0.000 3.225 0 63.928 0 10 Laptop -2.005 0.839 6.699 0 0 0 37 11 CreditCard -1.310 0.755 1.554 0 0 0 40 12 KeyChain -3.652 0.698 6.791 0 0 0 27 13 Pillow -4.335 0.465 4.398 0 0 0 31 14 RemoteControl -4.077 0.486 3.626 0 0 0 24 15 Curtains -0.037 2.148 0.999 0 0 0 16 Painting -0.016 2.061 5.380 0 0 0 17 GarbageCan -0.256 -0.010 6.799 0 0 0 18 FloorLamp -4.721 -0.001 3.687 0 0 0 19 Television -3.192 1.184 6.767 0 180 0 20 HousePlant -0.173 0.610 3.994 0 0 0 21 LightSwitch -3.483 1.470 0.001 0 0 0 22 DeskLamp -0.258 0.611 3.312 0 0 0 23 Window -0.008 1.340 1.725 90 270 0 24 SideTable -4.190 0.000 3.587 0 0 0 25 Drawer -2.925 0.475 6.717 0 180 0 26 Drawer -3.476 0.475 6.717 0 180 0 27 Dresser -3.201 -0.001 6.791 0 180 0 28 Drawer -2.925 0.165 6.719 0 180 0 29 Drawer -3.476 0.165 6.719 0 180 0 30 ArmChair -2.448 0.002 3.501 0 0 0 31 Sofa -4.425 0.014 5.062 0 90 0 32 Ottoman -2.374 0.000 4.483 0 0 0 33 Chair -2.151 0.004 1.284 0 90 0 34 Chair -1.549 0.004 1.780 0 195.000 0 35 Chair -1.626 0.004 0.778 0 10.166 0 36 Chair -1.076 0.004 1.292 0 265.171 0 37 SideTable -2.071 0.000 6.699 0 0 0 38 SideTable -0.244 -0.000 3.524 0 270 0 39 ArmChair -3.545 0.005 3.579 0 0 0 40 DiningTable -1.592 0.006 1.274 0 0 0 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: Turn to the left, and the left again to find the table. | STEP 2: Pick up the statue from the table. | STEP 3: Carry the statue and turn around, then turn left and right to find the lamp beside the couch. | STEP 4: Hold the statue and turn the lamp off. | END" ]
[ [ "STEP 1: Turn to the left, and the left again to find the table. ", " STEP 2: Pick up the statue from the table. ", " STEP 3: Carry the statue and turn around, then turn left and right to find the lamp beside the couch. ", " STEP 4: Hold the statue and turn the lamp off. ", " END" ] ]
seen
trial_T20190907_212005_457144-1
Turn off a floor lamp while holding a small statue
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.901", " 1.75", " 0", " 0", " 0", "" ], [ "1", " KeyChain", " -3.544", " 0.400", " 3.567", " 0", " 0", " 0", " 39" ], [ "2", " RemoteControl", " -1.169", " 0.758", " 1.695", " 0", " 0", " 0", " 40" ], [ "3", " RemoteControl", " -2.485", " 0.460", " 3.701", " 0", " 0", " 0", " 30" ], [ "4", " Laptop", " -4.300", " 0.486", " 5.094", " 0", " 0", " 0", " 31" ], [ "5", " Laptop", " -1.873", " 0.753", " 0.993", " 0", " 0", " 0", " 40" ], [ "6", " Box", " -1.607", " 0.151", " 6.854", " 0", " 0", " 0", " 37" ], [ "7", " Statue", " -1.451", " 0.761", " 1.695", " 0", " 0", " 0", " 40" ], [ "8", " Watch", " -1.873", " 0.756", " 1.695", " 0", " 0", " 0", " 40" ], [ "9", " WateringCan", " -0.208", " -0.000", " 3.225", " 0", " 63.928", " 0", "" ], [ "10", " Laptop", " -2.005", " 0.839", " 6.699", " 0", " 0", " 0", " 37" ], [ "11", " CreditCard", " -1.310", " 0.755", " 1.554", " 0", " 0", " 0", " 40" ], [ "12", " KeyChain", " -3.652", " 0.698", " 6.791", " 0", " 0", " 0", " 27" ], [ "13", " Pillow", " -4.335", " 0.465", " 4.398", " 0", " 0", " 0", " 31" ], [ "14", " RemoteControl", " -4.077", " 0.486", " 3.626", " 0", " 0", " 0", " 24" ], [ "15", " Curtains", " -0.037", " 2.148", " 0.999", " 0", " 0", " 0", "" ], [ "16", " Painting", " -0.016", " 2.061", " 5.380", " 0", " 0", " 0", "" ], [ "17", " GarbageCan", " -0.256", " -0.010", " 6.799", " 0", " 0", " 0", "" ], [ "18", " FloorLamp", " -4.721", " -0.001", " 3.687", " 0", " 0", " 0", "" ], [ "19", " Television", " -3.192", " 1.184", " 6.767", " 0", " 180", " 0", "" ], [ "20", " HousePlant", " -0.173", " 0.610", " 3.994", " 0", " 0", " 0", "" ], [ "21", " LightSwitch", " -3.483", " 1.470", " 0.001", " 0", " 0", " 0", "" ], [ "22", " DeskLamp", " -0.258", " 0.611", " 3.312", " 0", " 0", " 0", "" ], [ "23", " Window", " -0.008", " 1.340", " 1.725", " 90", " 270", " 0", "" ], [ "24", " SideTable", " -4.190", " 0.000", " 3.587", " 0", " 0", " 0", "" ], [ "25", " Drawer", " -2.925", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "26", " Drawer", " -3.476", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "27", " Dresser", " -3.201", " -0.001", " 6.791", " 0", " 180", " 0", "" ], [ "28", " Drawer", " -2.925", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "29", " Drawer", " -3.476", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "30", " ArmChair", " -2.448", " 0.002", " 3.501", " 0", " 0", " 0", "" ], [ "31", " Sofa", " -4.425", " 0.014", " 5.062", " 0", " 90", " 0", "" ], [ "32", " Ottoman", " -2.374", " 0.000", " 4.483", " 0", " 0", " 0", "" ], [ "33", " Chair", " -2.151", " 0.004", " 1.284", " 0", " 90", " 0", "" ], [ "34", " Chair", " -1.549", " 0.004", " 1.780", " 0", " 195.000", " 0", "" ], [ "35", " Chair", " -1.626", " 0.004", " 0.778", " 0", " 10.166", " 0", "" ], [ "36", " Chair", " -1.076", " 0.004", " 1.292", " 0", " 265.171", " 0", "" ], [ "37", " SideTable", " -2.071", " 0.000", " 6.699", " 0", " 0", " 0", "" ], [ "38", " SideTable", " -0.244", " -0.000", " 3.524", " 0", " 270", " 0", "" ], [ "39", " ArmChair", " -3.545", " 0.005", " 3.579", " 0", " 0", " 0", "" ], [ "40", " DiningTable", " -1.592", " 0.006", " 1.274", " 0", " 0", " 0", "" ], [ "41", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 1.75 0 0 0 1 KeyChain -3.544 0.400 3.567 0 0 0 39 2 RemoteControl -1.169 0.758 1.695 0 0 0 40 3 RemoteControl -2.485 0.460 3.701 0 0 0 30 4 Laptop -4.300 0.486 5.094 0 0 0 31 5 Laptop -1.873 0.753 0.993 0 0 0 40 6 Box -1.607 0.151 6.854 0 0 0 37 7 Statue -1.451 0.761 1.695 0 0 0 40 8 Watch -1.873 0.756 1.695 0 0 0 40 9 WateringCan -0.208 -0.000 3.225 0 63.928 0 10 Laptop -2.005 0.839 6.699 0 0 0 37 11 CreditCard -1.310 0.755 1.554 0 0 0 40 12 KeyChain -3.652 0.698 6.791 0 0 0 27 13 Pillow -4.335 0.465 4.398 0 0 0 31 14 RemoteControl -4.077 0.486 3.626 0 0 0 24 15 Curtains -0.037 2.148 0.999 0 0 0 16 Painting -0.016 2.061 5.380 0 0 0 17 GarbageCan -0.256 -0.010 6.799 0 0 0 18 FloorLamp -4.721 -0.001 3.687 0 0 0 19 Television -3.192 1.184 6.767 0 180 0 20 HousePlant -0.173 0.610 3.994 0 0 0 21 LightSwitch -3.483 1.470 0.001 0 0 0 22 DeskLamp -0.258 0.611 3.312 0 0 0 23 Window -0.008 1.340 1.725 90 270 0 24 SideTable -4.190 0.000 3.587 0 0 0 25 Drawer -2.925 0.475 6.717 0 180 0 26 Drawer -3.476 0.475 6.717 0 180 0 27 Dresser -3.201 -0.001 6.791 0 180 0 28 Drawer -2.925 0.165 6.719 0 180 0 29 Drawer -3.476 0.165 6.719 0 180 0 30 ArmChair -2.448 0.002 3.501 0 0 0 31 Sofa -4.425 0.014 5.062 0 90 0 32 Ottoman -2.374 0.000 4.483 0 0 0 33 Chair -2.151 0.004 1.284 0 90 0 34 Chair -1.549 0.004 1.780 0 195.000 0 35 Chair -1.626 0.004 0.778 0 10.166 0 36 Chair -1.076 0.004 1.292 0 265.171 0 37 SideTable -2.071 0.000 6.699 0 0 0 38 SideTable -0.244 -0.000 3.524 0 270 0 39 ArmChair -3.545 0.005 3.579 0 0 0 40 DiningTable -1.592 0.006 1.274 0 0 0 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: take a few steps forward and turn to the left and take a few steps forward and turn to the left | STEP 2: pick up the statue of a man from the table | STEP 3: turn to the left twice take a step forward and turn left and go to the wall and turn to the right and go to the floor lamp | STEP 4: turn off the floor lamp near the wall | END" ]
[ [ "STEP 1: take a few steps forward and turn to the left and take a few steps forward and turn to the left ", " STEP 2: pick up the statue of a man from the table ", " STEP 3: turn to the left twice take a step forward and turn left and go to the wall and turn to the right and go to the floor lamp ", " STEP 4: turn off the floor lamp near the wall ", " END" ] ]
seen
trial_T20190907_212005_457144-2
examine a trophy with a lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.901", " 1.75", " 0", " 0", " 0", "" ], [ "1", " KeyChain", " -3.544", " 0.400", " 3.567", " 0", " 0", " 0", " 39" ], [ "2", " RemoteControl", " -1.169", " 0.758", " 1.695", " 0", " 0", " 0", " 40" ], [ "3", " RemoteControl", " -2.485", " 0.460", " 3.701", " 0", " 0", " 0", " 30" ], [ "4", " Laptop", " -4.300", " 0.486", " 5.094", " 0", " 0", " 0", " 31" ], [ "5", " Laptop", " -1.873", " 0.753", " 0.993", " 0", " 0", " 0", " 40" ], [ "6", " Box", " -1.607", " 0.151", " 6.854", " 0", " 0", " 0", " 37" ], [ "7", " Statue", " -1.451", " 0.761", " 1.695", " 0", " 0", " 0", " 40" ], [ "8", " Watch", " -1.873", " 0.756", " 1.695", " 0", " 0", " 0", " 40" ], [ "9", " WateringCan", " -0.208", " -0.000", " 3.225", " 0", " 63.928", " 0", "" ], [ "10", " Laptop", " -2.005", " 0.839", " 6.699", " 0", " 0", " 0", " 37" ], [ "11", " CreditCard", " -1.310", " 0.755", " 1.554", " 0", " 0", " 0", " 40" ], [ "12", " KeyChain", " -3.652", " 0.698", " 6.791", " 0", " 0", " 0", " 27" ], [ "13", " Pillow", " -4.335", " 0.465", " 4.398", " 0", " 0", " 0", " 31" ], [ "14", " RemoteControl", " -4.077", " 0.486", " 3.626", " 0", " 0", " 0", " 24" ], [ "15", " Curtains", " -0.037", " 2.148", " 0.999", " 0", " 0", " 0", "" ], [ "16", " Painting", " -0.016", " 2.061", " 5.380", " 0", " 0", " 0", "" ], [ "17", " GarbageCan", " -0.256", " -0.010", " 6.799", " 0", " 0", " 0", "" ], [ "18", " FloorLamp", " -4.721", " -0.001", " 3.687", " 0", " 0", " 0", "" ], [ "19", " Television", " -3.192", " 1.184", " 6.767", " 0", " 180", " 0", "" ], [ "20", " HousePlant", " -0.173", " 0.610", " 3.994", " 0", " 0", " 0", "" ], [ "21", " LightSwitch", " -3.483", " 1.470", " 0.001", " 0", " 0", " 0", "" ], [ "22", " DeskLamp", " -0.258", " 0.611", " 3.312", " 0", " 0", " 0", "" ], [ "23", " Window", " -0.008", " 1.340", " 1.725", " 90", " 270", " 0", "" ], [ "24", " SideTable", " -4.190", " 0.000", " 3.587", " 0", " 0", " 0", "" ], [ "25", " Drawer", " -2.925", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "26", " Drawer", " -3.476", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "27", " Dresser", " -3.201", " -0.001", " 6.791", " 0", " 180", " 0", "" ], [ "28", " Drawer", " -2.925", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "29", " Drawer", " -3.476", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "30", " ArmChair", " -2.448", " 0.002", " 3.501", " 0", " 0", " 0", "" ], [ "31", " Sofa", " -4.425", " 0.014", " 5.062", " 0", " 90", " 0", "" ], [ "32", " Ottoman", " -2.374", " 0.000", " 4.483", " 0", " 0", " 0", "" ], [ "33", " Chair", " -2.151", " 0.004", " 1.284", " 0", " 90", " 0", "" ], [ "34", " Chair", " -1.549", " 0.004", " 1.780", " 0", " 195.000", " 0", "" ], [ "35", " Chair", " -1.626", " 0.004", " 0.778", " 0", " 10.166", " 0", "" ], [ "36", " Chair", " -1.076", " 0.004", " 1.292", " 0", " 265.171", " 0", "" ], [ "37", " SideTable", " -2.071", " 0.000", " 6.699", " 0", " 0", " 0", "" ], [ "38", " SideTable", " -0.244", " -0.000", " 3.524", " 0", " 270", " 0", "" ], [ "39", " ArmChair", " -3.545", " 0.005", " 3.579", " 0", " 0", " 0", "" ], [ "40", " DiningTable", " -1.592", " 0.006", " 1.274", " 0", " 0", " 0", "" ], [ "41", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 1.75 0 0 0 1 KeyChain -3.544 0.400 3.567 0 0 0 39 2 RemoteControl -1.169 0.758 1.695 0 0 0 40 3 RemoteControl -2.485 0.460 3.701 0 0 0 30 4 Laptop -4.300 0.486 5.094 0 0 0 31 5 Laptop -1.873 0.753 0.993 0 0 0 40 6 Box -1.607 0.151 6.854 0 0 0 37 7 Statue -1.451 0.761 1.695 0 0 0 40 8 Watch -1.873 0.756 1.695 0 0 0 40 9 WateringCan -0.208 -0.000 3.225 0 63.928 0 10 Laptop -2.005 0.839 6.699 0 0 0 37 11 CreditCard -1.310 0.755 1.554 0 0 0 40 12 KeyChain -3.652 0.698 6.791 0 0 0 27 13 Pillow -4.335 0.465 4.398 0 0 0 31 14 RemoteControl -4.077 0.486 3.626 0 0 0 24 15 Curtains -0.037 2.148 0.999 0 0 0 16 Painting -0.016 2.061 5.380 0 0 0 17 GarbageCan -0.256 -0.010 6.799 0 0 0 18 FloorLamp -4.721 -0.001 3.687 0 0 0 19 Television -3.192 1.184 6.767 0 180 0 20 HousePlant -0.173 0.610 3.994 0 0 0 21 LightSwitch -3.483 1.470 0.001 0 0 0 22 DeskLamp -0.258 0.611 3.312 0 0 0 23 Window -0.008 1.340 1.725 90 270 0 24 SideTable -4.190 0.000 3.587 0 0 0 25 Drawer -2.925 0.475 6.717 0 180 0 26 Drawer -3.476 0.475 6.717 0 180 0 27 Dresser -3.201 -0.001 6.791 0 180 0 28 Drawer -2.925 0.165 6.719 0 180 0 29 Drawer -3.476 0.165 6.719 0 180 0 30 ArmChair -2.448 0.002 3.501 0 0 0 31 Sofa -4.425 0.014 5.062 0 90 0 32 Ottoman -2.374 0.000 4.483 0 0 0 33 Chair -2.151 0.004 1.284 0 90 0 34 Chair -1.549 0.004 1.780 0 195.000 0 35 Chair -1.626 0.004 0.778 0 10.166 0 36 Chair -1.076 0.004 1.292 0 265.171 0 37 SideTable -2.071 0.000 6.699 0 0 0 38 SideTable -0.244 -0.000 3.524 0 270 0 39 ArmChair -3.545 0.005 3.579 0 0 0 40 DiningTable -1.592 0.006 1.274 0 0 0 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: walk forward two steps, turn left, walk two steps, turn left to face the table with a computer on it | STEP 2: pick up the trophy that is on the table | STEP 3: turn around, take a step, turn left, walk across to the wall, turn right to face lamp, hold trophy up to the light | STEP 4: turn the lamp off | END" ]
[ [ "STEP 1: walk forward two steps, turn left, walk two steps, turn left to face the table with a computer on it ", " STEP 2: pick up the trophy that is on the table ", " STEP 3: turn around, take a step, turn left, walk across to the wall, turn right to face lamp, hold trophy up to the light ", " STEP 4: turn the lamp off ", " END" ] ]
seen
trial_T20190906_212512_408611-0
place a sauce pan with a knife in it on top of the kitchen table
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" Fork", " -3.272", " 0.916", " 3.336", " 0", " 90", " 0", " 45" ], [ "12", " Egg", " -0.673", " 1.309", " 4.097", " 0", " 180", " 0", " 71" ], [ "13", " Egg", " -1.602", " 0.824", " 3.588", " 0", " 0", " 0", " 75" ], [ "14", " Knife", " -3.126", " 0.768", " 1.356", " 0", " 90", " 0", " 46" ], [ "15", " Knife", " -3.155", " 0.768", " 1.510", " 0", " 270", " 0", " 46" ], [ "16", " SoapBottle", " -3.081", " 0.915", " 1.524", " 0", " 0", " 0", " 54" ], [ "17", " SoapBottle", " -3.176", " 0.915", " 1.106", " 0", " 0", " 0", " 54" ], [ "18", " PepperShaker", " -3.233", " 0.077", " 2.752", " 0", " 0", " 0", " 58" ], [ "19", " Lettuce", " -3.559", " 1.001", " 1.273", " 0", " 0", " 0", " 54" ], [ "20", " Mug", " -3.152", " 0.078", " 1.434", " 0", " 0", " 0", " 64" ], [ "21", " Apple", " -1.921", " 0.849", " 3.662", " 0", " 0", " 0", " 75" ], [ "22", " Egg", " -0.323", " 1.021", " 4.114", " 0", " 180", " 0", " 71" ], [ "23", " Knife", " -3.214", " 0.768", " 1.202", " 0", " 90", " 0", " 46" ], [ "24", " Fork", " -1.449", " 0.916", " 4.214", " 0", " 270", " 0", " 45" ], [ "25", " Bread", " -1.711", " 0.996", " 4.104", " 0", " 0", " 0", " 45" ], [ "26", " Potato", " -1.129", " 0.118", " 3.724", " 0", " 270", " 0", " 77" ], [ "27", " Plate", " -3.005", " 0.904", " 3.677", " 0", " 0", " 0", " 45" ], [ "28", " Pot", " -3.424", " 0.966", " 2.374", " 0", " 0", " 0", " 51" ], [ "29", " Kettle", " -3.424", " 0.966", " 1.971", " 0", " 0", " 0", " 53" ], [ "30", " WineBottle", " -3.081", " 0.916", " 1.357", " 0", " 0", " 0", " 54" ], [ "31", " Bowl", " -3.473", " 1.545", " 2.172", " 0", " 90", " 0", " 76" ], [ "32", " Tomato", " -0.206", " 1.342", " 4.097", " 0", " 180", " 0", " 71" ], [ "33", " Cup", " -0.089", " 0.986", " 4.176", " 0", " 180", " 0", " 71" ], [ "34", " Spatula", " -2.402", " 0.930", " 3.998", " 0", " 0", " 0", " 45" ], [ "35", " SoapBottle", " -3.368", " 0.915", " 1.189", " 0", " 0", " 0", " 54" ], [ "36", " Lettuce", " -0.790", " 1.072", " 4.051", " 0", " 180", " 0", " 71" ], [ "37", " Pan", " -2.614", " 0.902", " 3.620", " 0", " 0", " 0", " 45" ], [ "38", " Apple", " -1.729", " 0.849", " 3.625", " 0", " 0", " 0", " 75" ], [ "39", " SaltShaker", " -3.097", " 0.743", " 2.806", " 0", " 0", " 0", " 47" ], [ "40", " PepperShaker", " -3.157", " 0.743", " 3.326", " 0", " 0", " 0", " 55" ], [ "41", " ButterKnife", " -3.176", " 0.915", " 3.172", " 0", " 0", " 0", " 45" ], [ "42", " DishSponge", " -1.666", " 0.789", " 3.737", " 0", " 0", " 0", " 75" ], [ "43", " Spoon", " -3.215", " 0.747", " 2.806", " 0", " 90", " 0", " 47" ], [ "44", " Mug", " -3.424", " 0.945", " 3.275", " 0", " 90", " 0", " 45" ], [ "45", " CounterTop", " -3.381", " 0.950", " 3.335", " 0", " 0", " 0", "" ], [ "46", " Drawer", " -3.121", " 0.775", " 1.357", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -3.121", " 0.777", " 2.916", " 0", " 0", " 0", "" ], [ "48", " StoveBurner", " -3.148", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "49", " Sink", " -1.797", " 0.917", " 3.660", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "51", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " -3.424", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " -3.381", " 0.951", " 1.356", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "65", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "66", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "67", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "68", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "69", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "70", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "71", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "72", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "73", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "75", " SinkBasin", " -1.802", " 0.778", " 3.700", " 0", " 0", " 0", "" ], [ "76", " Microwave", " -3.484", " 1.430", " 2.182", " 0", " 90", " 0", "" ], [ "77", " GarbageCan", " -1.184", " -0.020", " 3.794", " 0", " 270", " 0", "" ], [ "78", " Blinds", " -1.404", " 2.092", " -0.296", " 0", " 0", " 0", "" ], [ "79", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "80", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "81", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "82", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "83", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.914 2.0 0 90 0 1 Pan -3.143 0.966 1.971 0 0 0 65 2 Pan -0.439 0.985 3.926 0 270 0 71 3 Potato -3.368 0.948 1.440 0 90 0 54 4 DishSponge -3.508 1.458 1.227 0 0 0 63 5 DishSponge -3.126 0.746 3.027 0 0 0 47 6 ButterKnife -3.559 0.915 1.524 0 0 0 54 7 ButterKnife -3.272 0.915 1.524 0 90 0 54 8 ButterKnife -3.463 0.915 1.357 0 0 0 54 9 Kettle -2.460 0.082 3.664 0 0 0 56 10 Spatula -3.272 0.930 1.524 0 0 0 54 11 Fork -3.272 0.916 3.336 0 90 0 45 12 Egg -0.673 1.309 4.097 0 180 0 71 13 Egg -1.602 0.824 3.588 0 0 0 75 14 Knife -3.126 0.768 1.356 0 90 0 46 15 Knife -3.155 0.768 1.510 0 270 0 46 16 SoapBottle -3.081 0.915 1.524 0 0 0 54 17 SoapBottle -3.176 0.915 1.106 0 0 0 54 18 PepperShaker -3.233 0.077 2.752 0 0 0 58 19 Lettuce -3.559 1.001 1.273 0 0 0 54 20 Mug -3.152 0.078 1.434 0 0 0 64 21 Apple -1.921 0.849 3.662 0 0 0 75 22 Egg -0.323 1.021 4.114 0 180 0 71 23 Knife -3.214 0.768 1.202 0 90 0 46 24 Fork -1.449 0.916 4.214 0 270 0 45 25 Bread -1.711 0.996 4.104 0 0 0 45 26 Potato -1.129 0.118 3.724 0 270 0 77 27 Plate -3.005 0.904 3.677 0 0 0 45 28 Pot -3.424 0.966 2.374 0 0 0 51 29 Kettle -3.424 0.966 1.971 0 0 0 53 30 WineBottle -3.081 0.916 1.357 0 0 0 54 31 Bowl -3.473 1.545 2.172 0 90 0 76 32 Tomato -0.206 1.342 4.097 0 180 0 71 33 Cup -0.089 0.986 4.176 0 180 0 71 34 Spatula -2.402 0.930 3.998 0 0 0 45 35 SoapBottle -3.368 0.915 1.189 0 0 0 54 36 Lettuce -0.790 1.072 4.051 0 180 0 71 37 Pan -2.614 0.902 3.620 0 0 0 45 38 Apple -1.729 0.849 3.625 0 0 0 75 39 SaltShaker -3.097 0.743 2.806 0 0 0 47 40 PepperShaker -3.157 0.743 3.326 0 0 0 55 41 ButterKnife -3.176 0.915 3.172 0 0 0 45 42 DishSponge -1.666 0.789 3.737 0 0 0 75 43 Spoon -3.215 0.747 2.806 0 90 0 47 44 Mug -3.424 0.945 3.275 0 90 0 45 45 CounterTop -3.381 0.950 3.335 0 0 0 46 Drawer -3.121 0.775 1.357 0 0 0 47 Drawer -3.121 0.777 2.916 0 0 0 48 StoveBurner -3.148 0.958 2.374 0 0 0 49 Sink -1.797 0.917 3.660 0 0 0 50 Cabinet -1.421 0.388 3.459 0 0 0 51 StoveBurner -3.424 0.958 2.374 0 0 0 52 Cabinet -3.365 1.931 2.676 0 0 0 53 StoveBurner -3.424 0.958 1.971 0 0 0 54 CounterTop -3.381 0.951 1.356 0 0 0 55 Drawer -3.121 0.781 3.295 0 0 0 56 Cabinet -2.205 0.388 3.459 0 0 0 57 Cabinet -2.963 0.388 3.459 0 0 0 58 Cabinet -2.992 0.388 2.683 0 0 0 59 Cabinet -3.352 2.205 1.715 0 0 0 60 Cabinet -3.352 2.205 2.653 0 0 0 61 Cabinet -2.189 0.388 3.466 0 0 0 62 Cabinet -3.365 1.931 3.963 0 0 0 63 Cabinet -3.365 1.931 1.056 0 0 0 64 Cabinet -2.992 0.388 1.037 0 0 0 65 StoveBurner -3.143 0.958 1.971 0 0 0 66 StoveKnob -3.599 1.110 2.017 0 0 105.000 67 StoveKnob -3.599 1.110 1.867 0 0 105.000 68 StoveKnob -3.599 1.110 2.267 0 0 105.000 69 StoveKnob -3.599 1.110 2.427 0 0 105.000 70 Toaster -2.654 0.902 4.064 0 180 0 71 Fridge -0.439 0.014 3.996 0 0 0 72 LightSwitch 0.25 1.383 2.085 0 270 0 73 Window -1.430 1.338 -0.347 90 0 0 74 CoffeeMachine -3.550 0.902 3.274 0 90 0 75 SinkBasin -1.802 0.778 3.700 0 0 0 76 Microwave -3.484 1.430 2.182 0 90 0 77 GarbageCan -1.184 -0.020 3.794 0 270 0 78 Blinds -1.404 2.092 -0.296 0 0 0 79 Stool -1.373 0.014 1.048 1.214 20.754 0 80 Faucet -1.788 0.903 3.931 270 90 0 81 DiningTable -1.399 0.010 0.238 0 0 0 82 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 83 NorthWall 84 EastWall 85 SouthWall 86 WestWall
[ "STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab the butter knife off of the kitchen counter | STEP 3: walk over to the fridge | STEP 4: place the knife on top of the sauce pan inside the fridge | STEP 5: grab the sauce pan from inside the fridge | STEP 6: walk over to the kitchen table | STEP 7: place the sauce pan on top of the kitchen table | END" ]
[ [ "STEP 1: walk over to the kitchen counter to the right of the stove ", " STEP 2: grab the butter knife off of the kitchen counter ", " STEP 3: walk over to the fridge ", " STEP 4: place the knife on top of the sauce pan inside the fridge ", " STEP 5: grab the sauce pan from inside the fridge ", " STEP 6: walk over to the kitchen table ", " STEP 7: place the sauce pan on top of the kitchen table ", " END" ] ]
seen
trial_T20190906_212512_408611-1
Place a plate with a knife on it on a table.
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71" ], [ "37", " Pan", " -2.614", " 0.902", " 3.620", " 0", " 0", " 0", " 45" ], [ "38", " Apple", " -1.729", " 0.849", " 3.625", " 0", " 0", " 0", " 75" ], [ "39", " SaltShaker", " -3.097", " 0.743", " 2.806", " 0", " 0", " 0", " 47" ], [ "40", " PepperShaker", " -3.157", " 0.743", " 3.326", " 0", " 0", " 0", " 55" ], [ "41", " ButterKnife", " -3.176", " 0.915", " 3.172", " 0", " 0", " 0", " 45" ], [ "42", " DishSponge", " -1.666", " 0.789", " 3.737", " 0", " 0", " 0", " 75" ], [ "43", " Spoon", " -3.215", " 0.747", " 2.806", " 0", " 90", " 0", " 47" ], [ "44", " Mug", " -3.424", " 0.945", " 3.275", " 0", " 90", " 0", " 45" ], [ "45", " CounterTop", " -3.381", " 0.950", " 3.335", " 0", " 0", " 0", "" ], [ "46", " Drawer", " -3.121", " 0.775", " 1.357", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -3.121", " 0.777", " 2.916", " 0", " 0", " 0", "" ], [ "48", " StoveBurner", " -3.148", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "49", " Sink", " -1.797", " 0.917", " 3.660", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "51", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " -3.424", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " -3.381", " 0.951", " 1.356", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "65", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "66", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "67", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "68", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "69", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "70", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "71", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "72", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "73", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "75", " SinkBasin", " -1.802", " 0.778", " 3.700", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.914 2.0 0 90 0 1 Pan -3.143 0.966 1.971 0 0 0 65 2 Pan -0.439 0.985 3.926 0 270 0 71 3 Potato -3.368 0.948 1.440 0 90 0 54 4 DishSponge -3.508 1.458 1.227 0 0 0 63 5 DishSponge -3.126 0.746 3.027 0 0 0 47 6 ButterKnife -3.559 0.915 1.524 0 0 0 54 7 ButterKnife -3.272 0.915 1.524 0 90 0 54 8 ButterKnife -3.463 0.915 1.357 0 0 0 54 9 Kettle -2.460 0.082 3.664 0 0 0 56 10 Spatula -3.272 0.930 1.524 0 0 0 54 11 Fork -3.272 0.916 3.336 0 90 0 45 12 Egg -0.673 1.309 4.097 0 180 0 71 13 Egg -1.602 0.824 3.588 0 0 0 75 14 Knife -3.126 0.768 1.356 0 90 0 46 15 Knife -3.155 0.768 1.510 0 270 0 46 16 SoapBottle -3.081 0.915 1.524 0 0 0 54 17 SoapBottle -3.176 0.915 1.106 0 0 0 54 18 PepperShaker -3.233 0.077 2.752 0 0 0 58 19 Lettuce -3.559 1.001 1.273 0 0 0 54 20 Mug -3.152 0.078 1.434 0 0 0 64 21 Apple -1.921 0.849 3.662 0 0 0 75 22 Egg -0.323 1.021 4.114 0 180 0 71 23 Knife -3.214 0.768 1.202 0 90 0 46 24 Fork -1.449 0.916 4.214 0 270 0 45 25 Bread -1.711 0.996 4.104 0 0 0 45 26 Potato -1.129 0.118 3.724 0 270 0 77 27 Plate -3.005 0.904 3.677 0 0 0 45 28 Pot -3.424 0.966 2.374 0 0 0 51 29 Kettle -3.424 0.966 1.971 0 0 0 53 30 WineBottle -3.081 0.916 1.357 0 0 0 54 31 Bowl -3.473 1.545 2.172 0 90 0 76 32 Tomato -0.206 1.342 4.097 0 180 0 71 33 Cup -0.089 0.986 4.176 0 180 0 71 34 Spatula -2.402 0.930 3.998 0 0 0 45 35 SoapBottle -3.368 0.915 1.189 0 0 0 54 36 Lettuce -0.790 1.072 4.051 0 180 0 71 37 Pan -2.614 0.902 3.620 0 0 0 45 38 Apple -1.729 0.849 3.625 0 0 0 75 39 SaltShaker -3.097 0.743 2.806 0 0 0 47 40 PepperShaker -3.157 0.743 3.326 0 0 0 55 41 ButterKnife -3.176 0.915 3.172 0 0 0 45 42 DishSponge -1.666 0.789 3.737 0 0 0 75 43 Spoon -3.215 0.747 2.806 0 90 0 47 44 Mug -3.424 0.945 3.275 0 90 0 45 45 CounterTop -3.381 0.950 3.335 0 0 0 46 Drawer -3.121 0.775 1.357 0 0 0 47 Drawer -3.121 0.777 2.916 0 0 0 48 StoveBurner -3.148 0.958 2.374 0 0 0 49 Sink -1.797 0.917 3.660 0 0 0 50 Cabinet -1.421 0.388 3.459 0 0 0 51 StoveBurner -3.424 0.958 2.374 0 0 0 52 Cabinet -3.365 1.931 2.676 0 0 0 53 StoveBurner -3.424 0.958 1.971 0 0 0 54 CounterTop -3.381 0.951 1.356 0 0 0 55 Drawer -3.121 0.781 3.295 0 0 0 56 Cabinet -2.205 0.388 3.459 0 0 0 57 Cabinet -2.963 0.388 3.459 0 0 0 58 Cabinet -2.992 0.388 2.683 0 0 0 59 Cabinet -3.352 2.205 1.715 0 0 0 60 Cabinet -3.352 2.205 2.653 0 0 0 61 Cabinet -2.189 0.388 3.466 0 0 0 62 Cabinet -3.365 1.931 3.963 0 0 0 63 Cabinet -3.365 1.931 1.056 0 0 0 64 Cabinet -2.992 0.388 1.037 0 0 0 65 StoveBurner -3.143 0.958 1.971 0 0 0 66 StoveKnob -3.599 1.110 2.017 0 0 105.000 67 StoveKnob -3.599 1.110 1.867 0 0 105.000 68 StoveKnob -3.599 1.110 2.267 0 0 105.000 69 StoveKnob -3.599 1.110 2.427 0 0 105.000 70 Toaster -2.654 0.902 4.064 0 180 0 71 Fridge -0.439 0.014 3.996 0 0 0 72 LightSwitch 0.25 1.383 2.085 0 270 0 73 Window -1.430 1.338 -0.347 90 0 0 74 CoffeeMachine -3.550 0.902 3.274 0 90 0 75 SinkBasin -1.802 0.778 3.700 0 0 0 76 Microwave -3.484 1.430 2.182 0 90 0 77 GarbageCan -1.184 -0.020 3.794 0 270 0 78 Blinds -1.404 2.092 -0.296 0 0 0 79 Stool -1.373 0.014 1.048 1.214 20.754 0 80 Faucet -1.788 0.903 3.931 270 90 0 81 DiningTable -1.399 0.010 0.238 0 0 0 82 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 83 NorthWall 84 EastWall 85 SouthWall 86 WestWall
[ "STEP 1: Turn around and walk to the coffee maker. | STEP 2: Pick up the butter knife. | STEP 3: Turn around and hang left to go the fridge. | STEP 4: Put the knife on the top shelf plate in the fridge. | STEP 5: Take out the plate from the fridge. | STEP 6: turn around and walk to the table. | STEP 7: Place the plate on the table. | END" ]
[ [ "STEP 1: Turn around and walk to the coffee maker. ", " STEP 2: Pick up the butter knife. ", " STEP 3: Turn around and hang left to go the fridge. ", " STEP 4: Put the knife on the top shelf plate in the fridge. ", " STEP 5: Take out the plate from the fridge. ", " STEP 6: turn around and walk to the table. ", " STEP 7: Place the plate on the table. ", " END" ] ]
seen
trial_T20190906_212512_408611-2
Pick up the knife. Pick up the plate. Place them both on the table.
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" 0", "" ], [ "50", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "51", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " -3.424", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " -3.381", " 0.951", " 1.356", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "65", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "66", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "67", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "68", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "69", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "70", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "71", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "72", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "73", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "75", " SinkBasin", " -1.802", " 0.778", " 3.700", " 0", " 0", " 0", "" ], [ "76", " Microwave", " -3.484", " 1.430", " 2.182", " 0", " 90", " 0", "" ], [ "77", " GarbageCan", " -1.184", " -0.020", " 3.794", " 0", " 270", " 0", "" ], [ "78", " Blinds", " -1.404", " 2.092", " -0.296", " 0", " 0", " 0", "" ], [ "79", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "80", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "81", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "82", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "83", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.914 2.0 0 90 0 1 Pan -3.143 0.966 1.971 0 0 0 65 2 Pan -0.439 0.985 3.926 0 270 0 71 3 Potato -3.368 0.948 1.440 0 90 0 54 4 DishSponge -3.508 1.458 1.227 0 0 0 63 5 DishSponge -3.126 0.746 3.027 0 0 0 47 6 ButterKnife -3.559 0.915 1.524 0 0 0 54 7 ButterKnife -3.272 0.915 1.524 0 90 0 54 8 ButterKnife -3.463 0.915 1.357 0 0 0 54 9 Kettle -2.460 0.082 3.664 0 0 0 56 10 Spatula -3.272 0.930 1.524 0 0 0 54 11 Fork -3.272 0.916 3.336 0 90 0 45 12 Egg -0.673 1.309 4.097 0 180 0 71 13 Egg -1.602 0.824 3.588 0 0 0 75 14 Knife -3.126 0.768 1.356 0 90 0 46 15 Knife -3.155 0.768 1.510 0 270 0 46 16 SoapBottle -3.081 0.915 1.524 0 0 0 54 17 SoapBottle -3.176 0.915 1.106 0 0 0 54 18 PepperShaker -3.233 0.077 2.752 0 0 0 58 19 Lettuce -3.559 1.001 1.273 0 0 0 54 20 Mug -3.152 0.078 1.434 0 0 0 64 21 Apple -1.921 0.849 3.662 0 0 0 75 22 Egg -0.323 1.021 4.114 0 180 0 71 23 Knife -3.214 0.768 1.202 0 90 0 46 24 Fork -1.449 0.916 4.214 0 270 0 45 25 Bread -1.711 0.996 4.104 0 0 0 45 26 Potato -1.129 0.118 3.724 0 270 0 77 27 Plate -3.005 0.904 3.677 0 0 0 45 28 Pot -3.424 0.966 2.374 0 0 0 51 29 Kettle -3.424 0.966 1.971 0 0 0 53 30 WineBottle -3.081 0.916 1.357 0 0 0 54 31 Bowl -3.473 1.545 2.172 0 90 0 76 32 Tomato -0.206 1.342 4.097 0 180 0 71 33 Cup -0.089 0.986 4.176 0 180 0 71 34 Spatula -2.402 0.930 3.998 0 0 0 45 35 SoapBottle -3.368 0.915 1.189 0 0 0 54 36 Lettuce -0.790 1.072 4.051 0 180 0 71 37 Pan -2.614 0.902 3.620 0 0 0 45 38 Apple -1.729 0.849 3.625 0 0 0 75 39 SaltShaker -3.097 0.743 2.806 0 0 0 47 40 PepperShaker -3.157 0.743 3.326 0 0 0 55 41 ButterKnife -3.176 0.915 3.172 0 0 0 45 42 DishSponge -1.666 0.789 3.737 0 0 0 75 43 Spoon -3.215 0.747 2.806 0 90 0 47 44 Mug -3.424 0.945 3.275 0 90 0 45 45 CounterTop -3.381 0.950 3.335 0 0 0 46 Drawer -3.121 0.775 1.357 0 0 0 47 Drawer -3.121 0.777 2.916 0 0 0 48 StoveBurner -3.148 0.958 2.374 0 0 0 49 Sink -1.797 0.917 3.660 0 0 0 50 Cabinet -1.421 0.388 3.459 0 0 0 51 StoveBurner -3.424 0.958 2.374 0 0 0 52 Cabinet -3.365 1.931 2.676 0 0 0 53 StoveBurner -3.424 0.958 1.971 0 0 0 54 CounterTop -3.381 0.951 1.356 0 0 0 55 Drawer -3.121 0.781 3.295 0 0 0 56 Cabinet -2.205 0.388 3.459 0 0 0 57 Cabinet -2.963 0.388 3.459 0 0 0 58 Cabinet -2.992 0.388 2.683 0 0 0 59 Cabinet -3.352 2.205 1.715 0 0 0 60 Cabinet -3.352 2.205 2.653 0 0 0 61 Cabinet -2.189 0.388 3.466 0 0 0 62 Cabinet -3.365 1.931 3.963 0 0 0 63 Cabinet -3.365 1.931 1.056 0 0 0 64 Cabinet -2.992 0.388 1.037 0 0 0 65 StoveBurner -3.143 0.958 1.971 0 0 0 66 StoveKnob -3.599 1.110 2.017 0 0 105.000 67 StoveKnob -3.599 1.110 1.867 0 0 105.000 68 StoveKnob -3.599 1.110 2.267 0 0 105.000 69 StoveKnob -3.599 1.110 2.427 0 0 105.000 70 Toaster -2.654 0.902 4.064 0 180 0 71 Fridge -0.439 0.014 3.996 0 0 0 72 LightSwitch 0.25 1.383 2.085 0 270 0 73 Window -1.430 1.338 -0.347 90 0 0 74 CoffeeMachine -3.550 0.902 3.274 0 90 0 75 SinkBasin -1.802 0.778 3.700 0 0 0 76 Microwave -3.484 1.430 2.182 0 90 0 77 GarbageCan -1.184 -0.020 3.794 0 270 0 78 Blinds -1.404 2.092 -0.296 0 0 0 79 Stool -1.373 0.014 1.048 1.214 20.754 0 80 Faucet -1.788 0.903 3.931 270 90 0 81 DiningTable -1.399 0.010 0.238 0 0 0 82 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 83 NorthWall 84 EastWall 85 SouthWall 86 WestWall
[ "STEP 1: Turn left to face the counter. | STEP 2: Turn left to face the coffee pot | STEP 3: Pick up knife go to the refrigerator | STEP 4: Put knife in refrigerator | STEP 5: Pick up plate out of refrigerator | STEP 6: Go to the table | STEP 7: Put knife and plate on the table | END" ]
[ [ "STEP 1: Turn left to face the counter. ", " STEP 2: Turn left to face the coffee pot ", " STEP 3: Pick up knife go to the refrigerator ", " STEP 4: Put knife in refrigerator ", " STEP 5: Pick up plate out of refrigerator ", " STEP 6: Go to the table ", " STEP 7: Put knife and plate on the table ", " END" ] ]
seen
trial_T20190908_085754_023780-0
To rinse a kettle and put it on the counter next to the coffee maker.
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" -3.272", " 0.984", " 3.827", " 0", " 0", " 0", " 42" ], [ "12", " Bowl", " -1.711", " 0.914", " 4.146", " 0", " 0", " 0", " 42" ], [ "13", " Bowl", " -1.504", " 0.914", " 4.146", " 0", " 0", " 0", " 42" ], [ "14", " SaltShaker", " -3.097", " 0.743", " 3.083", " 0", " 0", " 0", " 44" ], [ "15", " Lettuce", " -1.127", " 0.977", " 0.358", " 0", " 90", " 0", " 78" ], [ "16", " Lettuce", " -1.523", " 0.977", " 0.255", " 0", " 90", " 0", " 78" ], [ "17", " Bread", " -0.556", " 1.067", " 3.863", " 0", " 180", " 0", " 68" ], [ "18", " Mug", " -3.442", " 1.541", " 2.120", " 0", " 90", " 0", " 73" ], [ "19", " Egg", " -3.568", " 1.581", " 2.068", " 0", " 90", " 0", " 73" ], [ "20", " Knife", " -3.155", " 0.768", " 1.510", " 0", " 270", " 0", " 43" ], [ "21", " Fork", " -1.655", " 0.892", " 0.049", " 0", " 90", " 0", " 78" ], [ "22", " Bread", " -1.127", " 0.972", " 0.049", " 0", " 90", " 0", " 78" ], [ "23", " Potato", " -1.919", " 0.947", " 4.188", " 0", " 0", " 0", " 42" ], [ "24", " Plate", " -3.176", " 0.919", " 1.357", " 0", " 0", " 0", " 51" ], [ "25", " Pot", " -3.424", " 0.966", " 1.971", " 0", " 0", " 0", " 50" ], [ "26", " Kettle", " -1.391", " 0.892", " 0.461", " 0", " 90", " 0", " 78" ], [ "27", " WineBottle", " -3.081", " 0.916", " 1.106", " 0", " 0", " 0", " 51" ], [ "28", " Bowl", " -3.540", " 1.458", " 2.846", " 0", " 0", " 0", " 49" ], [ "29", " Tomato", " -2.402", " 0.984", " 3.567", " 0", " 0", " 0", " 42" ], [ "30", " Cup", " -3.654", " 0.915", " 1.524", " 0", " 0", " 0", " 51" ], [ "31", " Spatula", " -3.068", " 0.760", " 1.356", " 0", " 90", " 0", " 43" ], [ "32", " SoapBottle", " -3.073", " 0.083", " 1.591", " 0", " 0", " 0", " 61" ], [ "33", " Lettuce", " -1.523", " 0.977", " -0.053", " 0", " 90", " 0", " 78" ], [ "34", " Pan", " -2.614", " 0.902", " 3.620", " 0", " 0", " 0", " 42" ], [ "35", " Apple", " -3.272", " 0.975", " 1.106", " 0", " 0", " 0", " 51" ], [ "36", " SaltShaker", " -3.492", " 1.991", " 2.537", " 0", " 0", " 0", " 57" ], [ "37", " PepperShaker", " -2.302", " 0.911", " 4.214", " 0", " 0", " 0", " 42" ], [ "38", " ButterKnife", " -3.176", " 0.915", " 3.499", " 0", " 0", " 0", " 42" ], [ "39", " DishSponge", " -1.127", " 0.891", " 0.564", " 0", " 90", " 0", " 78" ], [ "40", " Spoon", " -3.068", " 0.747", " 2.916", " 0", " 90", " 0", " 44" ], [ "41", " Mug", " -1.787", " 0.886", " 0.255", " 0", " 90", " 0", " 78" ], [ "42", " CounterTop", " -3.381", " 0.950", " 3.335", " 0", " 0", " 0", "" ], [ "43", " Drawer", " -3.121", " 0.775", " 1.357", " 0", " 0", " 0", "" ], [ "44", " Drawer", " -3.121", " 0.777", " 2.916", " 0", " 0", " 0", "" ], [ "45", " StoveBurner", " -3.148", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "46", " Sink", " -1.797", " 0.917", " 3.660", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "48", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "50", " StoveBurner", " -3.424", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "51", " CounterTop", " -3.381", " 0.951", " 1.356", " 0", " 0", " 0", "" ], [ "52", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "63", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "64", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "65", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "66", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "67", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "68", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "69", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "70", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "71", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "72", " SinkBasin", " -1.802", " 0.778", " 3.700", " 0", " 0", " 0", "" ], [ "73", " Microwave", " -3.484", " 1.430", " 2.182", " 0", " 90", " 0", "" ], [ "74", " GarbageCan", " -1.184", " -0.020", " 3.794", " 0", " 270", " 0", "" ], [ "75", " Blinds", " -1.404", " 2.092", " -0.296", " 0", " 0", " 0", "" ], [ "76", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "77", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "78", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "79", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "80", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.914 1.5 0 90 0 1 ButterKnife -0.994 0.891 0.255 0 90 0 78 2 WineBottle -1.192 0.088 3.852 0 270 0 74 3 WineBottle -2.402 0.916 4.106 0 0 0 42 4 Spatula -3.368 0.930 1.524 0 0 0 51 5 Pot -3.424 0.966 2.374 0 0 0 48 6 Egg -1.815 0.950 4.062 0 0 0 42 7 Cup -0.089 1.541 4.067 0 180 0 68 8 Plate -3.559 0.919 1.189 0 0 0 51 9 Knife -3.126 0.769 1.202 0 90 0 43 10 Tomato -0.790 1.054 3.926 0 180 0 68 11 Tomato -3.272 0.984 3.827 0 0 0 42 12 Bowl -1.711 0.914 4.146 0 0 0 42 13 Bowl -1.504 0.914 4.146 0 0 0 42 14 SaltShaker -3.097 0.743 3.083 0 0 0 44 15 Lettuce -1.127 0.977 0.358 0 90 0 78 16 Lettuce -1.523 0.977 0.255 0 90 0 78 17 Bread -0.556 1.067 3.863 0 180 0 68 18 Mug -3.442 1.541 2.120 0 90 0 73 19 Egg -3.568 1.581 2.068 0 90 0 73 20 Knife -3.155 0.768 1.510 0 270 0 43 21 Fork -1.655 0.892 0.049 0 90 0 78 22 Bread -1.127 0.972 0.049 0 90 0 78 23 Potato -1.919 0.947 4.188 0 0 0 42 24 Plate -3.176 0.919 1.357 0 0 0 51 25 Pot -3.424 0.966 1.971 0 0 0 50 26 Kettle -1.391 0.892 0.461 0 90 0 78 27 WineBottle -3.081 0.916 1.106 0 0 0 51 28 Bowl -3.540 1.458 2.846 0 0 0 49 29 Tomato -2.402 0.984 3.567 0 0 0 42 30 Cup -3.654 0.915 1.524 0 0 0 51 31 Spatula -3.068 0.760 1.356 0 90 0 43 32 SoapBottle -3.073 0.083 1.591 0 0 0 61 33 Lettuce -1.523 0.977 -0.053 0 90 0 78 34 Pan -2.614 0.902 3.620 0 0 0 42 35 Apple -3.272 0.975 1.106 0 0 0 51 36 SaltShaker -3.492 1.991 2.537 0 0 0 57 37 PepperShaker -2.302 0.911 4.214 0 0 0 42 38 ButterKnife -3.176 0.915 3.499 0 0 0 42 39 DishSponge -1.127 0.891 0.564 0 90 0 78 40 Spoon -3.068 0.747 2.916 0 90 0 44 41 Mug -1.787 0.886 0.255 0 90 0 78 42 CounterTop -3.381 0.950 3.335 0 0 0 43 Drawer -3.121 0.775 1.357 0 0 0 44 Drawer -3.121 0.777 2.916 0 0 0 45 StoveBurner -3.148 0.958 2.374 0 0 0 46 Sink -1.797 0.917 3.660 0 0 0 47 Cabinet -1.421 0.388 3.459 0 0 0 48 StoveBurner -3.424 0.958 2.374 0 0 0 49 Cabinet -3.365 1.931 2.676 0 0 0 50 StoveBurner -3.424 0.958 1.971 0 0 0 51 CounterTop -3.381 0.951 1.356 0 0 0 52 Drawer -3.121 0.781 3.295 0 0 0 53 Cabinet -2.205 0.388 3.459 0 0 0 54 Cabinet -2.963 0.388 3.459 0 0 0 55 Cabinet -2.992 0.388 2.683 0 0 0 56 Cabinet -3.352 2.205 1.715 0 0 0 57 Cabinet -3.352 2.205 2.653 0 0 0 58 Cabinet -2.189 0.388 3.466 0 0 0 59 Cabinet -3.365 1.931 3.963 0 0 0 60 Cabinet -3.365 1.931 1.056 0 0 0 61 Cabinet -2.992 0.388 1.037 0 0 0 62 StoveBurner -3.143 0.958 1.971 0 0 0 63 StoveKnob -3.599 1.110 2.017 0 0 105.000 64 StoveKnob -3.599 1.110 1.867 0 0 105.000 65 StoveKnob -3.599 1.110 2.267 0 0 105.000 66 StoveKnob -3.599 1.110 2.427 0 0 105.000 67 Toaster -2.654 0.902 4.064 0 180 0 68 Fridge -0.439 0.014 3.996 0 0 0 69 LightSwitch 0.25 1.383 2.085 0 270 0 70 Window -1.430 1.338 -0.347 90 0 0 71 CoffeeMachine -3.550 0.902 3.274 0 90 0 72 SinkBasin -1.802 0.778 3.700 0 0 0 73 Microwave -3.484 1.430 2.182 0 90 0 74 GarbageCan -1.184 -0.020 3.794 0 270 0 75 Blinds -1.404 2.092 -0.296 0 0 0 76 Stool -1.373 0.014 1.048 1.214 20.754 0 77 Faucet -1.788 0.903 3.931 270 90 0 78 DiningTable -1.399 0.010 0.238 0 0 0 79 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn around, turn left at the counter, turn left at the window to face the white table. | STEP 2: Pick up the kettle from the table. | STEP 3: Turn left and walk over to the sink on the other side of the room. | STEP 4: Place the kettle inside of the sink, rinse the kettle with water, pick up the kettle. | STEP 5: Turn left and walk to the counter with the coffee maker on it. | STEP 6: Put the kettle down on the counter with the coffee maker. | END" ]
[ [ "STEP 1: Turn around, turn left at the counter, turn left at the window to face the white table. ", " STEP 2: Pick up the kettle from the table. ", " STEP 3: Turn left and walk over to the sink on the other side of the room. ", " STEP 4: Place the kettle inside of the sink, rinse the kettle with water, pick up the kettle. ", " STEP 5: Turn left and walk to the counter with the coffee maker on it. ", " STEP 6: Put the kettle down on the counter with the coffee maker. ", " END" ] ]
seen
trial_T20190908_085754_023780-1
Wash a pot and put it near the coffee maker.
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0", " 0", " 0", "" ], [ "76", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "77", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "78", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "79", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "80", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.914 1.5 0 90 0 1 ButterKnife -0.994 0.891 0.255 0 90 0 78 2 WineBottle -1.192 0.088 3.852 0 270 0 74 3 WineBottle -2.402 0.916 4.106 0 0 0 42 4 Spatula -3.368 0.930 1.524 0 0 0 51 5 Pot -3.424 0.966 2.374 0 0 0 48 6 Egg -1.815 0.950 4.062 0 0 0 42 7 Cup -0.089 1.541 4.067 0 180 0 68 8 Plate -3.559 0.919 1.189 0 0 0 51 9 Knife -3.126 0.769 1.202 0 90 0 43 10 Tomato -0.790 1.054 3.926 0 180 0 68 11 Tomato -3.272 0.984 3.827 0 0 0 42 12 Bowl -1.711 0.914 4.146 0 0 0 42 13 Bowl -1.504 0.914 4.146 0 0 0 42 14 SaltShaker -3.097 0.743 3.083 0 0 0 44 15 Lettuce -1.127 0.977 0.358 0 90 0 78 16 Lettuce -1.523 0.977 0.255 0 90 0 78 17 Bread -0.556 1.067 3.863 0 180 0 68 18 Mug -3.442 1.541 2.120 0 90 0 73 19 Egg -3.568 1.581 2.068 0 90 0 73 20 Knife -3.155 0.768 1.510 0 270 0 43 21 Fork -1.655 0.892 0.049 0 90 0 78 22 Bread -1.127 0.972 0.049 0 90 0 78 23 Potato -1.919 0.947 4.188 0 0 0 42 24 Plate -3.176 0.919 1.357 0 0 0 51 25 Pot -3.424 0.966 1.971 0 0 0 50 26 Kettle -1.391 0.892 0.461 0 90 0 78 27 WineBottle -3.081 0.916 1.106 0 0 0 51 28 Bowl -3.540 1.458 2.846 0 0 0 49 29 Tomato -2.402 0.984 3.567 0 0 0 42 30 Cup -3.654 0.915 1.524 0 0 0 51 31 Spatula -3.068 0.760 1.356 0 90 0 43 32 SoapBottle -3.073 0.083 1.591 0 0 0 61 33 Lettuce -1.523 0.977 -0.053 0 90 0 78 34 Pan -2.614 0.902 3.620 0 0 0 42 35 Apple -3.272 0.975 1.106 0 0 0 51 36 SaltShaker -3.492 1.991 2.537 0 0 0 57 37 PepperShaker -2.302 0.911 4.214 0 0 0 42 38 ButterKnife -3.176 0.915 3.499 0 0 0 42 39 DishSponge -1.127 0.891 0.564 0 90 0 78 40 Spoon -3.068 0.747 2.916 0 90 0 44 41 Mug -1.787 0.886 0.255 0 90 0 78 42 CounterTop -3.381 0.950 3.335 0 0 0 43 Drawer -3.121 0.775 1.357 0 0 0 44 Drawer -3.121 0.777 2.916 0 0 0 45 StoveBurner -3.148 0.958 2.374 0 0 0 46 Sink -1.797 0.917 3.660 0 0 0 47 Cabinet -1.421 0.388 3.459 0 0 0 48 StoveBurner -3.424 0.958 2.374 0 0 0 49 Cabinet -3.365 1.931 2.676 0 0 0 50 StoveBurner -3.424 0.958 1.971 0 0 0 51 CounterTop -3.381 0.951 1.356 0 0 0 52 Drawer -3.121 0.781 3.295 0 0 0 53 Cabinet -2.205 0.388 3.459 0 0 0 54 Cabinet -2.963 0.388 3.459 0 0 0 55 Cabinet -2.992 0.388 2.683 0 0 0 56 Cabinet -3.352 2.205 1.715 0 0 0 57 Cabinet -3.352 2.205 2.653 0 0 0 58 Cabinet -2.189 0.388 3.466 0 0 0 59 Cabinet -3.365 1.931 3.963 0 0 0 60 Cabinet -3.365 1.931 1.056 0 0 0 61 Cabinet -2.992 0.388 1.037 0 0 0 62 StoveBurner -3.143 0.958 1.971 0 0 0 63 StoveKnob -3.599 1.110 2.017 0 0 105.000 64 StoveKnob -3.599 1.110 1.867 0 0 105.000 65 StoveKnob -3.599 1.110 2.267 0 0 105.000 66 StoveKnob -3.599 1.110 2.427 0 0 105.000 67 Toaster -2.654 0.902 4.064 0 180 0 68 Fridge -0.439 0.014 3.996 0 0 0 69 LightSwitch 0.25 1.383 2.085 0 270 0 70 Window -1.430 1.338 -0.347 90 0 0 71 CoffeeMachine -3.550 0.902 3.274 0 90 0 72 SinkBasin -1.802 0.778 3.700 0 0 0 73 Microwave -3.484 1.430 2.182 0 90 0 74 GarbageCan -1.184 -0.020 3.794 0 270 0 75 Blinds -1.404 2.092 -0.296 0 0 0 76 Stool -1.373 0.014 1.048 1.214 20.754 0 77 Faucet -1.788 0.903 3.931 270 90 0 78 DiningTable -1.399 0.010 0.238 0 0 0 79 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Walk behind you to the kitchen table on the right side. | STEP 2: Pick up a pot from the table. | STEP 3: Walk around the table to the kitchen sink. | STEP 4: Put the pot in the sink, wash it, then pick it up again. | STEP 5: Walk to the kitchen counter near the coffee maker on your left. | STEP 6: Put the pot in front of the coffee make. | END" ]
[ [ "STEP 1: Walk behind you to the kitchen table on the right side. ", " STEP 2: Pick up a pot from the table. ", " STEP 3: Walk around the table to the kitchen sink. ", " STEP 4: Put the pot in the sink, wash it, then pick it up again. ", " STEP 5: Walk to the kitchen counter near the coffee maker on your left. ", " STEP 6: Put the pot in front of the coffee make. ", " END" ] ]
seen
trial_T20190908_085754_023780-2
Put a teak kettle full of water on the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.914 1.5 0 90 0 1 ButterKnife -0.994 0.891 0.255 0 90 0 78 2 WineBottle -1.192 0.088 3.852 0 270 0 74 3 WineBottle -2.402 0.916 4.106 0 0 0 42 4 Spatula -3.368 0.930 1.524 0 0 0 51 5 Pot -3.424 0.966 2.374 0 0 0 48 6 Egg -1.815 0.950 4.062 0 0 0 42 7 Cup -0.089 1.541 4.067 0 180 0 68 8 Plate -3.559 0.919 1.189 0 0 0 51 9 Knife -3.126 0.769 1.202 0 90 0 43 10 Tomato -0.790 1.054 3.926 0 180 0 68 11 Tomato -3.272 0.984 3.827 0 0 0 42 12 Bowl -1.711 0.914 4.146 0 0 0 42 13 Bowl -1.504 0.914 4.146 0 0 0 42 14 SaltShaker -3.097 0.743 3.083 0 0 0 44 15 Lettuce -1.127 0.977 0.358 0 90 0 78 16 Lettuce -1.523 0.977 0.255 0 90 0 78 17 Bread -0.556 1.067 3.863 0 180 0 68 18 Mug -3.442 1.541 2.120 0 90 0 73 19 Egg -3.568 1.581 2.068 0 90 0 73 20 Knife -3.155 0.768 1.510 0 270 0 43 21 Fork -1.655 0.892 0.049 0 90 0 78 22 Bread -1.127 0.972 0.049 0 90 0 78 23 Potato -1.919 0.947 4.188 0 0 0 42 24 Plate -3.176 0.919 1.357 0 0 0 51 25 Pot -3.424 0.966 1.971 0 0 0 50 26 Kettle -1.391 0.892 0.461 0 90 0 78 27 WineBottle -3.081 0.916 1.106 0 0 0 51 28 Bowl -3.540 1.458 2.846 0 0 0 49 29 Tomato -2.402 0.984 3.567 0 0 0 42 30 Cup -3.654 0.915 1.524 0 0 0 51 31 Spatula -3.068 0.760 1.356 0 90 0 43 32 SoapBottle -3.073 0.083 1.591 0 0 0 61 33 Lettuce -1.523 0.977 -0.053 0 90 0 78 34 Pan -2.614 0.902 3.620 0 0 0 42 35 Apple -3.272 0.975 1.106 0 0 0 51 36 SaltShaker -3.492 1.991 2.537 0 0 0 57 37 PepperShaker -2.302 0.911 4.214 0 0 0 42 38 ButterKnife -3.176 0.915 3.499 0 0 0 42 39 DishSponge -1.127 0.891 0.564 0 90 0 78 40 Spoon -3.068 0.747 2.916 0 90 0 44 41 Mug -1.787 0.886 0.255 0 90 0 78 42 CounterTop -3.381 0.950 3.335 0 0 0 43 Drawer -3.121 0.775 1.357 0 0 0 44 Drawer -3.121 0.777 2.916 0 0 0 45 StoveBurner -3.148 0.958 2.374 0 0 0 46 Sink -1.797 0.917 3.660 0 0 0 47 Cabinet -1.421 0.388 3.459 0 0 0 48 StoveBurner -3.424 0.958 2.374 0 0 0 49 Cabinet -3.365 1.931 2.676 0 0 0 50 StoveBurner -3.424 0.958 1.971 0 0 0 51 CounterTop -3.381 0.951 1.356 0 0 0 52 Drawer -3.121 0.781 3.295 0 0 0 53 Cabinet -2.205 0.388 3.459 0 0 0 54 Cabinet -2.963 0.388 3.459 0 0 0 55 Cabinet -2.992 0.388 2.683 0 0 0 56 Cabinet -3.352 2.205 1.715 0 0 0 57 Cabinet -3.352 2.205 2.653 0 0 0 58 Cabinet -2.189 0.388 3.466 0 0 0 59 Cabinet -3.365 1.931 3.963 0 0 0 60 Cabinet -3.365 1.931 1.056 0 0 0 61 Cabinet -2.992 0.388 1.037 0 0 0 62 StoveBurner -3.143 0.958 1.971 0 0 0 63 StoveKnob -3.599 1.110 2.017 0 0 105.000 64 StoveKnob -3.599 1.110 1.867 0 0 105.000 65 StoveKnob -3.599 1.110 2.267 0 0 105.000 66 StoveKnob -3.599 1.110 2.427 0 0 105.000 67 Toaster -2.654 0.902 4.064 0 180 0 68 Fridge -0.439 0.014 3.996 0 0 0 69 LightSwitch 0.25 1.383 2.085 0 270 0 70 Window -1.430 1.338 -0.347 90 0 0 71 CoffeeMachine -3.550 0.902 3.274 0 90 0 72 SinkBasin -1.802 0.778 3.700 0 0 0 73 Microwave -3.484 1.430 2.182 0 90 0 74 GarbageCan -1.184 -0.020 3.794 0 270 0 75 Blinds -1.404 2.092 -0.296 0 0 0 76 Stool -1.373 0.014 1.048 1.214 20.754 0 77 Faucet -1.788 0.903 3.931 270 90 0 78 DiningTable -1.399 0.010 0.238 0 0 0 79 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn around and walk to the white table on your left. | STEP 2: Pick up the silver tea kettle from the table. | STEP 3: Turn back around and go to the sink behind you. | STEP 4: Place the tea kettle in the sink, turn the water on, fill the tea kettle with water, turn off the water, and remove the tea kettle from the sink. | STEP 5: Turn to your left and go to the counter across from you with the coffee maker on it. | STEP 6: Place the tea kettle on the counter, in front of the coffee maker. | END" ]
[ [ "STEP 1: Turn around and walk to the white table on your left. ", " STEP 2: Pick up the silver tea kettle from the table. ", " STEP 3: Turn back around and go to the sink behind you. ", " STEP 4: Place the tea kettle in the sink, turn the water on, fill the tea kettle with water, turn off the water, and remove the tea kettle from the sink. ", " STEP 5: Turn to your left and go to the counter across from you with the coffee maker on it. ", " STEP 6: Place the tea kettle on the counter, in front of the coffee maker. ", " END" ] ]
seen
trial_T20190909_011855_674463-0
Examine the statue under the light near the desk
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.0", " 0.906", " -0.75", " 0", " 180", " 0", "" ], [ "1", " CD", " -0.036", " 0.089", " -1.492", " 0", " 270", " 0", " 27" ], [ "2", " CellPhone", " -0.792", " 0.983", " -1.362", " 0", " 0", " 0", " 36" ], [ "3", " CellPhone", " -1.198", " 0.982", " -1.281", " 0", " 0", " 0", " 36" ], [ "4", " Pencil", " -0.036", " 0.093", " -1.608", " 0", " 270", " 0", " 27" ], [ "5", " Pencil", " -1.413", " 0.742", " -1.345", " 0", " 0", " 0", " 35" ], [ "6", " CreditCard", " -0.995", " 0.981", " -1.443", " 0", " 0", " 0", " 36" ], [ "7", " Pillow", " -1.571", " 0.952", " 2.039", " 0", " 0", " 0", " 30" ], [ "8", " Laptop", " -1.026", " 0.894", " 1.453", " 0", " 0", " 0", " 30" ], [ "9", " Book", " -1.572", " 1.537", " -1.632", " 0", " 0", " 0", " 38" ], [ "10", " Box", " 1.563", " 0.286", " -1.069", " 0", " 347.500", " 0", "" ], [ "11", " BasketBall", " -1.657", " 0.126", " -0.090", " 0", " 0", " 0", "" ], [ "12", " Pen", " -1.572", " 1.542", " -1.514", " 0", " 0", " 0", " 38" ], [ "13", " Pencil", " -1.151", " 0.425", " -1.390", " 0", " 0", " 0", " 37" ], [ "14", " Laptop", " -1.603", " 0.980", " -1.524", " 0", " 0", " 0", " 36" ], [ "15", " Pillow", " -1.280", " 0.917", " 0.478", " 0", " 0", " 0", " 30" ], [ "16", " KeyChain", " -0.590", " 0.981", " -1.281", " 0", " 0", " 0", " 36" ], [ "17", " Bowl", " -0.387", " 0.982", " -1.281", " 0", " 0", " 0", " 36" ], [ "18", " CreditCard", " -0.995", " 0.982", " -1.687", " 0", " 0", " 0", " 36" ], [ "19", " CellPhone", " -0.387", " 0.982", " -1.606", " 0", " 0", " 0", " 36" ], [ "20", " CD", " -1.326", " 0.738", " -1.255", " 0", " 0", " 0", " 35" ], [ "21", " AlarmClock", " -0.811", " 1.537", " -1.671", " 0", " 0", " 0", " 38" ], [ "22", " Mug", " -0.995", " 0.979", " -1.200", " 0", " 0", " 0", " 36" ], [ "23", " Statue", " -0.590", " 0.988", " -1.524", " 0", " 0", " 0", " 36" ], [ "24", " Mirror", " 1.907", " 1.387", " 0.973", " 0", " 90", " 0", "" ], [ "25", " LaundryHamper", " -0.351", " 0.007", " 2.368", " 0", " 164.999", " 0", "" ], [ "26", " DeskLamp", " -0.343", " 1.545", " -1.564", " 0", " 0", " 0", "" ], [ "27", " GarbageCan", " -0.035", " 0.007", " -1.530", " 0", " 270", " 0", "" ], [ "28", " Window", " 1.009", " 1.514", " -2.089", " 90", " 0", " 0", "" ], [ "29", " LightSwitch", " 0.397", " 1.197", " 2.729", " 0", " 180", " 0", "" ], [ "30", " Bed", " -1.299", " 1.937", " 1.441", " 0", " 0", " 0", "" ], [ "31", " Blinds", " 1.064", " 2.382", " -2.094", " 0", " 0", " 0", "" ], [ "32", " Chair", " 0.884", " 0.012", " -1.433", " 0", " 29.871", " 0", "" ], [ "33", " Chair", " -0.646", " 0.007", " -1.206", " 0", " 195.000", " 0", "" ], [ "34", " Drawer", " -1.409", " 0.233", " -1.303", " 0", " 0", " 0", "" ], [ "35", " Drawer", " -1.407", " 0.847", " -1.302", " 0", " 0", " 0", "" ], [ "36", " Desk", " -0.993", " 0.006", " -1.410", " 0", " 0", " 0", "" ], [ "37", " Drawer", " -1.408", " 0.558", " -1.302", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 0.003", " 0.013", " 0.035", " 0", " 0", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.906 -0.75 0 180 0 1 CD -0.036 0.089 -1.492 0 270 0 27 2 CellPhone -0.792 0.983 -1.362 0 0 0 36 3 CellPhone -1.198 0.982 -1.281 0 0 0 36 4 Pencil -0.036 0.093 -1.608 0 270 0 27 5 Pencil -1.413 0.742 -1.345 0 0 0 35 6 CreditCard -0.995 0.981 -1.443 0 0 0 36 7 Pillow -1.571 0.952 2.039 0 0 0 30 8 Laptop -1.026 0.894 1.453 0 0 0 30 9 Book -1.572 1.537 -1.632 0 0 0 38 10 Box 1.563 0.286 -1.069 0 347.500 0 11 BasketBall -1.657 0.126 -0.090 0 0 0 12 Pen -1.572 1.542 -1.514 0 0 0 38 13 Pencil -1.151 0.425 -1.390 0 0 0 37 14 Laptop -1.603 0.980 -1.524 0 0 0 36 15 Pillow -1.280 0.917 0.478 0 0 0 30 16 KeyChain -0.590 0.981 -1.281 0 0 0 36 17 Bowl -0.387 0.982 -1.281 0 0 0 36 18 CreditCard -0.995 0.982 -1.687 0 0 0 36 19 CellPhone -0.387 0.982 -1.606 0 0 0 36 20 CD -1.326 0.738 -1.255 0 0 0 35 21 AlarmClock -0.811 1.537 -1.671 0 0 0 38 22 Mug -0.995 0.979 -1.200 0 0 0 36 23 Statue -0.590 0.988 -1.524 0 0 0 36 24 Mirror 1.907 1.387 0.973 0 90 0 25 LaundryHamper -0.351 0.007 2.368 0 164.999 0 26 DeskLamp -0.343 1.545 -1.564 0 0 0 27 GarbageCan -0.035 0.007 -1.530 0 270 0 28 Window 1.009 1.514 -2.089 90 0 0 29 LightSwitch 0.397 1.197 2.729 0 180 0 30 Bed -1.299 1.937 1.441 0 0 0 31 Blinds 1.064 2.382 -2.094 0 0 0 32 Chair 0.884 0.012 -1.433 0 29.871 0 33 Chair -0.646 0.007 -1.206 0 195.000 0 34 Drawer -1.409 0.233 -1.303 0 0 0 35 Drawer -1.407 0.847 -1.302 0 0 0 36 Desk -0.993 0.006 -1.410 0 0 0 37 Drawer -1.408 0.558 -1.302 0 0 0 38 Shelf 0.003 0.013 0.035 0 0 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn right and make your way to the left edge of the desk | STEP 2: Pick up the statue from the desk | STEP 3: Turn left and go to the wall | STEP 4: Turn the light on | END" ]
[ [ "STEP 1: Turn right and make your way to the left edge of the desk ", " STEP 2: Pick up the statue from the desk ", " STEP 3: Turn left and go to the wall ", " STEP 4: Turn the light on ", " END" ] ]
seen
trial_T20190909_011855_674463-1
Pick up a statue and turn a lamp on.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.0", " 0.906", " -0.75", " 0", " 180", " 0", "" ], [ "1", " CD", " -0.036", " 0.089", " -1.492", " 0", " 270", " 0", " 27" ], [ "2", " CellPhone", " -0.792", " 0.983", " -1.362", " 0", " 0", " 0", " 36" ], [ "3", " CellPhone", " -1.198", " 0.982", " -1.281", " 0", " 0", " 0", " 36" ], [ "4", " Pencil", " -0.036", " 0.093", " -1.608", " 0", " 270", " 0", " 27" ], [ "5", " Pencil", " -1.413", " 0.742", " -1.345", " 0", " 0", " 0", " 35" ], [ "6", " CreditCard", " -0.995", " 0.981", " -1.443", " 0", " 0", " 0", " 36" ], [ "7", " Pillow", " -1.571", " 0.952", " 2.039", " 0", " 0", " 0", " 30" ], [ "8", " Laptop", " -1.026", " 0.894", " 1.453", " 0", " 0", " 0", " 30" ], [ "9", " Book", " -1.572", " 1.537", " -1.632", " 0", " 0", " 0", " 38" ], [ "10", " Box", " 1.563", " 0.286", " -1.069", " 0", " 347.500", " 0", "" ], [ "11", " BasketBall", " -1.657", " 0.126", " -0.090", " 0", " 0", " 0", "" ], [ "12", " Pen", " -1.572", " 1.542", " -1.514", " 0", " 0", " 0", " 38" ], [ "13", " Pencil", " -1.151", " 0.425", " -1.390", " 0", " 0", " 0", " 37" ], [ "14", " Laptop", " -1.603", " 0.980", " -1.524", " 0", " 0", " 0", " 36" ], [ "15", " Pillow", " -1.280", " 0.917", " 0.478", " 0", " 0", " 0", " 30" ], [ "16", " KeyChain", " -0.590", " 0.981", " -1.281", " 0", " 0", " 0", " 36" ], [ "17", " Bowl", " -0.387", " 0.982", " -1.281", " 0", " 0", " 0", " 36" ], [ "18", " CreditCard", " -0.995", " 0.982", " -1.687", " 0", " 0", " 0", " 36" ], [ "19", " CellPhone", " -0.387", " 0.982", " -1.606", " 0", " 0", " 0", " 36" ], [ "20", " CD", " -1.326", " 0.738", " -1.255", " 0", " 0", " 0", " 35" ], [ "21", " AlarmClock", " -0.811", " 1.537", " -1.671", " 0", " 0", " 0", " 38" ], [ "22", " Mug", " -0.995", " 0.979", " -1.200", " 0", " 0", " 0", " 36" ], [ "23", " Statue", " -0.590", " 0.988", " -1.524", " 0", " 0", " 0", " 36" ], [ "24", " Mirror", " 1.907", " 1.387", " 0.973", " 0", " 90", " 0", "" ], [ "25", " LaundryHamper", " -0.351", " 0.007", " 2.368", " 0", " 164.999", " 0", "" ], [ "26", " DeskLamp", " -0.343", " 1.545", " -1.564", " 0", " 0", " 0", "" ], [ "27", " GarbageCan", " -0.035", " 0.007", " -1.530", " 0", " 270", " 0", "" ], [ "28", " Window", " 1.009", " 1.514", " -2.089", " 90", " 0", " 0", "" ], [ "29", " LightSwitch", " 0.397", " 1.197", " 2.729", " 0", " 180", " 0", "" ], [ "30", " Bed", " -1.299", " 1.937", " 1.441", " 0", " 0", " 0", "" ], [ "31", " Blinds", " 1.064", " 2.382", " -2.094", " 0", " 0", " 0", "" ], [ "32", " Chair", " 0.884", " 0.012", " -1.433", " 0", " 29.871", " 0", "" ], [ "33", " Chair", " -0.646", " 0.007", " -1.206", " 0", " 195.000", " 0", "" ], [ "34", " Drawer", " -1.409", " 0.233", " -1.303", " 0", " 0", " 0", "" ], [ "35", " Drawer", " -1.407", " 0.847", " -1.302", " 0", " 0", " 0", "" ], [ "36", " Desk", " -0.993", " 0.006", " -1.410", " 0", " 0", " 0", "" ], [ "37", " Drawer", " -1.408", " 0.558", " -1.302", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 0.003", " 0.013", " 0.035", " 0", " 0", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.906 -0.75 0 180 0 1 CD -0.036 0.089 -1.492 0 270 0 27 2 CellPhone -0.792 0.983 -1.362 0 0 0 36 3 CellPhone -1.198 0.982 -1.281 0 0 0 36 4 Pencil -0.036 0.093 -1.608 0 270 0 27 5 Pencil -1.413 0.742 -1.345 0 0 0 35 6 CreditCard -0.995 0.981 -1.443 0 0 0 36 7 Pillow -1.571 0.952 2.039 0 0 0 30 8 Laptop -1.026 0.894 1.453 0 0 0 30 9 Book -1.572 1.537 -1.632 0 0 0 38 10 Box 1.563 0.286 -1.069 0 347.500 0 11 BasketBall -1.657 0.126 -0.090 0 0 0 12 Pen -1.572 1.542 -1.514 0 0 0 38 13 Pencil -1.151 0.425 -1.390 0 0 0 37 14 Laptop -1.603 0.980 -1.524 0 0 0 36 15 Pillow -1.280 0.917 0.478 0 0 0 30 16 KeyChain -0.590 0.981 -1.281 0 0 0 36 17 Bowl -0.387 0.982 -1.281 0 0 0 36 18 CreditCard -0.995 0.982 -1.687 0 0 0 36 19 CellPhone -0.387 0.982 -1.606 0 0 0 36 20 CD -1.326 0.738 -1.255 0 0 0 35 21 AlarmClock -0.811 1.537 -1.671 0 0 0 38 22 Mug -0.995 0.979 -1.200 0 0 0 36 23 Statue -0.590 0.988 -1.524 0 0 0 36 24 Mirror 1.907 1.387 0.973 0 90 0 25 LaundryHamper -0.351 0.007 2.368 0 164.999 0 26 DeskLamp -0.343 1.545 -1.564 0 0 0 27 GarbageCan -0.035 0.007 -1.530 0 270 0 28 Window 1.009 1.514 -2.089 90 0 0 29 LightSwitch 0.397 1.197 2.729 0 180 0 30 Bed -1.299 1.937 1.441 0 0 0 31 Blinds 1.064 2.382 -2.094 0 0 0 32 Chair 0.884 0.012 -1.433 0 29.871 0 33 Chair -0.646 0.007 -1.206 0 195.000 0 34 Drawer -1.409 0.233 -1.303 0 0 0 35 Drawer -1.407 0.847 -1.302 0 0 0 36 Desk -0.993 0.006 -1.410 0 0 0 37 Drawer -1.408 0.558 -1.302 0 0 0 38 Shelf 0.003 0.013 0.035 0 0 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Move to the right and stand at the end of the desk. | STEP 2: Pick the statue up from the desk. | STEP 3: Turn to the left and face the lamp on the top of the desk. | STEP 4: Turn the lamp on. | END" ]
[ [ "STEP 1: Move to the right and stand at the end of the desk. ", " STEP 2: Pick the statue up from the desk. ", " STEP 3: Turn to the left and face the lamp on the top of the desk. ", " STEP 4: Turn the lamp on. ", " END" ] ]
seen
trial_T20190909_011855_674463-2
turn on desk lamp with statue in hand
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[ "STEP 1: walk to face left side of desk | STEP 2: pick up human figurine statue from desk | STEP 3: turn left to face wall to left of desk | STEP 4: turn on lamp above the desk | END" ]
[ [ "STEP 1: walk to face left side of desk ", " STEP 2: pick up human figurine statue from desk ", " STEP 3: turn left to face wall to left of desk ", " STEP 4: turn on lamp above the desk ", " END" ] ]
seen
trial_T20190907_192722_315071-0
Put a sponge on the back of the toilet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.909 1.5 0 90 0 1 SoapBar -2.340 1.104 2.905 0 0 0 22 2 SprayBottle -0.888 1.072 0.363 0 0 0 41 3 Towel 0.861 1.358 2.855 0 270 0 33 4 ToiletPaper -0.418 1.101 3.060 0 0 0 22 5 HandTowel -0.242 1.76 3.427 0 0 0 39 6 Plunger -0.219 0.026 0.490 0 0 0 7 SoapBar -0.127 0.071 3.217 0 270 0 37 8 ToiletPaper -0.560 1.067 0.302 0 0 0 41 9 SoapBottle -1.284 1.106 2.905 0 0 0 22 10 ToiletPaper -0.888 1.067 0.271 0 0 0 41 11 Towel 0.402 1.389 3.359 0 0 0 34 12 PaperTowelRoll -0.145 0.178 3.312 0 270 0 37 13 ScrubBrush -0.351 0.026 0.353 0 0 0 14 Cloth -2.725 0.111 0.634 0 0 0 35 15 Candle -2.607 0.597 1.550 0 0 0 36 16 DishSponge -1.298 0.600 1.100 0 0 0 25 17 SprayBottle -2.710 0.599 1.384 0 0 0 36 18 Window -3.447 1.593 0.648 0 0 0 19 Mirror -1.386 1.595 3.464 0 0 0 20 SinkBasin -0.837 0.960 3.091 0 180 0 21 ShowerDoor -2.477 1.774 2.386 0 0 0 22 CounterTop -1.358 1.094 3.151 0 0 0 23 Sink -0.846 0.952 3.144 0 180 0 24 Cabinet -1.399 0.425 2.867 0 0 0 25 Bathtub -2.234 0.288 0.722 0 0 0 26 Cabinet -0.337 0.425 2.867 0 0 0 27 Cabinet -1.362 0.425 2.867 0 0 0 28 Cabinet -2.423 0.425 2.867 0 0 0 29 ShowerGlass -2.895 1.423 2.342 0 0 0 30 Faucet -0.853 1.094 3.367 0 180 0 31 ShowerHead -2.949 2.154 3.427 0 0 0 32 Window -2.190 1.550 0.086 0 0 0 33 TowelHolder 0.967 1.343 2.855 0 270 0 34 TowelHolder 0.402 1.375 3.466 0 180 0 35 BathtubBasin -2.322 0.096 0.634 0 0 0 36 Shelf -2.930 0.589 1.425 0 0 0 37 GarbageCan -0.061 -0.001 3.131 0 270 0 38 LightSwitch 0.968 1.432 1.128 0 270 0 39 HandTowelHolder -0.241 1.861 3.466 0 90 0 40 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 41 Toilet -0.694 0.026 0.656 0 90 0 42 Faucet -1.944 1.094 3.367 0 180 0 43 Sink -1.934 0.952 3.144 0 180 0 44 SinkBasin -1.926 0.960 3.091 0 180 0 45 Faucet -1.342 0.638 0.629 0 90 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Turn around and cross the room to face the tub near the faucet. | STEP 2: Pick the green sponge up from the side of the tub. | STEP 3: Go to the left and face the toilet. | STEP 4: Put the sponge on the back of the toilet. | END" ]
[ [ "STEP 1: Turn around and cross the room to face the tub near the faucet. ", " STEP 2: Pick the green sponge up from the side of the tub. ", " STEP 3: Go to the left and face the toilet. ", " STEP 4: Put the sponge on the back of the toilet. ", " END" ] ]
seen
trial_T20190907_192722_315071-1
move sponge from bath tub to back of toilet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.909 1.5 0 90 0 1 SoapBar -2.340 1.104 2.905 0 0 0 22 2 SprayBottle -0.888 1.072 0.363 0 0 0 41 3 Towel 0.861 1.358 2.855 0 270 0 33 4 ToiletPaper -0.418 1.101 3.060 0 0 0 22 5 HandTowel -0.242 1.76 3.427 0 0 0 39 6 Plunger -0.219 0.026 0.490 0 0 0 7 SoapBar -0.127 0.071 3.217 0 270 0 37 8 ToiletPaper -0.560 1.067 0.302 0 0 0 41 9 SoapBottle -1.284 1.106 2.905 0 0 0 22 10 ToiletPaper -0.888 1.067 0.271 0 0 0 41 11 Towel 0.402 1.389 3.359 0 0 0 34 12 PaperTowelRoll -0.145 0.178 3.312 0 270 0 37 13 ScrubBrush -0.351 0.026 0.353 0 0 0 14 Cloth -2.725 0.111 0.634 0 0 0 35 15 Candle -2.607 0.597 1.550 0 0 0 36 16 DishSponge -1.298 0.600 1.100 0 0 0 25 17 SprayBottle -2.710 0.599 1.384 0 0 0 36 18 Window -3.447 1.593 0.648 0 0 0 19 Mirror -1.386 1.595 3.464 0 0 0 20 SinkBasin -0.837 0.960 3.091 0 180 0 21 ShowerDoor -2.477 1.774 2.386 0 0 0 22 CounterTop -1.358 1.094 3.151 0 0 0 23 Sink -0.846 0.952 3.144 0 180 0 24 Cabinet -1.399 0.425 2.867 0 0 0 25 Bathtub -2.234 0.288 0.722 0 0 0 26 Cabinet -0.337 0.425 2.867 0 0 0 27 Cabinet -1.362 0.425 2.867 0 0 0 28 Cabinet -2.423 0.425 2.867 0 0 0 29 ShowerGlass -2.895 1.423 2.342 0 0 0 30 Faucet -0.853 1.094 3.367 0 180 0 31 ShowerHead -2.949 2.154 3.427 0 0 0 32 Window -2.190 1.550 0.086 0 0 0 33 TowelHolder 0.967 1.343 2.855 0 270 0 34 TowelHolder 0.402 1.375 3.466 0 180 0 35 BathtubBasin -2.322 0.096 0.634 0 0 0 36 Shelf -2.930 0.589 1.425 0 0 0 37 GarbageCan -0.061 -0.001 3.131 0 270 0 38 LightSwitch 0.968 1.432 1.128 0 270 0 39 HandTowelHolder -0.241 1.861 3.466 0 90 0 40 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 41 Toilet -0.694 0.026 0.656 0 90 0 42 Faucet -1.944 1.094 3.367 0 180 0 43 Sink -1.934 0.952 3.144 0 180 0 44 SinkBasin -1.926 0.960 3.091 0 180 0 45 Faucet -1.342 0.638 0.629 0 90 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: turn around, walk forward, stop to face the bath tub on the left | STEP 2: pick up the sponge that is on the bath tub | STEP 3: turn left, walk forward to door, turn right, turn right to face toilet | STEP 4: put the sponge on the back of the toilet | END" ]
[ [ "STEP 1: turn around, walk forward, stop to face the bath tub on the left ", " STEP 2: pick up the sponge that is on the bath tub ", " STEP 3: turn left, walk forward to door, turn right, turn right to face toilet ", " STEP 4: put the sponge on the back of the toilet ", " END" ] ]
seen
trial_T20190907_192722_315071-2
Move a sponge to the toilet tank.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.909 1.5 0 90 0 1 SoapBar -2.340 1.104 2.905 0 0 0 22 2 SprayBottle -0.888 1.072 0.363 0 0 0 41 3 Towel 0.861 1.358 2.855 0 270 0 33 4 ToiletPaper -0.418 1.101 3.060 0 0 0 22 5 HandTowel -0.242 1.76 3.427 0 0 0 39 6 Plunger -0.219 0.026 0.490 0 0 0 7 SoapBar -0.127 0.071 3.217 0 270 0 37 8 ToiletPaper -0.560 1.067 0.302 0 0 0 41 9 SoapBottle -1.284 1.106 2.905 0 0 0 22 10 ToiletPaper -0.888 1.067 0.271 0 0 0 41 11 Towel 0.402 1.389 3.359 0 0 0 34 12 PaperTowelRoll -0.145 0.178 3.312 0 270 0 37 13 ScrubBrush -0.351 0.026 0.353 0 0 0 14 Cloth -2.725 0.111 0.634 0 0 0 35 15 Candle -2.607 0.597 1.550 0 0 0 36 16 DishSponge -1.298 0.600 1.100 0 0 0 25 17 SprayBottle -2.710 0.599 1.384 0 0 0 36 18 Window -3.447 1.593 0.648 0 0 0 19 Mirror -1.386 1.595 3.464 0 0 0 20 SinkBasin -0.837 0.960 3.091 0 180 0 21 ShowerDoor -2.477 1.774 2.386 0 0 0 22 CounterTop -1.358 1.094 3.151 0 0 0 23 Sink -0.846 0.952 3.144 0 180 0 24 Cabinet -1.399 0.425 2.867 0 0 0 25 Bathtub -2.234 0.288 0.722 0 0 0 26 Cabinet -0.337 0.425 2.867 0 0 0 27 Cabinet -1.362 0.425 2.867 0 0 0 28 Cabinet -2.423 0.425 2.867 0 0 0 29 ShowerGlass -2.895 1.423 2.342 0 0 0 30 Faucet -0.853 1.094 3.367 0 180 0 31 ShowerHead -2.949 2.154 3.427 0 0 0 32 Window -2.190 1.550 0.086 0 0 0 33 TowelHolder 0.967 1.343 2.855 0 270 0 34 TowelHolder 0.402 1.375 3.466 0 180 0 35 BathtubBasin -2.322 0.096 0.634 0 0 0 36 Shelf -2.930 0.589 1.425 0 0 0 37 GarbageCan -0.061 -0.001 3.131 0 270 0 38 LightSwitch 0.968 1.432 1.128 0 270 0 39 HandTowelHolder -0.241 1.861 3.466 0 90 0 40 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 41 Toilet -0.694 0.026 0.656 0 90 0 42 Faucet -1.944 1.094 3.367 0 180 0 43 Sink -1.934 0.952 3.144 0 180 0 44 SinkBasin -1.926 0.960 3.091 0 180 0 45 Faucet -1.342 0.638 0.629 0 90 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Turn around and begin walking across the room, then turn left to face the tub. | STEP 2: Pick up the sponge off of the tub. | STEP 3: Turn left and walk towards the door, then hang a right and walk over to the wall, turn right to face the toilet. | STEP 4: Put the sponge on top of the toilet tank standing up. | END" ]
[ [ "STEP 1: Turn around and begin walking across the room, then turn left to face the tub. ", " STEP 2: Pick up the sponge off of the tub. ", " STEP 3: Turn left and walk towards the door, then hang a right and walk over to the wall, turn right to face the toilet. ", " STEP 4: Put the sponge on top of the toilet tank standing up. ", " END" ] ]
seen
trial_T20190919_082125_128173-0
Put the pan with the cut tomato on the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.25 0 180 0 1 Potato -3.565 0.926 -0.119 0 270 0 77 2 Potato -3.949 0.792 -3.696 0 199.125 0 76 3 DishSponge -0.096 1.502 -2.876 0 0 0 40 4 ButterKnife -4.122 0.691 -0.491 0 0 0 75 5 Pot -3.230 0.761 -3.061 0 244.125 0 76 6 Fork -3.954 0.760 -3.337 0 109.125 0 76 7 Spoon -4.002 0.691 -0.248 0 180 0 75 8 Spoon -3.942 0.691 -0.126 0 0 0 75 9 Spatula -0.475 0.765 -2.846 0 90 0 45 10 Egg -0.376 1.327 -0.645 0 270 0 70 11 Egg -0.490 0.854 -3.260 0 315 0 69 12 SoapBottle -4.182 0.689 -0.430 0 0 0 75 13 SoapBottle -3.163 0.892 -0.548 0 270 0 77 14 Tomato -2.354 0.150 -3.538 0 0 0 65 15 Tomato -0.376 1.337 -0.529 0 270 0 70 16 Bowl -0.376 1.284 -0.297 0 270 0 70 17 Apple -4.122 0.751 -0.126 0 0 0 75 18 Apple -4.062 0.752 -0.248 0 0 0 75 19 SoapBottle -3.370 0.758 -3.539 0 109.125 0 76 20 Pot -0.437 0.961 -1.845 0 180 0 41 21 Fork -3.637 0.760 -2.987 0 199.125 0 76 22 Cup -0.283 1.489 -0.994 0 270 0 70 23 Tomato -0.397 0.993 -2.788 0 0 0 40 24 Pan -3.364 0.892 -0.376 0 0 0 77 25 Plate -3.811 0.774 -3.070 0 334.125 0 76 26 Bread -1.471 1.023 -3.673 0 0 0 40 27 Spatula -3.565 0.909 -0.290 0 270 0 77 28 Knife -2.359 0.920 -0.204 0 270 0 77 29 SaltShaker -4.062 0.686 -0.430 0 0 0 75 30 PepperShaker -0.351 0.938 -3.022 0 45 0 40 31 ButterKnife -0.473 0.941 -1.538 0 0 0 58 32 Apple -0.359 1.550 -0.529 0 270 0 70 33 DishSponge -4.242 0.690 -0.308 0 0 0 75 34 Potato -0.283 1.520 -0.762 0 270 0 70 35 Egg -0.701 0.854 -3.627 0 315 0 69 36 Spoon -1.154 0.754 -3.505 0 0 0 46 37 Lettuce -2.560 0.985 -0.548 0 270 0 77 38 Mug -2.514 0.972 -3.649 0 0 0 66 39 Bowl -0.321 1.487 -0.297 0 270 0 70 40 CounterTop -1.937 0.977 -3.673 0 0 0 41 StoveBurner -0.437 0.924 -1.845 0 180 0 42 StoveBurner -0.222 0.924 -1.845 0 180 0 43 StoveBurner -0.437 0.924 -2.243 0 0 0 44 Drawer -0.500 0.779 -1.450 0 0 0 45 Drawer -0.481 0.777 -2.739 0 0 0 46 Drawer -1.154 0.782 -3.499 0 0 0 47 Cabinet -0.337 2.110 -0.390 0 0 0 48 Cabinet -0.337 2.110 -1.272 0 0 0 49 Cabinet -0.337 2.110 -1.631 0 0 0 50 Cabinet -0.337 2.110 -2.497 0 0 0 51 Cabinet -0.337 1.891 -1.286 0 0 0 52 Cabinet -0.346 1.891 -3.293 0 0 0 53 Cabinet -0.629 0.388 -2.513 0 0 0 54 Cabinet -0.633 0.388 -3.008 0 0 0 55 Cabinet -1.010 0.388 -3.368 0 0 0 56 Cabinet -0.629 0.388 -1.614 0 0 0 57 Cabinet -0.327 1.886 -2.513 0 0 0 58 CounterTop -0.326 0.976 -1.450 0 0 0 59 StoveBurner -0.222 0.924 -2.243 0 0 0 60 Sink -0.600 0.929 -3.388 0 0 0 61 StoveKnob -0.617 0.899 -1.833 315 90 180 62 StoveKnob -0.617 0.899 -2.129 315 90 180 63 StoveKnob -0.617 0.899 -2.289 315 90 180 64 StoveKnob -0.617 0.899 -1.975 315 90 180 65 GarbageCan -2.418 -0.032 -3.541 0 0 0 66 CoffeeMachine -2.513 0.930 -3.797 0 0 0 67 Window -1.389 1.610 -4.113 90 0 0 68 LightSwitch -4.372 1.493 -1.031 0 90 0 69 SinkBasin -0.614 0.802 -3.384 0 315 0 70 Fridge -0.314 0.0 -0.646 0 0 0 71 Toaster -1.970 0.930 -3.763 0 0 0 72 Microwave -0.216 1.470 -2.054 0 270 0 73 Blinds -1.373 2.205 -3.961 0 0 0 74 Faucet -0.393 0.930 -3.614 270 225 0 75 SideTable -4.030 0.002 -0.301 0 185.034 0 76 DiningTable -3.586 0.000 -3.258 0 0 0 77 DiningTable -3.224 -0.003 -0.453 0 0 0 78 Shelf -4.030 0.259 -0.301 0 185.034 0 79 Shelf -4.030 0.489 -0.301 0 185.034 0 80 EastWall 81 EastWall 82 SouthWall
[ "STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left and walk towards the door then turn left towards the counter with the coffee maker on it. | STEP 4: Slice the tomato in the green can under the counter. | STEP 5: Turn right then turn left towards the green can again. | STEP 6: Put the knife inside the green can. | STEP 7: Step to your left and face the can again | STEP 8: Take a tomato slice out of the can. | STEP 9: Turn around and walk to the white table behind you. | STEP 10: Put the tomato slice in the pan on the white table. | STEP 11: Pick up the pan from the table. | STEP 12: Turn around an walk towards the round black table then turn left and walk to the counter to the left of the stove. | STEP 13: Put the pan on the counter. | END" ]
[ [ "STEP 1: Turn around and walk to the counter to the left of the stove. ", " STEP 2: Pick up the knife from the counter. ", " STEP 3: Turn left and walk towards the door then turn left towards the counter with the coffee maker on it. ", " STEP 4: Slice the tomato in the green can under the counter. ", " STEP 5: Turn right then turn left towards the green can again. ", " STEP 6: Put the knife inside the green can. ", " STEP 7: Step to your left and face the can again ", " STEP 8: Take a tomato slice out of the can. ", " STEP 9: Turn around and walk to the white table behind you. ", " STEP 10: Put the tomato slice in the pan on the white table. ", " STEP 11: Pick up the pan from the table. ", " STEP 12: Turn around an walk towards the round black table then turn left and walk to the counter to the left of the stove. ", " STEP 13: Put the pan on the counter. ", " END" ] ]
seen
trial_T20190919_082125_128173-1
Slice an apple, grab a slice put it in the pan
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0", " 0", " 0", "" ], [ "49", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "58", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "60", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.25 0 180 0 1 Potato -3.565 0.926 -0.119 0 270 0 77 2 Potato -3.949 0.792 -3.696 0 199.125 0 76 3 DishSponge -0.096 1.502 -2.876 0 0 0 40 4 ButterKnife -4.122 0.691 -0.491 0 0 0 75 5 Pot -3.230 0.761 -3.061 0 244.125 0 76 6 Fork -3.954 0.760 -3.337 0 109.125 0 76 7 Spoon -4.002 0.691 -0.248 0 180 0 75 8 Spoon -3.942 0.691 -0.126 0 0 0 75 9 Spatula -0.475 0.765 -2.846 0 90 0 45 10 Egg -0.376 1.327 -0.645 0 270 0 70 11 Egg -0.490 0.854 -3.260 0 315 0 69 12 SoapBottle -4.182 0.689 -0.430 0 0 0 75 13 SoapBottle -3.163 0.892 -0.548 0 270 0 77 14 Tomato -2.354 0.150 -3.538 0 0 0 65 15 Tomato -0.376 1.337 -0.529 0 270 0 70 16 Bowl -0.376 1.284 -0.297 0 270 0 70 17 Apple -4.122 0.751 -0.126 0 0 0 75 18 Apple -4.062 0.752 -0.248 0 0 0 75 19 SoapBottle -3.370 0.758 -3.539 0 109.125 0 76 20 Pot -0.437 0.961 -1.845 0 180 0 41 21 Fork -3.637 0.760 -2.987 0 199.125 0 76 22 Cup -0.283 1.489 -0.994 0 270 0 70 23 Tomato -0.397 0.993 -2.788 0 0 0 40 24 Pan -3.364 0.892 -0.376 0 0 0 77 25 Plate -3.811 0.774 -3.070 0 334.125 0 76 26 Bread -1.471 1.023 -3.673 0 0 0 40 27 Spatula -3.565 0.909 -0.290 0 270 0 77 28 Knife -2.359 0.920 -0.204 0 270 0 77 29 SaltShaker -4.062 0.686 -0.430 0 0 0 75 30 PepperShaker -0.351 0.938 -3.022 0 45 0 40 31 ButterKnife -0.473 0.941 -1.538 0 0 0 58 32 Apple -0.359 1.550 -0.529 0 270 0 70 33 DishSponge -4.242 0.690 -0.308 0 0 0 75 34 Potato -0.283 1.520 -0.762 0 270 0 70 35 Egg -0.701 0.854 -3.627 0 315 0 69 36 Spoon -1.154 0.754 -3.505 0 0 0 46 37 Lettuce -2.560 0.985 -0.548 0 270 0 77 38 Mug -2.514 0.972 -3.649 0 0 0 66 39 Bowl -0.321 1.487 -0.297 0 270 0 70 40 CounterTop -1.937 0.977 -3.673 0 0 0 41 StoveBurner -0.437 0.924 -1.845 0 180 0 42 StoveBurner -0.222 0.924 -1.845 0 180 0 43 StoveBurner -0.437 0.924 -2.243 0 0 0 44 Drawer -0.500 0.779 -1.450 0 0 0 45 Drawer -0.481 0.777 -2.739 0 0 0 46 Drawer -1.154 0.782 -3.499 0 0 0 47 Cabinet -0.337 2.110 -0.390 0 0 0 48 Cabinet -0.337 2.110 -1.272 0 0 0 49 Cabinet -0.337 2.110 -1.631 0 0 0 50 Cabinet -0.337 2.110 -2.497 0 0 0 51 Cabinet -0.337 1.891 -1.286 0 0 0 52 Cabinet -0.346 1.891 -3.293 0 0 0 53 Cabinet -0.629 0.388 -2.513 0 0 0 54 Cabinet -0.633 0.388 -3.008 0 0 0 55 Cabinet -1.010 0.388 -3.368 0 0 0 56 Cabinet -0.629 0.388 -1.614 0 0 0 57 Cabinet -0.327 1.886 -2.513 0 0 0 58 CounterTop -0.326 0.976 -1.450 0 0 0 59 StoveBurner -0.222 0.924 -2.243 0 0 0 60 Sink -0.600 0.929 -3.388 0 0 0 61 StoveKnob -0.617 0.899 -1.833 315 90 180 62 StoveKnob -0.617 0.899 -2.129 315 90 180 63 StoveKnob -0.617 0.899 -2.289 315 90 180 64 StoveKnob -0.617 0.899 -1.975 315 90 180 65 GarbageCan -2.418 -0.032 -3.541 0 0 0 66 CoffeeMachine -2.513 0.930 -3.797 0 0 0 67 Window -1.389 1.610 -4.113 90 0 0 68 LightSwitch -4.372 1.493 -1.031 0 90 0 69 SinkBasin -0.614 0.802 -3.384 0 315 0 70 Fridge -0.314 0.0 -0.646 0 0 0 71 Toaster -1.970 0.930 -3.763 0 0 0 72 Microwave -0.216 1.470 -2.054 0 270 0 73 Blinds -1.373 2.205 -3.961 0 0 0 74 Faucet -0.393 0.930 -3.614 270 225 0 75 SideTable -4.030 0.002 -0.301 0 185.034 0 76 DiningTable -3.586 0.000 -3.258 0 0 0 77 DiningTable -3.224 -0.003 -0.453 0 0 0 78 Shelf -4.030 0.259 -0.301 0 185.034 0 79 Shelf -4.030 0.489 -0.301 0 185.034 0 80 EastWall 81 EastWall 82 SouthWall
[ "STEP 1: Walk towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the coffee machine | STEP 4: Cut the apple on the bottom of the counter | STEP 5: Walk towards the table and come back to the counter | STEP 6: Slice the apple on the bottom of the counter | STEP 7: Walk away and come back to the counter | STEP 8: Grab a slice of the apple | STEP 9: Walk with the slice of the apple towards the white table | STEP 10: Put the slice of the apple on the pan | STEP 11: Take the pan from the counter | STEP 12: Walk with the pan towards the stove counter | STEP 13: Put the pan next to the stove on the counter | END" ]
[ [ "STEP 1: Walk towards the counter ", " STEP 2: Grab the knife from the counter ", " STEP 3: Walk with the knife towards the coffee machine ", " STEP 4: Cut the apple on the bottom of the counter ", " STEP 5: Walk towards the table and come back to the counter ", " STEP 6: Slice the apple on the bottom of the counter ", " STEP 7: Walk away and come back to the counter ", " STEP 8: Grab a slice of the apple ", " STEP 9: Walk with the slice of the apple towards the white table ", " STEP 10: Put the slice of the apple on the pan ", " STEP 11: Take the pan from the counter ", " STEP 12: Walk with the pan towards the stove counter ", " STEP 13: Put the pan next to the stove on the counter ", " END" ] ]
seen
trial_T20190919_082125_128173-2
Put a pan with sliced tomato in it on the counter
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.900", " -2.25", " 0", " 180", " 0", "" ], [ "1", " Potato", " -3.565", " 0.926", " -0.119", " 0", " 270", " 0", " 77" ], [ "2", " Potato", " -3.949", " 0.792", " -3.696", " 0", " 199.125", " 0", " 76" ], [ "3", " DishSponge", " -0.096", " 1.502", " -2.876", " 0", " 0", " 0", " 40" ], [ "4", " ButterKnife", " -4.122", " 0.691", " -0.491", " 0", " 0", " 0", " 75" ], [ "5", " Pot", " -3.230", " 0.761", " -3.061", " 0", " 244.125", " 0", " 76" ], [ "6", " Fork", " -3.954", " 0.760", " -3.337", " 0", " 109.125", " 0", " 76" ], [ "7", " Spoon", " -4.002", " 0.691", " -0.248", " 0", " 180", " 0", " 75" ], [ "8", " Spoon", " -3.942", " 0.691", " -0.126", " 0", " 0", " 0", " 75" ], [ "9", " Spatula", " -0.475", " 0.765", " -2.846", " 0", " 90", " 0", " 45" ], [ "10", " Egg", " -0.376", " 1.327", " -0.645", " 0", " 270", " 0", " 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0.993", " -2.788", " 0", " 0", " 0", " 40" ], [ "24", " Pan", " -3.364", " 0.892", " -0.376", " 0", " 0", " 0", " 77" ], [ "25", " Plate", " -3.811", " 0.774", " -3.070", " 0", " 334.125", " 0", " 76" ], [ "26", " Bread", " -1.471", " 1.023", " -3.673", " 0", " 0", " 0", " 40" ], [ "27", " Spatula", " -3.565", " 0.909", " -0.290", " 0", " 270", " 0", " 77" ], [ "28", " Knife", " -2.359", " 0.920", " -0.204", " 0", " 270", " 0", " 77" ], [ "29", " SaltShaker", " -4.062", " 0.686", " -0.430", " 0", " 0", " 0", " 75" ], [ "30", " PepperShaker", " -0.351", " 0.938", " -3.022", " 0", " 45", " 0", " 40" ], [ "31", " ButterKnife", " -0.473", " 0.941", " -1.538", " 0", " 0", " 0", " 58" ], [ "32", " Apple", " -0.359", " 1.550", " -0.529", " 0", " 270", " 0", " 70" ], [ "33", " DishSponge", " -4.242", " 0.690", " -0.308", " 0", " 0", " 0", " 75" ], [ "34", " Potato", " -0.283", " 1.520", " -0.762", " 0", " 270", " 0", " 70" ], [ "35", " Egg", " -0.701", " 0.854", " -3.627", " 0", " 315", " 0", " 69" ], [ "36", " Spoon", " -1.154", " 0.754", " -3.505", " 0", " 0", " 0", " 46" ], [ "37", " Lettuce", " -2.560", " 0.985", " -0.548", " 0", " 270", " 0", " 77" ], [ "38", " Mug", " -2.514", " 0.972", " -3.649", " 0", " 0", " 0", " 66" ], [ "39", " Bowl", " -0.321", " 1.487", " -0.297", " 0", " 270", " 0", " 70" ], [ "40", " CounterTop", " -1.937", " 0.977", " -3.673", " 0", " 0", " 0", "" ], [ "41", " StoveBurner", " -0.437", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "42", " StoveBurner", " -0.222", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "43", " StoveBurner", " -0.437", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "44", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "45", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "46", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "58", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "60", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "62", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "63", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "64", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "65", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "66", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "67", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "68", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "69", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "70", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "71", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "72", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "73", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "74", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "75", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "76", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "77", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "78", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "79", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "80", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.25 0 180 0 1 Potato -3.565 0.926 -0.119 0 270 0 77 2 Potato -3.949 0.792 -3.696 0 199.125 0 76 3 DishSponge -0.096 1.502 -2.876 0 0 0 40 4 ButterKnife -4.122 0.691 -0.491 0 0 0 75 5 Pot -3.230 0.761 -3.061 0 244.125 0 76 6 Fork -3.954 0.760 -3.337 0 109.125 0 76 7 Spoon -4.002 0.691 -0.248 0 180 0 75 8 Spoon -3.942 0.691 -0.126 0 0 0 75 9 Spatula -0.475 0.765 -2.846 0 90 0 45 10 Egg -0.376 1.327 -0.645 0 270 0 70 11 Egg -0.490 0.854 -3.260 0 315 0 69 12 SoapBottle -4.182 0.689 -0.430 0 0 0 75 13 SoapBottle -3.163 0.892 -0.548 0 270 0 77 14 Tomato -2.354 0.150 -3.538 0 0 0 65 15 Tomato -0.376 1.337 -0.529 0 270 0 70 16 Bowl -0.376 1.284 -0.297 0 270 0 70 17 Apple -4.122 0.751 -0.126 0 0 0 75 18 Apple -4.062 0.752 -0.248 0 0 0 75 19 SoapBottle -3.370 0.758 -3.539 0 109.125 0 76 20 Pot -0.437 0.961 -1.845 0 180 0 41 21 Fork -3.637 0.760 -2.987 0 199.125 0 76 22 Cup -0.283 1.489 -0.994 0 270 0 70 23 Tomato -0.397 0.993 -2.788 0 0 0 40 24 Pan -3.364 0.892 -0.376 0 0 0 77 25 Plate -3.811 0.774 -3.070 0 334.125 0 76 26 Bread -1.471 1.023 -3.673 0 0 0 40 27 Spatula -3.565 0.909 -0.290 0 270 0 77 28 Knife -2.359 0.920 -0.204 0 270 0 77 29 SaltShaker -4.062 0.686 -0.430 0 0 0 75 30 PepperShaker -0.351 0.938 -3.022 0 45 0 40 31 ButterKnife -0.473 0.941 -1.538 0 0 0 58 32 Apple -0.359 1.550 -0.529 0 270 0 70 33 DishSponge -4.242 0.690 -0.308 0 0 0 75 34 Potato -0.283 1.520 -0.762 0 270 0 70 35 Egg -0.701 0.854 -3.627 0 315 0 69 36 Spoon -1.154 0.754 -3.505 0 0 0 46 37 Lettuce -2.560 0.985 -0.548 0 270 0 77 38 Mug -2.514 0.972 -3.649 0 0 0 66 39 Bowl -0.321 1.487 -0.297 0 270 0 70 40 CounterTop -1.937 0.977 -3.673 0 0 0 41 StoveBurner -0.437 0.924 -1.845 0 180 0 42 StoveBurner -0.222 0.924 -1.845 0 180 0 43 StoveBurner -0.437 0.924 -2.243 0 0 0 44 Drawer -0.500 0.779 -1.450 0 0 0 45 Drawer -0.481 0.777 -2.739 0 0 0 46 Drawer -1.154 0.782 -3.499 0 0 0 47 Cabinet -0.337 2.110 -0.390 0 0 0 48 Cabinet -0.337 2.110 -1.272 0 0 0 49 Cabinet -0.337 2.110 -1.631 0 0 0 50 Cabinet -0.337 2.110 -2.497 0 0 0 51 Cabinet -0.337 1.891 -1.286 0 0 0 52 Cabinet -0.346 1.891 -3.293 0 0 0 53 Cabinet -0.629 0.388 -2.513 0 0 0 54 Cabinet -0.633 0.388 -3.008 0 0 0 55 Cabinet -1.010 0.388 -3.368 0 0 0 56 Cabinet -0.629 0.388 -1.614 0 0 0 57 Cabinet -0.327 1.886 -2.513 0 0 0 58 CounterTop -0.326 0.976 -1.450 0 0 0 59 StoveBurner -0.222 0.924 -2.243 0 0 0 60 Sink -0.600 0.929 -3.388 0 0 0 61 StoveKnob -0.617 0.899 -1.833 315 90 180 62 StoveKnob -0.617 0.899 -2.129 315 90 180 63 StoveKnob -0.617 0.899 -2.289 315 90 180 64 StoveKnob -0.617 0.899 -1.975 315 90 180 65 GarbageCan -2.418 -0.032 -3.541 0 0 0 66 CoffeeMachine -2.513 0.930 -3.797 0 0 0 67 Window -1.389 1.610 -4.113 90 0 0 68 LightSwitch -4.372 1.493 -1.031 0 90 0 69 SinkBasin -0.614 0.802 -3.384 0 315 0 70 Fridge -0.314 0.0 -0.646 0 0 0 71 Toaster -1.970 0.930 -3.763 0 0 0 72 Microwave -0.216 1.470 -2.054 0 270 0 73 Blinds -1.373 2.205 -3.961 0 0 0 74 Faucet -0.393 0.930 -3.614 270 225 0 75 SideTable -4.030 0.002 -0.301 0 185.034 0 76 DiningTable -3.586 0.000 -3.258 0 0 0 77 DiningTable -3.224 -0.003 -0.453 0 0 0 78 Shelf -4.030 0.259 -0.301 0 185.034 0 79 Shelf -4.030 0.489 -0.301 0 185.034 0 80 EastWall 81 EastWall 82 SouthWall
[ "STEP 1: Turn around to go to the counter on the left of the stove. | STEP 2: Pick up the gray knife on the counter. | STEP 3: Turn around to go to the front of the coffee maker. | STEP 4: Cut the tomato in the green container under the coffee maker. | STEP 5: Move over to right slightly. | STEP 6: Split the cut tomato in half. | STEP 7: Move over to left slightly. | STEP 8: Take out one slice of tomato | STEP 9: Turn around and go to the white table on the opposite side. | STEP 10: Place the tomato on the brown square pan on the table. | STEP 11: Pick up the pan with tomato in it. | STEP 12: Turn right and go to the stove. | STEP 13: Place the pan with tomato in it on the counter on the left of the stove. | END" ]
[ [ "STEP 1: Turn around to go to the counter on the left of the stove. ", " STEP 2: Pick up the gray knife on the counter. ", " STEP 3: Turn around to go to the front of the coffee maker. ", " STEP 4: Cut the tomato in the green container under the coffee maker. ", " STEP 5: Move over to right slightly. ", " STEP 6: Split the cut tomato in half. ", " STEP 7: Move over to left slightly. ", " STEP 8: Take out one slice of tomato ", " STEP 9: Turn around and go to the white table on the opposite side. ", " STEP 10: Place the tomato on the brown square pan on the table. ", " STEP 11: Pick up the pan with tomato in it. ", " STEP 12: Turn right and go to the stove. ", " STEP 13: Place the pan with tomato in it on the counter on the left of the stove. ", " END" ] ]
seen
trial_T20190908_032441_986952-0
Put a wet bar of soap into the white cabinet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.902 -0.75 0 90 0 1 Cloth 0.419 0.034 -0.768 0 270 0 29 2 Cloth 0.419 0.034 0.340 0 270 0 29 3 SoapBar -1.493 0.961 0.630 0 0 0 17 4 SprayBottle -2.004 0.082 0.502 0 0 0 21 5 Towel -0.490 1.367 0.902 0 180 0 27 6 Candle -2.918 1.002 0.889 0 0 0 17 7 HandTowel -3.096 1.587 0.744 0 270 0 31 8 SoapBar 0.557 0.033 0.118 0 270 0 29 9 ToiletPaper -0.860 1.042 0.814 0 180 0 33 10 Cloth -2.451 0.081 0.696 0 0 0 18 11 ToiletPaper -1.416 0.816 0.665 0 90 270 32 12 SprayBottle -1.057 1.047 0.784 0 180 0 33 13 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 14 SoapBottle -2.992 0.083 0.889 0 90 0 16 15 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 16 Cabinet -3.094 0.390 0.421 0 0 0 17 CounterTop -2.298 0.953 0.689 0 0 0 18 Cabinet -2.305 0.415 0.425 0 0 0 19 Bathtub 0.286 0.290 -0.077 0 0 0 20 Cabinet -1.496 0.415 0.425 0 0 0 21 Cabinet -2.286 0.390 0.421 0 0 0 22 Sink -1.924 0.930 0.675 0 180 0 23 Faucet -1.922 1.015 0.887 0 0 0 24 Mirror -2.306 1.526 1.001 0 0 0 25 Faucet -2.681 1.015 0.887 0 0 0 26 LightSwitch -1.389 1.263 -1.693 0 0 0 27 TowelHolder -0.490 1.353 1.009 0 180 0 28 GarbageCan -2.857 0.016 -1.487 0 0 0 29 BathtubBasin 0.349 0.023 -0.135 0 270 0 30 SinkBasin -1.908 0.961 0.669 0 180 0 31 HandTowelHolder -3.134 1.689 0.744 0 0 0 32 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 33 Toilet -1.054 0.001 0.552 0 270 0 34 ShowerCurtain -0.292 1.886 -1.033 0 0 0 35 Faucet 0.270 0.670 0.906 0 0 0 36 SinkBasin -2.666 0.961 0.669 0 180 0 37 Sink -2.681 0.930 0.675 0 180 0 38 NorthWall 39 EastWall 40 SouthWall 41 WestWall
[ "STEP 1: Turn around, then move forward a bit, then turn right and head to the sink. | STEP 2: Pick up the pink bar of soap from the sink. | STEP 3: Turn left and move forward to the wall, then turn right and face the left sink. | STEP 4: Put the bar of soap into the sink, then fill the sink with water, then take the bar of soap out of the sink. | STEP 5: Turn around, move forward a bit, then turn around and face the white cabinet below the sink. | STEP 6: Open the left door of the white cabinet and put the bar of soap inside, then close the door to the cabinet. | END" ]
[ [ "STEP 1: Turn around, then move forward a bit, then turn right and head to the sink. ", " STEP 2: Pick up the pink bar of soap from the sink. ", " STEP 3: Turn left and move forward to the wall, then turn right and face the left sink. ", " STEP 4: Put the bar of soap into the sink, then fill the sink with water, then take the bar of soap out of the sink. ", " STEP 5: Turn around, move forward a bit, then turn around and face the white cabinet below the sink. ", " STEP 6: Open the left door of the white cabinet and put the bar of soap inside, then close the door to the cabinet. ", " END" ] ]
seen
trial_T20190908_032441_986952-1
Wash the soap on the counter in addition to placing it in the cabinet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.902 -0.75 0 90 0 1 Cloth 0.419 0.034 -0.768 0 270 0 29 2 Cloth 0.419 0.034 0.340 0 270 0 29 3 SoapBar -1.493 0.961 0.630 0 0 0 17 4 SprayBottle -2.004 0.082 0.502 0 0 0 21 5 Towel -0.490 1.367 0.902 0 180 0 27 6 Candle -2.918 1.002 0.889 0 0 0 17 7 HandTowel -3.096 1.587 0.744 0 270 0 31 8 SoapBar 0.557 0.033 0.118 0 270 0 29 9 ToiletPaper -0.860 1.042 0.814 0 180 0 33 10 Cloth -2.451 0.081 0.696 0 0 0 18 11 ToiletPaper -1.416 0.816 0.665 0 90 270 32 12 SprayBottle -1.057 1.047 0.784 0 180 0 33 13 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 14 SoapBottle -2.992 0.083 0.889 0 90 0 16 15 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 16 Cabinet -3.094 0.390 0.421 0 0 0 17 CounterTop -2.298 0.953 0.689 0 0 0 18 Cabinet -2.305 0.415 0.425 0 0 0 19 Bathtub 0.286 0.290 -0.077 0 0 0 20 Cabinet -1.496 0.415 0.425 0 0 0 21 Cabinet -2.286 0.390 0.421 0 0 0 22 Sink -1.924 0.930 0.675 0 180 0 23 Faucet -1.922 1.015 0.887 0 0 0 24 Mirror -2.306 1.526 1.001 0 0 0 25 Faucet -2.681 1.015 0.887 0 0 0 26 LightSwitch -1.389 1.263 -1.693 0 0 0 27 TowelHolder -0.490 1.353 1.009 0 180 0 28 GarbageCan -2.857 0.016 -1.487 0 0 0 29 BathtubBasin 0.349 0.023 -0.135 0 270 0 30 SinkBasin -1.908 0.961 0.669 0 180 0 31 HandTowelHolder -3.134 1.689 0.744 0 0 0 32 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 33 Toilet -1.054 0.001 0.552 0 270 0 34 ShowerCurtain -0.292 1.886 -1.033 0 0 0 35 Faucet 0.270 0.670 0.906 0 0 0 36 SinkBasin -2.666 0.961 0.669 0 180 0 37 Sink -2.681 0.930 0.675 0 180 0 38 NorthWall 39 EastWall 40 SouthWall 41 WestWall
[ "STEP 1: Turn around, take a step forward, and then turn right towards the bar soap on the counter. | STEP 2: Pick up the soap from the counter. | STEP 3: Turn left and go to the sink next to the wall. | STEP 4: Place the soap in the sink, wash it, and pick it back up. | STEP 5: Take a step backwards to find the cabinet below the sink beside the wall. | STEP 6: Place the soap in the cabinet. | END" ]
[ [ "STEP 1: Turn around, take a step forward, and then turn right towards the bar soap on the counter. ", " STEP 2: Pick up the soap from the counter. ", " STEP 3: Turn left and go to the sink next to the wall. ", " STEP 4: Place the soap in the sink, wash it, and pick it back up. ", " STEP 5: Take a step backwards to find the cabinet below the sink beside the wall. ", " STEP 6: Place the soap in the cabinet. ", " END" ] ]
seen
trial_T20190908_032441_986952-2
Put a clean bar of soap into an under-sink cabinet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.902 -0.75 0 90 0 1 Cloth 0.419 0.034 -0.768 0 270 0 29 2 Cloth 0.419 0.034 0.340 0 270 0 29 3 SoapBar -1.493 0.961 0.630 0 0 0 17 4 SprayBottle -2.004 0.082 0.502 0 0 0 21 5 Towel -0.490 1.367 0.902 0 180 0 27 6 Candle -2.918 1.002 0.889 0 0 0 17 7 HandTowel -3.096 1.587 0.744 0 270 0 31 8 SoapBar 0.557 0.033 0.118 0 270 0 29 9 ToiletPaper -0.860 1.042 0.814 0 180 0 33 10 Cloth -2.451 0.081 0.696 0 0 0 18 11 ToiletPaper -1.416 0.816 0.665 0 90 270 32 12 SprayBottle -1.057 1.047 0.784 0 180 0 33 13 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 14 SoapBottle -2.992 0.083 0.889 0 90 0 16 15 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 16 Cabinet -3.094 0.390 0.421 0 0 0 17 CounterTop -2.298 0.953 0.689 0 0 0 18 Cabinet -2.305 0.415 0.425 0 0 0 19 Bathtub 0.286 0.290 -0.077 0 0 0 20 Cabinet -1.496 0.415 0.425 0 0 0 21 Cabinet -2.286 0.390 0.421 0 0 0 22 Sink -1.924 0.930 0.675 0 180 0 23 Faucet -1.922 1.015 0.887 0 0 0 24 Mirror -2.306 1.526 1.001 0 0 0 25 Faucet -2.681 1.015 0.887 0 0 0 26 LightSwitch -1.389 1.263 -1.693 0 0 0 27 TowelHolder -0.490 1.353 1.009 0 180 0 28 GarbageCan -2.857 0.016 -1.487 0 0 0 29 BathtubBasin 0.349 0.023 -0.135 0 270 0 30 SinkBasin -1.908 0.961 0.669 0 180 0 31 HandTowelHolder -3.134 1.689 0.744 0 0 0 32 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 33 Toilet -1.054 0.001 0.552 0 270 0 34 ShowerCurtain -0.292 1.886 -1.033 0 0 0 35 Faucet 0.270 0.670 0.906 0 0 0 36 SinkBasin -2.666 0.961 0.669 0 180 0 37 Sink -2.681 0.930 0.675 0 180 0 38 NorthWall 39 EastWall 40 SouthWall 41 WestWall
[ "STEP 1: Turn around, then go to the first sink to your right. | STEP 2: Pick up the bar of soap from the counter on the right of the sink. | STEP 3: Take the soap to the left sink. | STEP 4: Wash the bar of soap in the left side sink. | STEP 5: Look down to the cabinet sunder the sink. | STEP 6: Put the bar of soap in the right front corner of the far left cabinet. | END" ]
[ [ "STEP 1: Turn around, then go to the first sink to your right. ", " STEP 2: Pick up the bar of soap from the counter on the right of the sink. ", " STEP 3: Take the soap to the left sink. ", " STEP 4: Wash the bar of soap in the left side sink. ", " STEP 5: Look down to the cabinet sunder the sink. ", " STEP 6: Put the bar of soap in the right front corner of the far left cabinet. ", " END" ] ]
seen
trial_T20190908_170246_373064-0
Place a pan with a spatula on it on a table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 3.5 0 180 0 1 Potato -0.138 1.049 0.235 0 0 0 71 2 DishSponge -2.269 0.661 0.355 0 0 0 60 3 ButterKnife -2.686 0.891 1.913 0 0 0 73 4 Spatula -1.266 0.810 0.447 0 270 0 70 5 Spoon -1.007 0.797 0.281 0 0 0 70 6 Fork -0.314 0.901 2.731 0 180 0 75 7 Egg -2.995 0.933 2.441 0 0 0 73 8 Egg -2.888 0.665 4.278 0 90 0 69 9 Knife -2.431 0.688 0.355 0 90 0 60 10 SoapBottle -0.692 1.773 0.251 0 0 0 50 11 Tomato -2.878 0.362 4.501 0 90 0 69 12 Tomato -0.143 0.964 2.731 0 0 0 75 13 SaltShaker -1.219 0.924 0.650 0 0 0 52 14 SaltShaker -0.164 0.658 0.409 0 0 0 41 15 PepperShaker -0.572 0.896 3.535 0 0 0 75 16 PepperShaker -2.943 0.931 3.209 0 0 0 59 17 Bread -0.486 0.957 2.530 0 0 0 75 18 Lettuce -2.480 0.980 2.441 0 0 0 73 19 Apple -2.785 0.991 3.302 0 0 0 59 20 Egg -2.628 0.968 3.766 0 0 0 59 21 Plate -2.037 0.932 0.433 0 0 0 52 22 Fork -2.549 0.936 3.395 0 90 0 59 23 Bread -2.864 0.940 1.982 0 0 0 73 24 Apple -1.180 0.852 0.447 0 0 0 70 25 Lettuce -2.789 0.980 2.309 0 0 0 73 26 Spatula -1.932 0.677 0.409 0 180 0 55 27 Knife -0.228 0.926 3.133 0 90 0 75 28 Potato -0.191 1.049 0.140 0 0 0 71 29 Tomato -2.815 0.117 0.284 0 26.101 0 66 30 Cup -2.764 1.186 4.575 0 90 0 69 31 SaltShaker -0.487 0.658 0.355 0 0 0 41 32 PepperShaker -0.433 0.658 0.573 0 0 0 41 33 ButterKnife -1.007 0.795 0.337 0 0 0 70 34 SoapBottle -0.692 1.773 0.114 0 0 0 50 35 Pan -0.250 0.926 4.651 0 0 0 54 36 DishSponge -1.007 0.795 0.447 0 0 0 70 37 Pot -0.535 0.928 4.274 0 0 0 56 38 Spoon -0.314 0.901 3.133 0 0 0 75 39 Mug -0.297 1.013 0.171 0 0 0 71 40 Bowl -2.583 0.897 2.045 0 0 0 73 41 Drawer -0.325 0.696 0.413 0 0 0 42 Cabinet -0.595 0.490 0.648 0 0 0 43 Cabinet -0.555 0.490 0.646 0 0 0 44 Cabinet -1.591 0.490 0.646 0 0 0 45 Cabinet -1.554 0.490 0.646 0 0 0 46 Cabinet -2.550 0.490 0.646 0 0 0 47 Cabinet -1.514 2.046 0.392 0 0 0 48 Cabinet -2.474 2.046 0.392 0 0 0 49 Cabinet -1.478 2.046 0.392 0 0 0 50 Cabinet -0.518 2.046 0.392 0 0 0 51 Cabinet -0.479 2.046 0.392 0 0 0 52 CounterTop -1.366 0.952 0.349 0 0 0 53 Sink -1.108 0.926 0.340 0 0 0 54 StoveBurner -0.254 0.922 4.672 0 0 0 55 Drawer -1.824 0.696 0.413 0 0 0 56 StoveBurner -0.535 0.922 4.274 0 0 0 57 StoveBurner -0.254 0.922 4.274 0 0 0 58 StoveBurner -0.536 0.922 4.672 0 0 0 59 CounterTop -2.780 0.971 3.487 0 0 0 60 Drawer -2.323 0.696 0.413 0 0 0 61 StoveKnob -0.064 1.090 4.632 0 0 73.865 62 StoveKnob -0.064 1.090 4.782 0 0 73.865 63 StoveKnob -0.064 1.090 4.382 0 0 73.865 64 StoveKnob -0.064 1.090 4.222 0 0 73.865 65 Toaster -0.286 0.861 3.520 0 270 0 66 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 67 LightSwitch -0.064 1.447 1.996 0 270 0 68 Window -3.075 1.593 1.361 90 90 0 69 Fridge -2.802 0.0 4.427 0 0 0 70 SinkBasin -1.106 0.785 0.337 0 0 0 71 Microwave -0.358 0.917 0.224 0 0 0 72 CoffeeMachine -2.938 0.925 3.605 0 90 0 73 DiningTable -2.733 -0.003 2.607 0 270 0 74 Faucet -1.077 0.920 0.028 270 270 0 75 DiningTable -0.488 -0.003 3.182 0 270 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: Walk forward to the sink. | STEP 2: Pick up the spatula in the sink. | STEP 3: Turn around and walk to the stove. | STEP 4: Place the spatula in the pan on the right side of the stove. | STEP 5: Pick up the pan. | STEP 6: Take a couple steps right. | STEP 7: Place the pan on the table to the left of the bread. | END" ]
[ [ "STEP 1: Walk forward to the sink. ", " STEP 2: Pick up the spatula in the sink. ", " STEP 3: Turn around and walk to the stove. ", " STEP 4: Place the spatula in the pan on the right side of the stove. ", " STEP 5: Pick up the pan. ", " STEP 6: Take a couple steps right. ", " STEP 7: Place the pan on the table to the left of the bread. ", " END" ] ]
seen
trial_T20190908_170246_373064-1
Put the deep pan with a spatula in it on the white dining table next to the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 3.5 0 180 0 1 Potato -0.138 1.049 0.235 0 0 0 71 2 DishSponge -2.269 0.661 0.355 0 0 0 60 3 ButterKnife -2.686 0.891 1.913 0 0 0 73 4 Spatula -1.266 0.810 0.447 0 270 0 70 5 Spoon -1.007 0.797 0.281 0 0 0 70 6 Fork -0.314 0.901 2.731 0 180 0 75 7 Egg -2.995 0.933 2.441 0 0 0 73 8 Egg -2.888 0.665 4.278 0 90 0 69 9 Knife -2.431 0.688 0.355 0 90 0 60 10 SoapBottle -0.692 1.773 0.251 0 0 0 50 11 Tomato -2.878 0.362 4.501 0 90 0 69 12 Tomato -0.143 0.964 2.731 0 0 0 75 13 SaltShaker -1.219 0.924 0.650 0 0 0 52 14 SaltShaker -0.164 0.658 0.409 0 0 0 41 15 PepperShaker -0.572 0.896 3.535 0 0 0 75 16 PepperShaker -2.943 0.931 3.209 0 0 0 59 17 Bread -0.486 0.957 2.530 0 0 0 75 18 Lettuce -2.480 0.980 2.441 0 0 0 73 19 Apple -2.785 0.991 3.302 0 0 0 59 20 Egg -2.628 0.968 3.766 0 0 0 59 21 Plate -2.037 0.932 0.433 0 0 0 52 22 Fork -2.549 0.936 3.395 0 90 0 59 23 Bread -2.864 0.940 1.982 0 0 0 73 24 Apple -1.180 0.852 0.447 0 0 0 70 25 Lettuce -2.789 0.980 2.309 0 0 0 73 26 Spatula -1.932 0.677 0.409 0 180 0 55 27 Knife -0.228 0.926 3.133 0 90 0 75 28 Potato -0.191 1.049 0.140 0 0 0 71 29 Tomato -2.815 0.117 0.284 0 26.101 0 66 30 Cup -2.764 1.186 4.575 0 90 0 69 31 SaltShaker -0.487 0.658 0.355 0 0 0 41 32 PepperShaker -0.433 0.658 0.573 0 0 0 41 33 ButterKnife -1.007 0.795 0.337 0 0 0 70 34 SoapBottle -0.692 1.773 0.114 0 0 0 50 35 Pan -0.250 0.926 4.651 0 0 0 54 36 DishSponge -1.007 0.795 0.447 0 0 0 70 37 Pot -0.535 0.928 4.274 0 0 0 56 38 Spoon -0.314 0.901 3.133 0 0 0 75 39 Mug -0.297 1.013 0.171 0 0 0 71 40 Bowl -2.583 0.897 2.045 0 0 0 73 41 Drawer -0.325 0.696 0.413 0 0 0 42 Cabinet -0.595 0.490 0.648 0 0 0 43 Cabinet -0.555 0.490 0.646 0 0 0 44 Cabinet -1.591 0.490 0.646 0 0 0 45 Cabinet -1.554 0.490 0.646 0 0 0 46 Cabinet -2.550 0.490 0.646 0 0 0 47 Cabinet -1.514 2.046 0.392 0 0 0 48 Cabinet -2.474 2.046 0.392 0 0 0 49 Cabinet -1.478 2.046 0.392 0 0 0 50 Cabinet -0.518 2.046 0.392 0 0 0 51 Cabinet -0.479 2.046 0.392 0 0 0 52 CounterTop -1.366 0.952 0.349 0 0 0 53 Sink -1.108 0.926 0.340 0 0 0 54 StoveBurner -0.254 0.922 4.672 0 0 0 55 Drawer -1.824 0.696 0.413 0 0 0 56 StoveBurner -0.535 0.922 4.274 0 0 0 57 StoveBurner -0.254 0.922 4.274 0 0 0 58 StoveBurner -0.536 0.922 4.672 0 0 0 59 CounterTop -2.780 0.971 3.487 0 0 0 60 Drawer -2.323 0.696 0.413 0 0 0 61 StoveKnob -0.064 1.090 4.632 0 0 73.865 62 StoveKnob -0.064 1.090 4.782 0 0 73.865 63 StoveKnob -0.064 1.090 4.382 0 0 73.865 64 StoveKnob -0.064 1.090 4.222 0 0 73.865 65 Toaster -0.286 0.861 3.520 0 270 0 66 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 67 LightSwitch -0.064 1.447 1.996 0 270 0 68 Window -3.075 1.593 1.361 90 90 0 69 Fridge -2.802 0.0 4.427 0 0 0 70 SinkBasin -1.106 0.785 0.337 0 0 0 71 Microwave -0.358 0.917 0.224 0 0 0 72 CoffeeMachine -2.938 0.925 3.605 0 90 0 73 DiningTable -2.733 -0.003 2.607 0 270 0 74 Faucet -1.077 0.920 0.028 270 270 0 75 DiningTable -0.488 -0.003 3.182 0 270 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: Turn to your left and walk to the kitchen sink. | STEP 2: Grab the spatula in the sink. | STEP 3: Turn around and walk to the stove on the right. | STEP 4: Put the spatula in the deep pan on the stove. | STEP 5: Grab the deep pan on the stove. | STEP 6: Walk to the white dining table on your right. | STEP 7: Place the deep pan on the white dining table. | END" ]
[ [ "STEP 1: Turn to your left and walk to the kitchen sink. ", " STEP 2: Grab the spatula in the sink. ", " STEP 3: Turn around and walk to the stove on the right. ", " STEP 4: Put the spatula in the deep pan on the stove. ", " STEP 5: Grab the deep pan on the stove. ", " STEP 6: Walk to the white dining table on your right. ", " STEP 7: Place the deep pan on the white dining table. ", " END" ] ]
seen
trial_T20190908_170246_373064-2
put a pan with a spatula in it on the kitchen table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 3.5 0 180 0 1 Potato -0.138 1.049 0.235 0 0 0 71 2 DishSponge -2.269 0.661 0.355 0 0 0 60 3 ButterKnife -2.686 0.891 1.913 0 0 0 73 4 Spatula -1.266 0.810 0.447 0 270 0 70 5 Spoon -1.007 0.797 0.281 0 0 0 70 6 Fork -0.314 0.901 2.731 0 180 0 75 7 Egg -2.995 0.933 2.441 0 0 0 73 8 Egg -2.888 0.665 4.278 0 90 0 69 9 Knife -2.431 0.688 0.355 0 90 0 60 10 SoapBottle -0.692 1.773 0.251 0 0 0 50 11 Tomato -2.878 0.362 4.501 0 90 0 69 12 Tomato -0.143 0.964 2.731 0 0 0 75 13 SaltShaker -1.219 0.924 0.650 0 0 0 52 14 SaltShaker -0.164 0.658 0.409 0 0 0 41 15 PepperShaker -0.572 0.896 3.535 0 0 0 75 16 PepperShaker -2.943 0.931 3.209 0 0 0 59 17 Bread -0.486 0.957 2.530 0 0 0 75 18 Lettuce -2.480 0.980 2.441 0 0 0 73 19 Apple -2.785 0.991 3.302 0 0 0 59 20 Egg -2.628 0.968 3.766 0 0 0 59 21 Plate -2.037 0.932 0.433 0 0 0 52 22 Fork -2.549 0.936 3.395 0 90 0 59 23 Bread -2.864 0.940 1.982 0 0 0 73 24 Apple -1.180 0.852 0.447 0 0 0 70 25 Lettuce -2.789 0.980 2.309 0 0 0 73 26 Spatula -1.932 0.677 0.409 0 180 0 55 27 Knife -0.228 0.926 3.133 0 90 0 75 28 Potato -0.191 1.049 0.140 0 0 0 71 29 Tomato -2.815 0.117 0.284 0 26.101 0 66 30 Cup -2.764 1.186 4.575 0 90 0 69 31 SaltShaker -0.487 0.658 0.355 0 0 0 41 32 PepperShaker -0.433 0.658 0.573 0 0 0 41 33 ButterKnife -1.007 0.795 0.337 0 0 0 70 34 SoapBottle -0.692 1.773 0.114 0 0 0 50 35 Pan -0.250 0.926 4.651 0 0 0 54 36 DishSponge -1.007 0.795 0.447 0 0 0 70 37 Pot -0.535 0.928 4.274 0 0 0 56 38 Spoon -0.314 0.901 3.133 0 0 0 75 39 Mug -0.297 1.013 0.171 0 0 0 71 40 Bowl -2.583 0.897 2.045 0 0 0 73 41 Drawer -0.325 0.696 0.413 0 0 0 42 Cabinet -0.595 0.490 0.648 0 0 0 43 Cabinet -0.555 0.490 0.646 0 0 0 44 Cabinet -1.591 0.490 0.646 0 0 0 45 Cabinet -1.554 0.490 0.646 0 0 0 46 Cabinet -2.550 0.490 0.646 0 0 0 47 Cabinet -1.514 2.046 0.392 0 0 0 48 Cabinet -2.474 2.046 0.392 0 0 0 49 Cabinet -1.478 2.046 0.392 0 0 0 50 Cabinet -0.518 2.046 0.392 0 0 0 51 Cabinet -0.479 2.046 0.392 0 0 0 52 CounterTop -1.366 0.952 0.349 0 0 0 53 Sink -1.108 0.926 0.340 0 0 0 54 StoveBurner -0.254 0.922 4.672 0 0 0 55 Drawer -1.824 0.696 0.413 0 0 0 56 StoveBurner -0.535 0.922 4.274 0 0 0 57 StoveBurner -0.254 0.922 4.274 0 0 0 58 StoveBurner -0.536 0.922 4.672 0 0 0 59 CounterTop -2.780 0.971 3.487 0 0 0 60 Drawer -2.323 0.696 0.413 0 0 0 61 StoveKnob -0.064 1.090 4.632 0 0 73.865 62 StoveKnob -0.064 1.090 4.782 0 0 73.865 63 StoveKnob -0.064 1.090 4.382 0 0 73.865 64 StoveKnob -0.064 1.090 4.222 0 0 73.865 65 Toaster -0.286 0.861 3.520 0 270 0 66 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 67 LightSwitch -0.064 1.447 1.996 0 270 0 68 Window -3.075 1.593 1.361 90 90 0 69 Fridge -2.802 0.0 4.427 0 0 0 70 SinkBasin -1.106 0.785 0.337 0 0 0 71 Microwave -0.358 0.917 0.224 0 0 0 72 CoffeeMachine -2.938 0.925 3.605 0 90 0 73 DiningTable -2.733 -0.003 2.607 0 270 0 74 Faucet -1.077 0.920 0.028 270 270 0 75 DiningTable -0.488 -0.003 3.182 0 270 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: walk to the kitchen sink | STEP 2: grab the spatula from inside the kitchen sink | STEP 3: turn around and walk over to the kitchen stove | STEP 4: place the spatula inside of the large pan on the bottom right burner | STEP 5: pick up the bottom right pan off of the burner | STEP 6: bring the pan over to the kitchen table | STEP 7: set the pan down on the kitchen table | END" ]
[ [ "STEP 1: walk to the kitchen sink ", " STEP 2: grab the spatula from inside the kitchen sink ", " STEP 3: turn around and walk over to the kitchen stove ", " STEP 4: place the spatula inside of the large pan on the bottom right burner ", " STEP 5: pick up the bottom right pan off of the burner ", " STEP 6: bring the pan over to the kitchen table ", " STEP 7: set the pan down on the kitchen table ", " END" ] ]
seen
trial_T20190907_000313_868459-0
place a sliced loaf of bread in front of the microwave
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[ "STEP 1: walk forwards to the kitchen stove, then turn left to face the kitchen countertop | STEP 2: grab a knife off of the kitchen counter | STEP 3: turn around and walk to the other kitchen counter, then turn left to face the stove | STEP 4: slice the loaf of bread on top of the kitchen counter | STEP 5: turn around and walk forwards a bit | STEP 6: place the knife on top of the kitchen counter in front of the sink to the left | STEP 7: turn around and walk forwards a bit to the kitchen stove again | STEP 8: grab a slice of bread off of the kitchen counter | STEP 9: turn around and walk to the end of the room, then hang a right turn and walk forwards to the microwave | STEP 10: place the sliced loaf of bread in front of the microwave | END" ]
[ [ "STEP 1: walk forwards to the kitchen stove, then turn left to face the kitchen countertop ", " STEP 2: grab a knife off of the kitchen counter ", " STEP 3: turn around and walk to the other kitchen counter, then turn left to face the stove ", " STEP 4: slice the loaf of bread on top of the kitchen counter ", " STEP 5: turn around and walk forwards a bit ", " STEP 6: place the knife on top of the kitchen counter in front of the sink to the left ", " STEP 7: turn around and walk forwards a bit to the kitchen stove again ", " STEP 8: grab a slice of bread off of the kitchen counter ", " STEP 9: turn around and walk to the end of the room, then hang a right turn and walk forwards to the microwave ", " STEP 10: place the sliced loaf of bread in front of the microwave ", " END" ] ]
seen
trial_T20190907_000313_868459-1
Cut a slice of bread, put it in front of the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 1.124 -0.75 0 180 0 1 DishSponge 0.899 0.460 0.652 0 0 0 75 2 DishSponge -1.660 1.322 -1.941 0 0 0 49 3 WineBottle -1.451 1.323 -2.760 0 0 0 49 4 Fork -1.401 1.323 -2.201 0 0 0 49 5 Fork -1.645 0.423 -0.298 0 270 0 53 6 Spoon 0.349 1.324 -3.343 0 0 0 49 7 Spoon -2.004 1.337 -1.186 0 0 0 56 8 Spatula 0.766 1.337 -1.683 0 0 0 49 9 Pot -1.920 1.329 0.445 0 0 0 49 10 Pot -0.125 1.332 -2.973 0 0 0 57 11 Plate -1.826 1.064 -0.542 0 0 0 67 12 Knife -1.559 1.358 -1.049 0 90 0 56 13 Knife 0.896 1.352 -2.794 0 0 0 49 14 Bowl 0.349 1.321 -2.678 0 0 0 49 15 Bowl 0.563 1.321 -3.121 0 0 0 49 16 SaltShaker 0.747 0.339 -1.957 0 180 0 48 17 Mug -1.451 1.318 -2.870 0 0 0 49 18 Mug 0.938 1.752 2.112 0 270 0 62 19 Apple 0.766 1.371 -3.164 0 0 0 49 20 Apple -1.920 1.371 2.069 0 0 0 49 21 Bread -1.237 1.397 -3.203 0 0 0 49 22 Pot -1.790 1.329 1.419 0 0 0 49 23 Knife -1.826 1.358 -0.980 0 180 0 56 24 Bowl -1.614 0.342 0.211 0 0 0 47 25 Potato -1.401 1.362 -3.241 0 0 0 49 26 SoapBottle 1.285 1.323 -2.794 0 0 0 49 27 Fork 0.492 1.323 -3.343 0 0 0 49 28 Cup -1.817 0.341 0.512 0 0 0 47 29 Kettle -1.691 1.310 -3.156 0 150.000 0 49 30 Egg 0.977 1.715 1.545 0 270 0 62 31 Pan -0.630 1.331 -3.301 0 180 0 46 32 SaltShaker -1.727 0.338 -2.262 0 0 0 45 33 WineBottle -1.657 0.281 2.151 0 270 0 64 34 Lettuce -1.401 1.399 0.445 0 0 0 49 35 Spatula -1.737 1.345 -1.255 0 90 0 56 36 PaperTowelRoll 0.277 1.427 -3.121 0 0 0 49 37 Tomato 0.766 1.356 -1.312 0 0 0 49 38 Plate 1.053 0.345 -1.957 0 180 0 48 39 PepperShaker -1.954 0.338 1.213 0 0 0 50 40 DishSponge -1.687 0.419 -1.152 0 0 0 55 41 Spoon -1.687 0.423 -1.283 0 0 0 55 42 Apple 1.181 1.359 0.861 0 270 0 74 43 Mug 0.563 1.318 -3.343 0 0 0 49 44 StoveBurner -0.239 1.325 -3.301 0 180 0 45 Cabinet -1.461 0.775 -2.002 0 0 0 46 StoveBurner -0.630 1.325 -3.301 0 180 0 47 Cabinet -1.461 0.775 0.470 0 0 0 48 Cabinet 0.578 0.776 -2.054 0 0 0 49 CounterTop -1.809 1.358 1.182 0 0 0 50 Cabinet -1.461 0.775 1.310 0 0 0 51 Faucet -2.063 1.362 -0.726 0 39.391 0 52 StoveBurner -0.749 1.325 -2.973 0 0 0 53 Drawer -1.610 0.681 -0.430 0 0 0 54 Window -2.566 1.799 -0.822 270 0 0 55 Drawer -1.610 0.681 -1.217 0 0 0 56 Sink -1.990 1.143 -0.975 0 0 0 57 StoveBurner -0.125 1.325 -2.973 0 0 0 58 StoveKnob -0.185 1.338 -2.741 0 270 180 59 StoveKnob -0.336 1.338 -2.741 0 270 180 60 StoveKnob -0.569 1.338 -2.741 0 270 180 61 StoveKnob -0.707 1.338 -2.741 0 270 180 62 Fridge 1.013 0.227 1.917 0 270 0 63 Microwave 0.994 1.310 -2.163 0 270 0 64 GarbageCan -1.633 0.212 2.192 0 270 0 65 LightSwitch 1.386 1.565 -0.657 0 270 0 66 HousePlant -2.027 1.311 -0.026 0 284.058 0 67 SinkBasin -1.835 1.039 -0.542 0 0 0 68 ButterKnife 0.873 0.468 0.651 0 0 0 69 Toaster -1.885 1.310 -2.512 0 90 0 70 CoffeeMachine 1.129 1.310 -1.426 0 270 0 71 Drawer 0.647 1.061 0.680 0 270 0 72 Drawer 0.648 1.061 1.020 0 270 0 73 Drawer 0.648 0.843 1.020 0 270 0 74 SideTable 0.975 0.220 0.869 0 270 0 75 Drawer 0.648 0.602 0.680 0 270 0 76 Drawer 0.648 0.596 1.020 0 270 0 77 Drawer 0.648 0.843 0.680 0 270 0 78 Stool 0.606 0.222 -1.084 1.233 280.489 0 79 NorthWall 80 EastWall 81 SouthWall 82 WestWall
[ "STEP 1: Move across the room to the stove then turn left. | STEP 2: Pick up the knife on the counter beside the blue bowl. | STEP 3: Turn around and go to the right side of the stove then turn left. | STEP 4: Slice the bread on the counter. | STEP 5: Move across the room to the sink | STEP 6: Stick the knife in front of the sink. | STEP 7: Go across the room to the sliced bread beside the stove. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Turn around and go across the room to the microwave. | STEP 10: Put down the sliced bread in front of the microwave. | END" ]
[ [ "STEP 1: Move across the room to the stove then turn left. ", " STEP 2: Pick up the knife on the counter beside the blue bowl. ", " STEP 3: Turn around and go to the right side of the stove then turn left. ", " STEP 4: Slice the bread on the counter. ", " STEP 5: Move across the room to the sink ", " STEP 6: Stick the knife in front of the sink. ", " STEP 7: Go across the room to the sliced bread beside the stove. ", " STEP 8: Pick up a slice of bread from the counter. ", " STEP 9: Turn around and go across the room to the microwave. ", " STEP 10: Put down the sliced bread in front of the microwave. ", " END" ] ]
seen
trial_T20190907_000313_868459-2
Put a slice of bread on a counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 1.124 -0.75 0 180 0 1 DishSponge 0.899 0.460 0.652 0 0 0 75 2 DishSponge -1.660 1.322 -1.941 0 0 0 49 3 WineBottle -1.451 1.323 -2.760 0 0 0 49 4 Fork -1.401 1.323 -2.201 0 0 0 49 5 Fork -1.645 0.423 -0.298 0 270 0 53 6 Spoon 0.349 1.324 -3.343 0 0 0 49 7 Spoon -2.004 1.337 -1.186 0 0 0 56 8 Spatula 0.766 1.337 -1.683 0 0 0 49 9 Pot -1.920 1.329 0.445 0 0 0 49 10 Pot -0.125 1.332 -2.973 0 0 0 57 11 Plate -1.826 1.064 -0.542 0 0 0 67 12 Knife -1.559 1.358 -1.049 0 90 0 56 13 Knife 0.896 1.352 -2.794 0 0 0 49 14 Bowl 0.349 1.321 -2.678 0 0 0 49 15 Bowl 0.563 1.321 -3.121 0 0 0 49 16 SaltShaker 0.747 0.339 -1.957 0 180 0 48 17 Mug -1.451 1.318 -2.870 0 0 0 49 18 Mug 0.938 1.752 2.112 0 270 0 62 19 Apple 0.766 1.371 -3.164 0 0 0 49 20 Apple -1.920 1.371 2.069 0 0 0 49 21 Bread -1.237 1.397 -3.203 0 0 0 49 22 Pot -1.790 1.329 1.419 0 0 0 49 23 Knife -1.826 1.358 -0.980 0 180 0 56 24 Bowl -1.614 0.342 0.211 0 0 0 47 25 Potato -1.401 1.362 -3.241 0 0 0 49 26 SoapBottle 1.285 1.323 -2.794 0 0 0 49 27 Fork 0.492 1.323 -3.343 0 0 0 49 28 Cup -1.817 0.341 0.512 0 0 0 47 29 Kettle -1.691 1.310 -3.156 0 150.000 0 49 30 Egg 0.977 1.715 1.545 0 270 0 62 31 Pan -0.630 1.331 -3.301 0 180 0 46 32 SaltShaker -1.727 0.338 -2.262 0 0 0 45 33 WineBottle -1.657 0.281 2.151 0 270 0 64 34 Lettuce -1.401 1.399 0.445 0 0 0 49 35 Spatula -1.737 1.345 -1.255 0 90 0 56 36 PaperTowelRoll 0.277 1.427 -3.121 0 0 0 49 37 Tomato 0.766 1.356 -1.312 0 0 0 49 38 Plate 1.053 0.345 -1.957 0 180 0 48 39 PepperShaker -1.954 0.338 1.213 0 0 0 50 40 DishSponge -1.687 0.419 -1.152 0 0 0 55 41 Spoon -1.687 0.423 -1.283 0 0 0 55 42 Apple 1.181 1.359 0.861 0 270 0 74 43 Mug 0.563 1.318 -3.343 0 0 0 49 44 StoveBurner -0.239 1.325 -3.301 0 180 0 45 Cabinet -1.461 0.775 -2.002 0 0 0 46 StoveBurner -0.630 1.325 -3.301 0 180 0 47 Cabinet -1.461 0.775 0.470 0 0 0 48 Cabinet 0.578 0.776 -2.054 0 0 0 49 CounterTop -1.809 1.358 1.182 0 0 0 50 Cabinet -1.461 0.775 1.310 0 0 0 51 Faucet -2.063 1.362 -0.726 0 39.391 0 52 StoveBurner -0.749 1.325 -2.973 0 0 0 53 Drawer -1.610 0.681 -0.430 0 0 0 54 Window -2.566 1.799 -0.822 270 0 0 55 Drawer -1.610 0.681 -1.217 0 0 0 56 Sink -1.990 1.143 -0.975 0 0 0 57 StoveBurner -0.125 1.325 -2.973 0 0 0 58 StoveKnob -0.185 1.338 -2.741 0 270 180 59 StoveKnob -0.336 1.338 -2.741 0 270 180 60 StoveKnob -0.569 1.338 -2.741 0 270 180 61 StoveKnob -0.707 1.338 -2.741 0 270 180 62 Fridge 1.013 0.227 1.917 0 270 0 63 Microwave 0.994 1.310 -2.163 0 270 0 64 GarbageCan -1.633 0.212 2.192 0 270 0 65 LightSwitch 1.386 1.565 -0.657 0 270 0 66 HousePlant -2.027 1.311 -0.026 0 284.058 0 67 SinkBasin -1.835 1.039 -0.542 0 0 0 68 ButterKnife 0.873 0.468 0.651 0 0 0 69 Toaster -1.885 1.310 -2.512 0 90 0 70 CoffeeMachine 1.129 1.310 -1.426 0 270 0 71 Drawer 0.647 1.061 0.680 0 270 0 72 Drawer 0.648 1.061 1.020 0 270 0 73 Drawer 0.648 0.843 1.020 0 270 0 74 SideTable 0.975 0.220 0.869 0 270 0 75 Drawer 0.648 0.602 0.680 0 270 0 76 Drawer 0.648 0.596 1.020 0 270 0 77 Drawer 0.648 0.843 0.680 0 270 0 78 Stool 0.606 0.222 -1.084 1.233 280.489 0 79 NorthWall 80 EastWall 81 SouthWall 82 WestWall
[ "STEP 1: Go forward until you reach the stove, then turn to the left. | STEP 2: Pick up the knife, near the metal bottle. | STEP 3: Turn around, go straight until you reach the counter with the toaster, then turn right to face the counter next to the stove. | STEP 4: Slice the bread on the counter. | STEP 5: Turn around to face the wall. | STEP 6: Place the knife on the counter, in front of the sink. | STEP 7: Turn around to face the counter behind you. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Turn around, go straight, then turn right to go to the microwave. | STEP 10: Put the bread slice on the counter with the microwave, on the left, front corner. | END" ]
[ [ "STEP 1: Go forward until you reach the stove, then turn to the left. ", " STEP 2: Pick up the knife, near the metal bottle. ", " STEP 3: Turn around, go straight until you reach the counter with the toaster, then turn right to face the counter next to the stove. ", " STEP 4: Slice the bread on the counter. ", " STEP 5: Turn around to face the wall. ", " STEP 6: Place the knife on the counter, in front of the sink. ", " STEP 7: Turn around to face the counter behind you. ", " STEP 8: Pick up a slice of bread from the counter. ", " STEP 9: Turn around, go straight, then turn right to go to the microwave. ", " STEP 10: Put the bread slice on the counter with the microwave, on the left, front corner. ", " END" ] ]
seen
trial_T20190910_223109_389532-0
Put a cooked slice of potato in a bin.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 1.124 2.0 0 270 0 1 Pan -1.920 1.322 -1.681 0 90 0 55 2 Potato 0.938 1.796 1.994 0 270 0 68 3 Potato -2.179 1.362 -3.241 0 0 0 55 4 Potato -2.093 1.374 -0.980 0 0 0 62 5 DishSponge -1.345 1.322 -1.035 0 0 0 55 6 DishSponge -1.165 1.322 -3.425 0 0 0 55 7 WineBottle -1.614 0.344 0.311 0 0 0 53 8 Kettle -2.004 1.337 -1.255 0 0 0 62 9 Fork -2.049 1.323 2.069 0 0 0 55 10 Fork -1.530 1.323 -1.681 0 90 0 55 11 Spoon -2.018 1.053 -0.496 0 270 0 73 12 Spoon -1.401 1.324 -2.721 0 0 0 55 13 Spatula 0.420 1.337 -3.232 0 0 0 55 14 Pot 0.896 1.329 -2.424 0 0 0 55 15 Knife -1.920 1.352 1.094 0 0 0 55 16 SoapBottle -1.818 0.344 1.627 0 0 0 56 17 SoapBottle 0.563 1.323 -3.232 0 0 0 55 18 Tomato -1.954 1.084 -0.633 0 0 0 73 19 Tomato 0.778 1.241 1.222 0 0 0 80 20 Bowl -1.750 0.342 1.213 0 0 0 56 21 SaltShaker 0.824 0.339 -2.061 0 180 0 54 22 SaltShaker 0.671 0.339 -2.164 0 180 0 54 23 PepperShaker -1.790 1.318 0.445 0 0 0 55 24 PepperShaker 1.129 0.339 -2.061 0 180 0 54 25 Mug -1.790 1.318 -1.941 0 0 0 55 26 Apple -1.826 1.112 -0.542 0 0 0 73 27 Bread -1.522 1.397 -2.870 0 0 0 55 28 Pot 0.349 1.329 -2.900 0 0 0 55 29 Knife -2.004 1.366 -1.117 0 180 0 62 30 Bowl -1.817 0.342 0.512 0 0 0 53 31 Potato -1.826 1.372 -1.186 0 0 0 62 32 SoapBottle -1.602 0.344 -2.362 0 0 0 51 33 Fork -1.451 1.323 -2.981 0 180 0 55 34 Cup -1.665 0.341 -1.863 0 0 0 51 35 Kettle -1.530 1.324 -1.941 0 0 0 55 36 Egg 0.766 1.363 -2.794 0 0 0 55 37 Pan -0.239 1.331 -3.301 0 180 0 50 38 SaltShaker -2.049 1.318 1.419 0 0 0 55 39 WineBottle -1.345 1.323 -1.269 0 0 0 55 40 Lettuce -1.660 1.399 1.419 0 0 0 55 41 Spatula -1.737 1.343 -1.117 0 90 0 62 42 PaperTowelRoll 0.420 1.427 -3.343 0 0 0 55 43 Tomato -1.698 1.084 -0.451 0 0 0 73 44 Plate -1.660 1.323 2.069 0 0 0 55 45 PepperShaker 0.944 1.202 1.222 0 0 0 80 46 DishSponge 1.155 1.322 -2.424 0 0 0 55 47 Spoon -1.660 1.324 -1.681 0 0 0 55 48 Apple 1.193 1.256 1.238 0 0 0 80 49 Mug 0.938 1.670 1.663 0 270 0 68 50 StoveBurner -0.239 1.325 -3.301 0 180 0 51 Cabinet -1.461 0.775 -2.002 0 0 0 52 StoveBurner -0.630 1.325 -3.301 0 180 0 53 Cabinet -1.461 0.775 0.470 0 0 0 54 Cabinet 0.578 0.776 -2.054 0 0 0 55 CounterTop -1.809 1.358 1.182 0 0 0 56 Cabinet -1.461 0.775 1.310 0 0 0 57 Faucet -2.063 1.362 -0.726 0 39.391 0 58 StoveBurner -0.749 1.325 -2.973 0 0 0 59 Drawer -1.610 0.681 -0.430 0 0 0 60 Window -2.566 1.799 -0.822 270 0 0 61 Drawer -1.610 0.681 -1.217 0 0 0 62 Sink -1.990 1.143 -0.975 0 0 0 63 StoveBurner -0.125 1.325 -2.973 0 0 0 64 StoveKnob -0.185 1.338 -2.741 0 270 180 65 StoveKnob -0.336 1.338 -2.741 0 270 180 66 StoveKnob -0.569 1.338 -2.741 0 270 180 67 StoveKnob -0.707 1.338 -2.741 0 270 180 68 Fridge 1.013 0.227 1.917 0 270 0 69 Microwave 0.994 1.310 -2.163 0 270 0 70 GarbageCan -1.633 0.212 2.192 0 270 0 71 LightSwitch 1.386 1.565 -0.657 0 270 0 72 HousePlant -2.027 1.311 -0.026 0 284.058 0 73 SinkBasin -1.835 1.039 -0.542 0 0 0 74 ButterKnife 0.873 0.468 0.651 0 0 0 75 Toaster -1.885 1.310 -2.512 0 90 0 76 CoffeeMachine 1.129 1.310 -1.426 0 270 0 77 Drawer 0.647 1.061 0.680 0 270 0 78 Drawer 0.648 1.061 1.020 0 270 0 79 Drawer 0.648 0.843 1.020 0 270 0 80 SideTable 0.975 0.220 0.869 0 270 0 81 Drawer 0.648 0.602 0.680 0 270 0 82 Drawer 0.648 0.596 1.020 0 270 0 83 Drawer 0.648 0.843 0.680 0 270 0 84 Stool 0.606 0.222 -1.084 1.233 280.489 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Turn left, go forward, turn right at the drying rack of the sink. | STEP 2: Take the large knife from the rack. | STEP 3: Cut the potato on the rack into slices. | STEP 4: Go right a step and face towards the sink. | STEP 5: Put the knife in the sink basin. | STEP 6: Go left a step and face towards the drying rack. | STEP 7: Take a slice of potato from the rack. | STEP 8: Turn right, go forward, turn left and go forward to the stand with the microwave. | STEP 9: Cook the potato in the microwave. Take the potato out of the microwave. | STEP 10: Turn left, go to the wall, turn left, go straight to the counter with the black plate. | STEP 11: Put the potato in the green bin under the counter. | END" ]
[ [ "STEP 1: Turn left, go forward, turn right at the drying rack of the sink. ", " STEP 2: Take the large knife from the rack. ", " STEP 3: Cut the potato on the rack into slices. ", " STEP 4: Go right a step and face towards the sink. ", " STEP 5: Put the knife in the sink basin. ", " STEP 6: Go left a step and face towards the drying rack. ", " STEP 7: Take a slice of potato from the rack. ", " STEP 8: Turn right, go forward, turn left and go forward to the stand with the microwave. ", " STEP 9: Cook the potato in the microwave. Take the potato out of the microwave. ", " STEP 10: Turn left, go to the wall, turn left, go straight to the counter with the black plate. ", " STEP 11: Put the potato in the green bin under the counter. ", " END" ] ]
seen
trial_T20190910_223109_389532-1
Place a microwaved piece of potato into the green recycling bin.
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", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 1.124 2.0 0 270 0 1 Pan -1.920 1.322 -1.681 0 90 0 55 2 Potato 0.938 1.796 1.994 0 270 0 68 3 Potato -2.179 1.362 -3.241 0 0 0 55 4 Potato -2.093 1.374 -0.980 0 0 0 62 5 DishSponge -1.345 1.322 -1.035 0 0 0 55 6 DishSponge -1.165 1.322 -3.425 0 0 0 55 7 WineBottle -1.614 0.344 0.311 0 0 0 53 8 Kettle -2.004 1.337 -1.255 0 0 0 62 9 Fork -2.049 1.323 2.069 0 0 0 55 10 Fork -1.530 1.323 -1.681 0 90 0 55 11 Spoon -2.018 1.053 -0.496 0 270 0 73 12 Spoon -1.401 1.324 -2.721 0 0 0 55 13 Spatula 0.420 1.337 -3.232 0 0 0 55 14 Pot 0.896 1.329 -2.424 0 0 0 55 15 Knife -1.920 1.352 1.094 0 0 0 55 16 SoapBottle -1.818 0.344 1.627 0 0 0 56 17 SoapBottle 0.563 1.323 -3.232 0 0 0 55 18 Tomato -1.954 1.084 -0.633 0 0 0 73 19 Tomato 0.778 1.241 1.222 0 0 0 80 20 Bowl -1.750 0.342 1.213 0 0 0 56 21 SaltShaker 0.824 0.339 -2.061 0 180 0 54 22 SaltShaker 0.671 0.339 -2.164 0 180 0 54 23 PepperShaker -1.790 1.318 0.445 0 0 0 55 24 PepperShaker 1.129 0.339 -2.061 0 180 0 54 25 Mug -1.790 1.318 -1.941 0 0 0 55 26 Apple -1.826 1.112 -0.542 0 0 0 73 27 Bread -1.522 1.397 -2.870 0 0 0 55 28 Pot 0.349 1.329 -2.900 0 0 0 55 29 Knife -2.004 1.366 -1.117 0 180 0 62 30 Bowl -1.817 0.342 0.512 0 0 0 53 31 Potato -1.826 1.372 -1.186 0 0 0 62 32 SoapBottle -1.602 0.344 -2.362 0 0 0 51 33 Fork -1.451 1.323 -2.981 0 180 0 55 34 Cup -1.665 0.341 -1.863 0 0 0 51 35 Kettle -1.530 1.324 -1.941 0 0 0 55 36 Egg 0.766 1.363 -2.794 0 0 0 55 37 Pan -0.239 1.331 -3.301 0 180 0 50 38 SaltShaker -2.049 1.318 1.419 0 0 0 55 39 WineBottle -1.345 1.323 -1.269 0 0 0 55 40 Lettuce -1.660 1.399 1.419 0 0 0 55 41 Spatula -1.737 1.343 -1.117 0 90 0 62 42 PaperTowelRoll 0.420 1.427 -3.343 0 0 0 55 43 Tomato -1.698 1.084 -0.451 0 0 0 73 44 Plate -1.660 1.323 2.069 0 0 0 55 45 PepperShaker 0.944 1.202 1.222 0 0 0 80 46 DishSponge 1.155 1.322 -2.424 0 0 0 55 47 Spoon -1.660 1.324 -1.681 0 0 0 55 48 Apple 1.193 1.256 1.238 0 0 0 80 49 Mug 0.938 1.670 1.663 0 270 0 68 50 StoveBurner -0.239 1.325 -3.301 0 180 0 51 Cabinet -1.461 0.775 -2.002 0 0 0 52 StoveBurner -0.630 1.325 -3.301 0 180 0 53 Cabinet -1.461 0.775 0.470 0 0 0 54 Cabinet 0.578 0.776 -2.054 0 0 0 55 CounterTop -1.809 1.358 1.182 0 0 0 56 Cabinet -1.461 0.775 1.310 0 0 0 57 Faucet -2.063 1.362 -0.726 0 39.391 0 58 StoveBurner -0.749 1.325 -2.973 0 0 0 59 Drawer -1.610 0.681 -0.430 0 0 0 60 Window -2.566 1.799 -0.822 270 0 0 61 Drawer -1.610 0.681 -1.217 0 0 0 62 Sink -1.990 1.143 -0.975 0 0 0 63 StoveBurner -0.125 1.325 -2.973 0 0 0 64 StoveKnob -0.185 1.338 -2.741 0 270 180 65 StoveKnob -0.336 1.338 -2.741 0 270 180 66 StoveKnob -0.569 1.338 -2.741 0 270 180 67 StoveKnob -0.707 1.338 -2.741 0 270 180 68 Fridge 1.013 0.227 1.917 0 270 0 69 Microwave 0.994 1.310 -2.163 0 270 0 70 GarbageCan -1.633 0.212 2.192 0 270 0 71 LightSwitch 1.386 1.565 -0.657 0 270 0 72 HousePlant -2.027 1.311 -0.026 0 284.058 0 73 SinkBasin -1.835 1.039 -0.542 0 0 0 74 ButterKnife 0.873 0.468 0.651 0 0 0 75 Toaster -1.885 1.310 -2.512 0 90 0 76 CoffeeMachine 1.129 1.310 -1.426 0 270 0 77 Drawer 0.647 1.061 0.680 0 270 0 78 Drawer 0.648 1.061 1.020 0 270 0 79 Drawer 0.648 0.843 1.020 0 270 0 80 SideTable 0.975 0.220 0.869 0 270 0 81 Drawer 0.648 0.602 0.680 0 270 0 82 Drawer 0.648 0.596 1.020 0 270 0 83 Drawer 0.648 0.843 0.680 0 270 0 84 Stool 0.606 0.222 -1.084 1.233 280.489 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Turn left and walk to the potato on the sink. | STEP 2: Pick up the yellow knife to the right of the kettle. | STEP 3: Cut up the potato closest to the window. | STEP 4: Walk to the sink on the right. | STEP 5: Place the knife into the sink. | STEP 6: Walk to the cut up potato on the sink. | STEP 7: Pick up a piece of the potato. | STEP 8: Turn around and walk to the microwave to the right of the fridge. | STEP 9: Microwave the piece of potato and then pick the piece of potato up from the microwave. | STEP 10: Turn around and walk to the green recycling bin. | STEP 11: Place the piece of potato in the green recycling bin. | END" ]
[ [ "STEP 1: Turn left and walk to the potato on the sink. ", " STEP 2: Pick up the yellow knife to the right of the kettle. ", " STEP 3: Cut up the potato closest to the window. ", " STEP 4: Walk to the sink on the right. ", " STEP 5: Place the knife into the sink. ", " STEP 6: Walk to the cut up potato on the sink. ", " STEP 7: Pick up a piece of the potato. ", " STEP 8: Turn around and walk to the microwave to the right of the fridge. ", " STEP 9: Microwave the piece of potato and then pick the piece of potato up from the microwave. ", " STEP 10: Turn around and walk to the green recycling bin. ", " STEP 11: Place the piece of potato in the green recycling bin. ", " END" ] ]
seen
trial_T20190910_223109_389532-2
place a microwaved potato slice inside of the garbage bin
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Spoon", " -2.018", " 1.053", " -0.496", " 0", " 270", " 0", " 73" ], [ "12", " Spoon", " -1.401", " 1.324", " -2.721", " 0", " 0", " 0", " 55" ], [ "13", " Spatula", " 0.420", " 1.337", " -3.232", " 0", " 0", " 0", " 55" ], [ "14", " Pot", " 0.896", " 1.329", " -2.424", " 0", " 0", " 0", " 55" ], [ "15", " Knife", " -1.920", " 1.352", " 1.094", " 0", " 0", " 0", " 55" ], [ "16", " SoapBottle", " -1.818", " 0.344", " 1.627", " 0", " 0", " 0", " 56" ], [ "17", " SoapBottle", " 0.563", " 1.323", " -3.232", " 0", " 0", " 0", " 55" ], [ "18", " Tomato", " -1.954", " 1.084", " -0.633", " 0", " 0", " 0", " 73" ], [ "19", " Tomato", " 0.778", " 1.241", " 1.222", " 0", " 0", " 0", " 80" ], [ "20", " Bowl", " -1.750", " 0.342", " 1.213", " 0", " 0", " 0", " 56" ], [ "21", " SaltShaker", " 0.824", " 0.339", " -2.061", " 0", " 180", " 0", " 54" ], [ "22", " SaltShaker", " 0.671", " 0.339", " -2.164", " 0", " 180", " 0", " 54" ], [ "23", " PepperShaker", " -1.790", " 1.318", " 0.445", " 0", " 0", " 0", " 55" ], [ "24", " PepperShaker", " 1.129", " 0.339", " -2.061", " 0", " 180", " 0", " 54" ], [ "25", " Mug", " -1.790", " 1.318", " -1.941", " 0", " 0", " 0", " 55" ], [ "26", " Apple", " -1.826", " 1.112", " -0.542", " 0", " 0", " 0", " 73" ], [ "27", " Bread", " -1.522", " 1.397", " -2.870", " 0", " 0", " 0", " 55" ], [ "28", " Pot", " 0.349", " 1.329", " -2.900", " 0", " 0", " 0", " 55" ], [ "29", " Knife", " -2.004", " 1.366", " -1.117", " 0", " 180", " 0", " 62" ], [ "30", " Bowl", " -1.817", " 0.342", " 0.512", " 0", " 0", " 0", " 53" ], [ "31", " Potato", " -1.826", " 1.372", " -1.186", " 0", " 0", " 0", " 62" ], [ "32", " SoapBottle", " -1.602", " 0.344", " -2.362", " 0", " 0", " 0", " 51" ], [ "33", " Fork", " -1.451", " 1.323", " -2.981", " 0", " 180", " 0", " 55" ], [ "34", " Cup", " -1.665", " 0.341", " -1.863", " 0", " 0", " 0", " 51" ], [ "35", " Kettle", " -1.530", " 1.324", " -1.941", " 0", " 0", " 0", " 55" ], [ "36", " Egg", " 0.766", " 1.363", " -2.794", " 0", " 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1.670", " 1.663", " 0", " 270", " 0", " 68" ], [ "50", " StoveBurner", " -0.239", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "51", " Cabinet", " -1.461", " 0.775", " -2.002", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " -0.630", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "53", " Cabinet", " -1.461", " 0.775", " 0.470", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.578", " 0.776", " -2.054", " 0", " 0", " 0", "" ], [ "55", " CounterTop", " -1.809", " 1.358", " 1.182", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -1.461", " 0.775", " 1.310", " 0", " 0", " 0", "" ], [ "57", " Faucet", " -2.063", " 1.362", " -0.726", " 0", " 39.391", " 0", "" ], [ "58", " StoveBurner", " -0.749", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "59", " Drawer", " -1.610", " 0.681", " -0.430", " 0", " 0", " 0", "" ], [ "60", " Window", " -2.566", " 1.799", " -0.822", " 270", " 0", " 0", "" ], [ "61", " Drawer", " -1.610", " 0.681", " -1.217", " 0", " 0", " 0", "" ], [ "62", " Sink", " -1.990", " 1.143", " -0.975", " 0", " 0", " 0", "" ], [ "63", " StoveBurner", " -0.125", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "64", " StoveKnob", " -0.185", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "65", " StoveKnob", " -0.336", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "66", " StoveKnob", " -0.569", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "67", " StoveKnob", " -0.707", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "68", " Fridge", " 1.013", " 0.227", " 1.917", " 0", " 270", " 0", "" ], [ "69", " Microwave", " 0.994", " 1.310", " -2.163", " 0", " 270", " 0", "" ], [ "70", " GarbageCan", " -1.633", " 0.212", " 2.192", " 0", " 270", " 0", "" ], [ "71", " LightSwitch", " 1.386", " 1.565", " -0.657", " 0", " 270", " 0", "" ], [ "72", " HousePlant", " -2.027", " 1.311", " -0.026", " 0", " 284.058", " 0", "" ], [ "73", " SinkBasin", " -1.835", " 1.039", " -0.542", " 0", " 0", " 0", "" ], [ "74", " ButterKnife", " 0.873", " 0.468", " 0.651", " 0", " 0", " 0", "" ], [ "75", " Toaster", " -1.885", " 1.310", " -2.512", " 0", " 90", " 0", "" ], [ "76", " CoffeeMachine", " 1.129", " 1.310", " -1.426", " 0", " 270", " 0", "" ], [ "77", " Drawer", " 0.647", " 1.061", " 0.680", " 0", " 270", " 0", "" ], [ "78", " Drawer", " 0.648", " 1.061", " 1.020", " 0", " 270", " 0", "" ], [ "79", " Drawer", " 0.648", " 0.843", " 1.020", " 0", " 270", " 0", "" ], [ "80", " SideTable", " 0.975", " 0.220", " 0.869", " 0", " 270", " 0", "" ], [ "81", " Drawer", " 0.648", " 0.602", " 0.680", " 0", " 270", " 0", "" ], [ "82", " Drawer", " 0.648", " 0.596", " 1.020", " 0", " 270", " 0", "" ], [ "83", " Drawer", " 0.648", " 0.843", " 0.680", " 0", " 270", " 0", "" ], [ "84", " Stool", " 0.606", " 0.222", " -1.084", " 1.233", " 280.489", " 0", "" ], [ "85", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 1.124 2.0 0 270 0 1 Pan -1.920 1.322 -1.681 0 90 0 55 2 Potato 0.938 1.796 1.994 0 270 0 68 3 Potato -2.179 1.362 -3.241 0 0 0 55 4 Potato -2.093 1.374 -0.980 0 0 0 62 5 DishSponge -1.345 1.322 -1.035 0 0 0 55 6 DishSponge -1.165 1.322 -3.425 0 0 0 55 7 WineBottle -1.614 0.344 0.311 0 0 0 53 8 Kettle -2.004 1.337 -1.255 0 0 0 62 9 Fork -2.049 1.323 2.069 0 0 0 55 10 Fork -1.530 1.323 -1.681 0 90 0 55 11 Spoon -2.018 1.053 -0.496 0 270 0 73 12 Spoon -1.401 1.324 -2.721 0 0 0 55 13 Spatula 0.420 1.337 -3.232 0 0 0 55 14 Pot 0.896 1.329 -2.424 0 0 0 55 15 Knife -1.920 1.352 1.094 0 0 0 55 16 SoapBottle -1.818 0.344 1.627 0 0 0 56 17 SoapBottle 0.563 1.323 -3.232 0 0 0 55 18 Tomato -1.954 1.084 -0.633 0 0 0 73 19 Tomato 0.778 1.241 1.222 0 0 0 80 20 Bowl -1.750 0.342 1.213 0 0 0 56 21 SaltShaker 0.824 0.339 -2.061 0 180 0 54 22 SaltShaker 0.671 0.339 -2.164 0 180 0 54 23 PepperShaker -1.790 1.318 0.445 0 0 0 55 24 PepperShaker 1.129 0.339 -2.061 0 180 0 54 25 Mug -1.790 1.318 -1.941 0 0 0 55 26 Apple -1.826 1.112 -0.542 0 0 0 73 27 Bread -1.522 1.397 -2.870 0 0 0 55 28 Pot 0.349 1.329 -2.900 0 0 0 55 29 Knife -2.004 1.366 -1.117 0 180 0 62 30 Bowl -1.817 0.342 0.512 0 0 0 53 31 Potato -1.826 1.372 -1.186 0 0 0 62 32 SoapBottle -1.602 0.344 -2.362 0 0 0 51 33 Fork -1.451 1.323 -2.981 0 180 0 55 34 Cup -1.665 0.341 -1.863 0 0 0 51 35 Kettle -1.530 1.324 -1.941 0 0 0 55 36 Egg 0.766 1.363 -2.794 0 0 0 55 37 Pan -0.239 1.331 -3.301 0 180 0 50 38 SaltShaker -2.049 1.318 1.419 0 0 0 55 39 WineBottle -1.345 1.323 -1.269 0 0 0 55 40 Lettuce -1.660 1.399 1.419 0 0 0 55 41 Spatula -1.737 1.343 -1.117 0 90 0 62 42 PaperTowelRoll 0.420 1.427 -3.343 0 0 0 55 43 Tomato -1.698 1.084 -0.451 0 0 0 73 44 Plate -1.660 1.323 2.069 0 0 0 55 45 PepperShaker 0.944 1.202 1.222 0 0 0 80 46 DishSponge 1.155 1.322 -2.424 0 0 0 55 47 Spoon -1.660 1.324 -1.681 0 0 0 55 48 Apple 1.193 1.256 1.238 0 0 0 80 49 Mug 0.938 1.670 1.663 0 270 0 68 50 StoveBurner -0.239 1.325 -3.301 0 180 0 51 Cabinet -1.461 0.775 -2.002 0 0 0 52 StoveBurner -0.630 1.325 -3.301 0 180 0 53 Cabinet -1.461 0.775 0.470 0 0 0 54 Cabinet 0.578 0.776 -2.054 0 0 0 55 CounterTop -1.809 1.358 1.182 0 0 0 56 Cabinet -1.461 0.775 1.310 0 0 0 57 Faucet -2.063 1.362 -0.726 0 39.391 0 58 StoveBurner -0.749 1.325 -2.973 0 0 0 59 Drawer -1.610 0.681 -0.430 0 0 0 60 Window -2.566 1.799 -0.822 270 0 0 61 Drawer -1.610 0.681 -1.217 0 0 0 62 Sink -1.990 1.143 -0.975 0 0 0 63 StoveBurner -0.125 1.325 -2.973 0 0 0 64 StoveKnob -0.185 1.338 -2.741 0 270 180 65 StoveKnob -0.336 1.338 -2.741 0 270 180 66 StoveKnob -0.569 1.338 -2.741 0 270 180 67 StoveKnob -0.707 1.338 -2.741 0 270 180 68 Fridge 1.013 0.227 1.917 0 270 0 69 Microwave 0.994 1.310 -2.163 0 270 0 70 GarbageCan -1.633 0.212 2.192 0 270 0 71 LightSwitch 1.386 1.565 -0.657 0 270 0 72 HousePlant -2.027 1.311 -0.026 0 284.058 0 73 SinkBasin -1.835 1.039 -0.542 0 0 0 74 ButterKnife 0.873 0.468 0.651 0 0 0 75 Toaster -1.885 1.310 -2.512 0 90 0 76 CoffeeMachine 1.129 1.310 -1.426 0 270 0 77 Drawer 0.647 1.061 0.680 0 270 0 78 Drawer 0.648 1.061 1.020 0 270 0 79 Drawer 0.648 0.843 1.020 0 270 0 80 SideTable 0.975 0.220 0.869 0 270 0 81 Drawer 0.648 0.602 0.680 0 270 0 82 Drawer 0.648 0.596 1.020 0 270 0 83 Drawer 0.648 0.843 0.680 0 270 0 84 Stool 0.606 0.222 -1.084 1.233 280.489 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: turn left and walk over to the kitchen sink on the right | STEP 2: grab the knife off of the kitchen sink cover | STEP 3: slice up the potato on top of the kitchen sink cover on the back side | STEP 4: move to the right a bit and face the kitchen sink again | STEP 5: place the knife inside of the right side kitchen sink | STEP 6: move to the left and face the left side of the kitchen sink | STEP 7: grab a slice of potato off of the kitchen sink | STEP 8: turn right and walk over to the microwave on the right side of the room | STEP 9: place the potato slice inside of the microwave, cook it, then take it back out | STEP 10: turn left and walk to the end of the room, then turn left and walk to the end of the room | STEP 11: place the potato slice inside of the garbage bin below | END" ]
[ [ "STEP 1: turn left and walk over to the kitchen sink on the right ", " STEP 2: grab the knife off of the kitchen sink cover ", " STEP 3: slice up the potato on top of the kitchen sink cover on the back side ", " STEP 4: move to the right a bit and face the kitchen sink again ", " STEP 5: place the knife inside of the right side kitchen sink ", " STEP 6: move to the left and face the left side of the kitchen sink ", " STEP 7: grab a slice of potato off of the kitchen sink ", " STEP 8: turn right and walk over to the microwave on the right side of the room ", " STEP 9: place the potato slice inside of the microwave, cook it, then take it back out ", " STEP 10: turn left and walk to the end of the room, then turn left and walk to the end of the room ", " STEP 11: place the potato slice inside of the garbage bin below ", " END" ] ]
seen
trial_T20190910_223109_389532-3
Put a hot potato slice in the recycling bin.
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", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 1.124 2.0 0 270 0 1 Pan -1.920 1.322 -1.681 0 90 0 55 2 Potato 0.938 1.796 1.994 0 270 0 68 3 Potato -2.179 1.362 -3.241 0 0 0 55 4 Potato -2.093 1.374 -0.980 0 0 0 62 5 DishSponge -1.345 1.322 -1.035 0 0 0 55 6 DishSponge -1.165 1.322 -3.425 0 0 0 55 7 WineBottle -1.614 0.344 0.311 0 0 0 53 8 Kettle -2.004 1.337 -1.255 0 0 0 62 9 Fork -2.049 1.323 2.069 0 0 0 55 10 Fork -1.530 1.323 -1.681 0 90 0 55 11 Spoon -2.018 1.053 -0.496 0 270 0 73 12 Spoon -1.401 1.324 -2.721 0 0 0 55 13 Spatula 0.420 1.337 -3.232 0 0 0 55 14 Pot 0.896 1.329 -2.424 0 0 0 55 15 Knife -1.920 1.352 1.094 0 0 0 55 16 SoapBottle -1.818 0.344 1.627 0 0 0 56 17 SoapBottle 0.563 1.323 -3.232 0 0 0 55 18 Tomato -1.954 1.084 -0.633 0 0 0 73 19 Tomato 0.778 1.241 1.222 0 0 0 80 20 Bowl -1.750 0.342 1.213 0 0 0 56 21 SaltShaker 0.824 0.339 -2.061 0 180 0 54 22 SaltShaker 0.671 0.339 -2.164 0 180 0 54 23 PepperShaker -1.790 1.318 0.445 0 0 0 55 24 PepperShaker 1.129 0.339 -2.061 0 180 0 54 25 Mug -1.790 1.318 -1.941 0 0 0 55 26 Apple -1.826 1.112 -0.542 0 0 0 73 27 Bread -1.522 1.397 -2.870 0 0 0 55 28 Pot 0.349 1.329 -2.900 0 0 0 55 29 Knife -2.004 1.366 -1.117 0 180 0 62 30 Bowl -1.817 0.342 0.512 0 0 0 53 31 Potato -1.826 1.372 -1.186 0 0 0 62 32 SoapBottle -1.602 0.344 -2.362 0 0 0 51 33 Fork -1.451 1.323 -2.981 0 180 0 55 34 Cup -1.665 0.341 -1.863 0 0 0 51 35 Kettle -1.530 1.324 -1.941 0 0 0 55 36 Egg 0.766 1.363 -2.794 0 0 0 55 37 Pan -0.239 1.331 -3.301 0 180 0 50 38 SaltShaker -2.049 1.318 1.419 0 0 0 55 39 WineBottle -1.345 1.323 -1.269 0 0 0 55 40 Lettuce -1.660 1.399 1.419 0 0 0 55 41 Spatula -1.737 1.343 -1.117 0 90 0 62 42 PaperTowelRoll 0.420 1.427 -3.343 0 0 0 55 43 Tomato -1.698 1.084 -0.451 0 0 0 73 44 Plate -1.660 1.323 2.069 0 0 0 55 45 PepperShaker 0.944 1.202 1.222 0 0 0 80 46 DishSponge 1.155 1.322 -2.424 0 0 0 55 47 Spoon -1.660 1.324 -1.681 0 0 0 55 48 Apple 1.193 1.256 1.238 0 0 0 80 49 Mug 0.938 1.670 1.663 0 270 0 68 50 StoveBurner -0.239 1.325 -3.301 0 180 0 51 Cabinet -1.461 0.775 -2.002 0 0 0 52 StoveBurner -0.630 1.325 -3.301 0 180 0 53 Cabinet -1.461 0.775 0.470 0 0 0 54 Cabinet 0.578 0.776 -2.054 0 0 0 55 CounterTop -1.809 1.358 1.182 0 0 0 56 Cabinet -1.461 0.775 1.310 0 0 0 57 Faucet -2.063 1.362 -0.726 0 39.391 0 58 StoveBurner -0.749 1.325 -2.973 0 0 0 59 Drawer -1.610 0.681 -0.430 0 0 0 60 Window -2.566 1.799 -0.822 270 0 0 61 Drawer -1.610 0.681 -1.217 0 0 0 62 Sink -1.990 1.143 -0.975 0 0 0 63 StoveBurner -0.125 1.325 -2.973 0 0 0 64 StoveKnob -0.185 1.338 -2.741 0 270 180 65 StoveKnob -0.336 1.338 -2.741 0 270 180 66 StoveKnob -0.569 1.338 -2.741 0 270 180 67 StoveKnob -0.707 1.338 -2.741 0 270 180 68 Fridge 1.013 0.227 1.917 0 270 0 69 Microwave 0.994 1.310 -2.163 0 270 0 70 GarbageCan -1.633 0.212 2.192 0 270 0 71 LightSwitch 1.386 1.565 -0.657 0 270 0 72 HousePlant -2.027 1.311 -0.026 0 284.058 0 73 SinkBasin -1.835 1.039 -0.542 0 0 0 74 ButterKnife 0.873 0.468 0.651 0 0 0 75 Toaster -1.885 1.310 -2.512 0 90 0 76 CoffeeMachine 1.129 1.310 -1.426 0 270 0 77 Drawer 0.647 1.061 0.680 0 270 0 78 Drawer 0.648 1.061 1.020 0 270 0 79 Drawer 0.648 0.843 1.020 0 270 0 80 SideTable 0.975 0.220 0.869 0 270 0 81 Drawer 0.648 0.602 0.680 0 270 0 82 Drawer 0.648 0.596 1.020 0 270 0 83 Drawer 0.648 0.843 0.680 0 270 0 84 Stool 0.606 0.222 -1.084 1.233 280.489 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Turn left then face the sink on your right. | STEP 2: Take the knife from the sink in front of you. | STEP 3: Slice the potato on the sink in front of you. | STEP 4: Turn right, then face the sink on your left. | STEP 5: Place the knife in the sink in front of you. | STEP 6: Turn left, then right and face the sink in front of you. | STEP 7: Take a potato slice from the sink in front of you. | STEP 8: Turn right, then right again and head towards the microwave in front of you. | STEP 9: Heat up the potato slice in the microwave in front of you, take it out and close it. | STEP 10: Turn around and head towards the green recycling bin in front of you. | STEP 11: Place the potato slice in the recycling bin. | END" ]
[ [ "STEP 1: Turn left then face the sink on your right. ", " STEP 2: Take the knife from the sink in front of you. ", " STEP 3: Slice the potato on the sink in front of you. ", " STEP 4: Turn right, then face the sink on your left. ", " STEP 5: Place the knife in the sink in front of you. ", " STEP 6: Turn left, then right and face the sink in front of you. ", " STEP 7: Take a potato slice from the sink in front of you. ", " STEP 8: Turn right, then right again and head towards the microwave in front of you. ", " STEP 9: Heat up the potato slice in the microwave in front of you, take it out and close it. ", " STEP 10: Turn around and head towards the green recycling bin in front of you. ", " STEP 11: Place the potato slice in the recycling bin. ", " END" ] ]
seen
trial_T20190910_223109_389532-4
Throw away a cooked slice of potato in the recycling bin which is across the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 1.124 2.0 0 270 0 1 Pan -1.920 1.322 -1.681 0 90 0 55 2 Potato 0.938 1.796 1.994 0 270 0 68 3 Potato -2.179 1.362 -3.241 0 0 0 55 4 Potato -2.093 1.374 -0.980 0 0 0 62 5 DishSponge -1.345 1.322 -1.035 0 0 0 55 6 DishSponge -1.165 1.322 -3.425 0 0 0 55 7 WineBottle -1.614 0.344 0.311 0 0 0 53 8 Kettle -2.004 1.337 -1.255 0 0 0 62 9 Fork -2.049 1.323 2.069 0 0 0 55 10 Fork -1.530 1.323 -1.681 0 90 0 55 11 Spoon -2.018 1.053 -0.496 0 270 0 73 12 Spoon -1.401 1.324 -2.721 0 0 0 55 13 Spatula 0.420 1.337 -3.232 0 0 0 55 14 Pot 0.896 1.329 -2.424 0 0 0 55 15 Knife -1.920 1.352 1.094 0 0 0 55 16 SoapBottle -1.818 0.344 1.627 0 0 0 56 17 SoapBottle 0.563 1.323 -3.232 0 0 0 55 18 Tomato -1.954 1.084 -0.633 0 0 0 73 19 Tomato 0.778 1.241 1.222 0 0 0 80 20 Bowl -1.750 0.342 1.213 0 0 0 56 21 SaltShaker 0.824 0.339 -2.061 0 180 0 54 22 SaltShaker 0.671 0.339 -2.164 0 180 0 54 23 PepperShaker -1.790 1.318 0.445 0 0 0 55 24 PepperShaker 1.129 0.339 -2.061 0 180 0 54 25 Mug -1.790 1.318 -1.941 0 0 0 55 26 Apple -1.826 1.112 -0.542 0 0 0 73 27 Bread -1.522 1.397 -2.870 0 0 0 55 28 Pot 0.349 1.329 -2.900 0 0 0 55 29 Knife -2.004 1.366 -1.117 0 180 0 62 30 Bowl -1.817 0.342 0.512 0 0 0 53 31 Potato -1.826 1.372 -1.186 0 0 0 62 32 SoapBottle -1.602 0.344 -2.362 0 0 0 51 33 Fork -1.451 1.323 -2.981 0 180 0 55 34 Cup -1.665 0.341 -1.863 0 0 0 51 35 Kettle -1.530 1.324 -1.941 0 0 0 55 36 Egg 0.766 1.363 -2.794 0 0 0 55 37 Pan -0.239 1.331 -3.301 0 180 0 50 38 SaltShaker -2.049 1.318 1.419 0 0 0 55 39 WineBottle -1.345 1.323 -1.269 0 0 0 55 40 Lettuce -1.660 1.399 1.419 0 0 0 55 41 Spatula -1.737 1.343 -1.117 0 90 0 62 42 PaperTowelRoll 0.420 1.427 -3.343 0 0 0 55 43 Tomato -1.698 1.084 -0.451 0 0 0 73 44 Plate -1.660 1.323 2.069 0 0 0 55 45 PepperShaker 0.944 1.202 1.222 0 0 0 80 46 DishSponge 1.155 1.322 -2.424 0 0 0 55 47 Spoon -1.660 1.324 -1.681 0 0 0 55 48 Apple 1.193 1.256 1.238 0 0 0 80 49 Mug 0.938 1.670 1.663 0 270 0 68 50 StoveBurner -0.239 1.325 -3.301 0 180 0 51 Cabinet -1.461 0.775 -2.002 0 0 0 52 StoveBurner -0.630 1.325 -3.301 0 180 0 53 Cabinet -1.461 0.775 0.470 0 0 0 54 Cabinet 0.578 0.776 -2.054 0 0 0 55 CounterTop -1.809 1.358 1.182 0 0 0 56 Cabinet -1.461 0.775 1.310 0 0 0 57 Faucet -2.063 1.362 -0.726 0 39.391 0 58 StoveBurner -0.749 1.325 -2.973 0 0 0 59 Drawer -1.610 0.681 -0.430 0 0 0 60 Window -2.566 1.799 -0.822 270 0 0 61 Drawer -1.610 0.681 -1.217 0 0 0 62 Sink -1.990 1.143 -0.975 0 0 0 63 StoveBurner -0.125 1.325 -2.973 0 0 0 64 StoveKnob -0.185 1.338 -2.741 0 270 180 65 StoveKnob -0.336 1.338 -2.741 0 270 180 66 StoveKnob -0.569 1.338 -2.741 0 270 180 67 StoveKnob -0.707 1.338 -2.741 0 270 180 68 Fridge 1.013 0.227 1.917 0 270 0 69 Microwave 0.994 1.310 -2.163 0 270 0 70 GarbageCan -1.633 0.212 2.192 0 270 0 71 LightSwitch 1.386 1.565 -0.657 0 270 0 72 HousePlant -2.027 1.311 -0.026 0 284.058 0 73 SinkBasin -1.835 1.039 -0.542 0 0 0 74 ButterKnife 0.873 0.468 0.651 0 0 0 75 Toaster -1.885 1.310 -2.512 0 90 0 76 CoffeeMachine 1.129 1.310 -1.426 0 270 0 77 Drawer 0.647 1.061 0.680 0 270 0 78 Drawer 0.648 1.061 1.020 0 270 0 79 Drawer 0.648 0.843 1.020 0 270 0 80 SideTable 0.975 0.220 0.869 0 270 0 81 Drawer 0.648 0.602 0.680 0 270 0 82 Drawer 0.648 0.596 1.020 0 270 0 83 Drawer 0.648 0.843 0.680 0 270 0 84 Stool 0.606 0.222 -1.084 1.233 280.489 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Go to the left, walk straight and stop in front of the counter top next to the sink. | STEP 2: Pick up the knife from on top of the sink. | STEP 3: Cut the potato near the faucet into slices using the knife. | STEP 4: Walk slightly to the left to get to the sink. | STEP 5: Put the knife in the sink. | STEP 6: Walk back to the counter top next to the sink again. | STEP 7: Pick up a slice of the potato that you just cut. | STEP 8: Walk to the right and turn right to go to the black cabinet with a microwave on top of it. | STEP 9: Open the microwave, cook it for a few seconds, open the microwave to pick up the potato and close the microwave. | STEP 10: Walk to the left, turn to the left at the end of the room and walk to the recycling bin. | STEP 11: Throw the cooked slice of potato in the recycling bin | END" ]
[ [ "STEP 1: Go to the left, walk straight and stop in front of the counter top next to the sink. ", " STEP 2: Pick up the knife from on top of the sink. ", " STEP 3: Cut the potato near the faucet into slices using the knife. ", " STEP 4: Walk slightly to the left to get to the sink. ", " STEP 5: Put the knife in the sink. ", " STEP 6: Walk back to the counter top next to the sink again. ", " STEP 7: Pick up a slice of the potato that you just cut. ", " STEP 8: Walk to the right and turn right to go to the black cabinet with a microwave on top of it. ", " STEP 9: Open the microwave, cook it for a few seconds, open the microwave to pick up the potato and close the microwave. ", " STEP 10: Walk to the left, turn to the left at the end of the room and walk to the recycling bin. ", " STEP 11: Throw the cooked slice of potato in the recycling bin ", " END" ] ]
seen
trial_T20190908_142059_634306-0
Wash knife and return to table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 -0.25 0 0 0 1 Pen -0.365 0.918 -3.771 0 0 0 57 2 Pen -2.210 0.926 -1.654 0 0 0 82 3 DishSponge -2.666 0.923 -2.115 0 0 0 82 4 DishSponge -0.449 0.746 -3.238 0 0 0 68 5 ButterKnife -2.438 0.923 -2.115 0 0 0 82 6 WineBottle -2.324 0.924 -1.884 0 0 0 82 7 Pot -1.515 0.935 -3.497 0 0 0 54 8 Spatula -2.780 0.938 -2.115 0 90 0 82 9 Spatula -2.666 0.938 -2.345 0 180 0 82 10 Fork -2.438 0.924 -1.193 0 0 0 82 11 Spoon -0.600 0.916 -3.839 0 0 0 57 12 Knife -2.438 0.946 -1.884 0 90 0 82 13 Cup -2.780 0.922 -1.193 0 0 0 82 14 Cup -2.552 0.922 -0.963 0 0 0 82 15 Egg -2.210 0.956 -1.884 0 0 0 82 16 SoapBottle -0.528 0.914 -3.485 0 0 0 57 17 Tomato -1.975 0.090 -3.799 0 0 0 73 18 Tomato -0.343 1.162 -0.874 0 270 0 74 19 Bowl -2.438 0.922 -1.423 0 0 0 82 20 Bowl -0.268 1.689 -0.979 0 270 0 74 21 SaltShaker -0.293 0.912 -3.368 0 0 0 57 22 SaltShaker -0.081 0.912 -2.301 0 0 0 57 23 PepperShaker -1.100 1.965 -3.851 0 0 0 66 24 PepperShaker -0.205 1.966 -1.938 0 0 0 59 25 Mug -0.295 1.385 -0.874 0 270 0 74 26 Mug -0.508 0.910 -2.563 0 270 0 57 27 Apple -0.254 0.870 -2.008 0 270 0 75 28 Lettuce -2.096 1.016 -2.115 0 0 0 82 29 Glassbottle -0.329 1.531 -3.672 0 45 0 65 30 Egg -0.254 0.831 -1.786 0 270 0 75 31 Pen -2.096 0.926 -1.884 0 0 0 82 32 Fork -0.302 0.797 -1.934 0 0 0 75 33 SoapBottle -2.780 0.922 -1.654 0 0 0 82 34 Pencil -2.666 0.923 -2.345 0 0 0 82 35 WineBottle -0.365 0.916 -3.570 0 0 0 57 36 Spatula -0.3 0.915 -2.544 0 22.903 0 57 37 Bread -0.392 1.151 -0.560 0 270 0 74 38 Tomato -0.268 1.754 -0.560 0 270 0 74 39 Pan -2.174 0.913 -1.099 0 0 0 82 40 Cup -0.186 1.526 -3.020 0 0 0 69 41 Pot -1.129 0.935 -3.498 0 0 0 55 42 SaltShaker -0.671 0.912 -3.697 0 0 0 57 43 Potato -1.362 1.661 -3.903 0 0 0 70 44 PepperShaker -0.600 0.912 -3.697 0 0 0 57 45 ButterKnife -0.743 0.915 -3.626 0 0 0 57 46 DishSponge -2.552 0.923 -1.884 0 0 0 82 47 Spoon -2.210 0.924 -1.654 0 0 0 82 48 Plate -0.383 0.083 -1.804 0 0 0 52 49 Knife -2.324 0.946 -0.963 0 0 0 82 50 Mug -1.362 1.625 -3.804 0 0 0 70 51 Bowl -2.780 0.922 -2.345 0 0 0 82 52 Cabinet -0.582 0.388 -1.804 0 0 0 53 StoveBurner -1.515 0.928 -3.752 0 90 0 54 StoveBurner -1.515 0.928 -3.497 0 0 0 55 StoveBurner -1.129 0.928 -3.498 0 0 0 56 Drawer -0.749 0.779 -3.551 0 0 0 57 CounterTop -0.303 0.951 -2.793 0 0 0 58 Cabinet -0.883 2.140 -3.687 0 0 0 59 Cabinet -0.312 2.140 -1.543 0 0 0 60 Sink -0.349 0.907 -2.014 0 0 0 61 Cabinet -0.877 0.388 -3.422 0 0 0 62 Cabinet -0.582 0.388 -2.197 0 0 0 63 Cabinet -0.584 0.388 -3.396 0 0 0 64 Cabinet -0.312 2.140 -2.481 0 0 0 65 Cabinet -0.330 1.921 -3.390 0 0 0 66 Cabinet -1.764 2.140 -3.687 0 0 0 67 StoveBurner -1.129 0.928 -3.752 0 90 0 68 Drawer -0.454 0.779 -3.268 0 0 0 69 Cabinet -0.302 1.916 -2.501 0 0 0 70 Microwave -1.317 1.517 -3.801 0 1.440 0 71 CoffeeMachine -0.153 0.903 -3.144 0 270 0 72 LightSwitch -4.323 1.319 0.0 0 180 0 73 GarbageCan -1.943 -7.152 -3.763 0 0 0 74 Fridge -0.330 0.0 -0.769 0 270 0 75 SinkBasin -0.350 0.786 -2.018 0 270 0 76 StoveKnob -1.582 1.082 -3.958 72.287 0 0 77 StoveKnob -1.177 1.082 -3.958 72.287 0 0 78 StoveKnob -1.424 1.082 -3.958 72.287 0 0 79 StoveKnob -1.028 1.082 -3.958 72.287 0 0 80 Toaster -0.181 0.903 -2.764 0 270 0 81 Window -2.503 1.782 -4.185 90 180 0 82 DiningTable -2.432 0.000 -1.694 0 270 0 83 Shelf -2.432 0.150 -1.694 0 270 0 84 Blinds -2.536 2.699 -3.959 0 0 0 85 Faucet -0.079 0.904 -2.034 270 180 0 86 Chair -3.264 0.002 -2.094 0 53.280 0 87 Chair -3.240 0.002 -1.253 0 117.257 0 88 Shelf -2.432 0.523 -1.694 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn around, go to end of table on right. Turn right to face table. | STEP 2: Pick up knife from table, located behind the wine bottle and in front of the right green sponge. | STEP 3: Turn around and go to sink. | STEP 4: Place knife to left of egg in sink, turn water on, turn water off, drain water. Pick up knife. | STEP 5: Turn around, go to table. | STEP 6: Place knife on table, directly in front of the spoon to the right of the pencil. | END" ]
[ [ "STEP 1: Turn around, go to end of table on right. Turn right to face table. ", " STEP 2: Pick up knife from table, located behind the wine bottle and in front of the right green sponge. ", " STEP 3: Turn around and go to sink. ", " STEP 4: Place knife to left of egg in sink, turn water on, turn water off, drain water. Pick up knife. ", " STEP 5: Turn around, go to table. ", " STEP 6: Place knife on table, directly in front of the spoon to the right of the pencil. ", " END" ] ]
seen
trial_T20190908_142059_634306-1
Pick up knife, clean it, return knife
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 -0.25 0 0 0 1 Pen -0.365 0.918 -3.771 0 0 0 57 2 Pen -2.210 0.926 -1.654 0 0 0 82 3 DishSponge -2.666 0.923 -2.115 0 0 0 82 4 DishSponge -0.449 0.746 -3.238 0 0 0 68 5 ButterKnife -2.438 0.923 -2.115 0 0 0 82 6 WineBottle -2.324 0.924 -1.884 0 0 0 82 7 Pot -1.515 0.935 -3.497 0 0 0 54 8 Spatula -2.780 0.938 -2.115 0 90 0 82 9 Spatula -2.666 0.938 -2.345 0 180 0 82 10 Fork -2.438 0.924 -1.193 0 0 0 82 11 Spoon -0.600 0.916 -3.839 0 0 0 57 12 Knife -2.438 0.946 -1.884 0 90 0 82 13 Cup -2.780 0.922 -1.193 0 0 0 82 14 Cup -2.552 0.922 -0.963 0 0 0 82 15 Egg -2.210 0.956 -1.884 0 0 0 82 16 SoapBottle -0.528 0.914 -3.485 0 0 0 57 17 Tomato -1.975 0.090 -3.799 0 0 0 73 18 Tomato -0.343 1.162 -0.874 0 270 0 74 19 Bowl -2.438 0.922 -1.423 0 0 0 82 20 Bowl -0.268 1.689 -0.979 0 270 0 74 21 SaltShaker -0.293 0.912 -3.368 0 0 0 57 22 SaltShaker -0.081 0.912 -2.301 0 0 0 57 23 PepperShaker -1.100 1.965 -3.851 0 0 0 66 24 PepperShaker -0.205 1.966 -1.938 0 0 0 59 25 Mug -0.295 1.385 -0.874 0 270 0 74 26 Mug -0.508 0.910 -2.563 0 270 0 57 27 Apple -0.254 0.870 -2.008 0 270 0 75 28 Lettuce -2.096 1.016 -2.115 0 0 0 82 29 Glassbottle -0.329 1.531 -3.672 0 45 0 65 30 Egg -0.254 0.831 -1.786 0 270 0 75 31 Pen -2.096 0.926 -1.884 0 0 0 82 32 Fork -0.302 0.797 -1.934 0 0 0 75 33 SoapBottle -2.780 0.922 -1.654 0 0 0 82 34 Pencil -2.666 0.923 -2.345 0 0 0 82 35 WineBottle -0.365 0.916 -3.570 0 0 0 57 36 Spatula -0.3 0.915 -2.544 0 22.903 0 57 37 Bread -0.392 1.151 -0.560 0 270 0 74 38 Tomato -0.268 1.754 -0.560 0 270 0 74 39 Pan -2.174 0.913 -1.099 0 0 0 82 40 Cup -0.186 1.526 -3.020 0 0 0 69 41 Pot -1.129 0.935 -3.498 0 0 0 55 42 SaltShaker -0.671 0.912 -3.697 0 0 0 57 43 Potato -1.362 1.661 -3.903 0 0 0 70 44 PepperShaker -0.600 0.912 -3.697 0 0 0 57 45 ButterKnife -0.743 0.915 -3.626 0 0 0 57 46 DishSponge -2.552 0.923 -1.884 0 0 0 82 47 Spoon -2.210 0.924 -1.654 0 0 0 82 48 Plate -0.383 0.083 -1.804 0 0 0 52 49 Knife -2.324 0.946 -0.963 0 0 0 82 50 Mug -1.362 1.625 -3.804 0 0 0 70 51 Bowl -2.780 0.922 -2.345 0 0 0 82 52 Cabinet -0.582 0.388 -1.804 0 0 0 53 StoveBurner -1.515 0.928 -3.752 0 90 0 54 StoveBurner -1.515 0.928 -3.497 0 0 0 55 StoveBurner -1.129 0.928 -3.498 0 0 0 56 Drawer -0.749 0.779 -3.551 0 0 0 57 CounterTop -0.303 0.951 -2.793 0 0 0 58 Cabinet -0.883 2.140 -3.687 0 0 0 59 Cabinet -0.312 2.140 -1.543 0 0 0 60 Sink -0.349 0.907 -2.014 0 0 0 61 Cabinet -0.877 0.388 -3.422 0 0 0 62 Cabinet -0.582 0.388 -2.197 0 0 0 63 Cabinet -0.584 0.388 -3.396 0 0 0 64 Cabinet -0.312 2.140 -2.481 0 0 0 65 Cabinet -0.330 1.921 -3.390 0 0 0 66 Cabinet -1.764 2.140 -3.687 0 0 0 67 StoveBurner -1.129 0.928 -3.752 0 90 0 68 Drawer -0.454 0.779 -3.268 0 0 0 69 Cabinet -0.302 1.916 -2.501 0 0 0 70 Microwave -1.317 1.517 -3.801 0 1.440 0 71 CoffeeMachine -0.153 0.903 -3.144 0 270 0 72 LightSwitch -4.323 1.319 0.0 0 180 0 73 GarbageCan -1.943 -7.152 -3.763 0 0 0 74 Fridge -0.330 0.0 -0.769 0 270 0 75 SinkBasin -0.350 0.786 -2.018 0 270 0 76 StoveKnob -1.582 1.082 -3.958 72.287 0 0 77 StoveKnob -1.177 1.082 -3.958 72.287 0 0 78 StoveKnob -1.424 1.082 -3.958 72.287 0 0 79 StoveKnob -1.028 1.082 -3.958 72.287 0 0 80 Toaster -0.181 0.903 -2.764 0 270 0 81 Window -2.503 1.782 -4.185 90 180 0 82 DiningTable -2.432 0.000 -1.694 0 270 0 83 Shelf -2.432 0.150 -1.694 0 270 0 84 Blinds -2.536 2.699 -3.959 0 0 0 85 Faucet -0.079 0.904 -2.034 270 180 0 86 Chair -3.264 0.002 -2.094 0 53.280 0 87 Chair -3.240 0.002 -1.253 0 117.257 0 88 Shelf -2.432 0.523 -1.694 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn around, walk to end of kitchen island | STEP 2: Pick up knife behind wine bottle on kitchen island | STEP 3: Turn around, walk to sink | STEP 4: Place knife in sink, turn on water, turn off water, pick up knife | STEP 5: Turn around, walk to kitchen island | STEP 6: Place knife on kitchen island | END" ]
[ [ "STEP 1: Turn around, walk to end of kitchen island ", " STEP 2: Pick up knife behind wine bottle on kitchen island ", " STEP 3: Turn around, walk to sink ", " STEP 4: Place knife in sink, turn on water, turn off water, pick up knife ", " STEP 5: Turn around, walk to kitchen island ", " STEP 6: Place knife on kitchen island ", " END" ] ]
seen
trial_T20190908_142059_634306-2
Put a clean knife on a table.
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"49", " Knife", " -2.324", " 0.946", " -0.963", " 0", " 0", " 0", " 82" ], [ "50", " Mug", " -1.362", " 1.625", " -3.804", " 0", " 0", " 0", " 70" ], [ "51", " Bowl", " -2.780", " 0.922", " -2.345", " 0", " 0", " 0", " 82" ], [ "52", " Cabinet", " -0.582", " 0.388", " -1.804", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " -1.515", " 0.928", " -3.752", " 0", " 90", " 0", "" ], [ "54", " StoveBurner", " -1.515", " 0.928", " -3.497", " 0", " 0", " 0", "" ], [ "55", " StoveBurner", " -1.129", " 0.928", " -3.498", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -0.749", " 0.779", " -3.551", " 0", " 0", " 0", "" ], [ "57", " CounterTop", " -0.303", " 0.951", " -2.793", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.883", " 2.140", " -3.687", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.312", " 2.140", " -1.543", " 0", " 0", " 0", "" ], [ "60", " Sink", " -0.349", " 0.907", " -2.014", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.877", " 0.388", " -3.422", " 0", " 0", " 0", "" ], [ 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0", "" ], [ "75", " SinkBasin", " -0.350", " 0.786", " -2.018", " 0", " 270", " 0", "" ], [ "76", " StoveKnob", " -1.582", " 1.082", " -3.958", " 72.287", " 0", " 0", "" ], [ "77", " StoveKnob", " -1.177", " 1.082", " -3.958", " 72.287", " 0", " 0", "" ], [ "78", " StoveKnob", " -1.424", " 1.082", " -3.958", " 72.287", " 0", " 0", "" ], [ "79", " StoveKnob", " -1.028", " 1.082", " -3.958", " 72.287", " 0", " 0", "" ], [ "80", " Toaster", " -0.181", " 0.903", " -2.764", " 0", " 270", " 0", "" ], [ "81", " Window", " -2.503", " 1.782", " -4.185", " 90", " 180", " 0", "" ], [ "82", " DiningTable", " -2.432", " 0.000", " -1.694", " 0", " 270", " 0", "" ], [ "83", " Shelf", " -2.432", " 0.150", " -1.694", " 0", " 270", " 0", "" ], [ "84", " Blinds", " -2.536", " 2.699", " -3.959", " 0", " 0", " 0", "" ], [ "85", " Faucet", " -0.079", " 0.904", " -2.034", " 270", " 180", " 0", "" ], [ "86", " Chair", " -3.264", " 0.002", " -2.094", " 0", " 53.280", " 0", "" ], [ "87", " Chair", " -3.240", " 0.002", " -1.253", " 0", " 117.257", " 0", "" ], [ "88", " Shelf", " -2.432", " 0.523", " -1.694", " 0", " 270", " 0", "" ], [ "89", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "90", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 -0.25 0 0 0 1 Pen -0.365 0.918 -3.771 0 0 0 57 2 Pen -2.210 0.926 -1.654 0 0 0 82 3 DishSponge -2.666 0.923 -2.115 0 0 0 82 4 DishSponge -0.449 0.746 -3.238 0 0 0 68 5 ButterKnife -2.438 0.923 -2.115 0 0 0 82 6 WineBottle -2.324 0.924 -1.884 0 0 0 82 7 Pot -1.515 0.935 -3.497 0 0 0 54 8 Spatula -2.780 0.938 -2.115 0 90 0 82 9 Spatula -2.666 0.938 -2.345 0 180 0 82 10 Fork -2.438 0.924 -1.193 0 0 0 82 11 Spoon -0.600 0.916 -3.839 0 0 0 57 12 Knife -2.438 0.946 -1.884 0 90 0 82 13 Cup -2.780 0.922 -1.193 0 0 0 82 14 Cup -2.552 0.922 -0.963 0 0 0 82 15 Egg -2.210 0.956 -1.884 0 0 0 82 16 SoapBottle -0.528 0.914 -3.485 0 0 0 57 17 Tomato -1.975 0.090 -3.799 0 0 0 73 18 Tomato -0.343 1.162 -0.874 0 270 0 74 19 Bowl -2.438 0.922 -1.423 0 0 0 82 20 Bowl -0.268 1.689 -0.979 0 270 0 74 21 SaltShaker -0.293 0.912 -3.368 0 0 0 57 22 SaltShaker -0.081 0.912 -2.301 0 0 0 57 23 PepperShaker -1.100 1.965 -3.851 0 0 0 66 24 PepperShaker -0.205 1.966 -1.938 0 0 0 59 25 Mug -0.295 1.385 -0.874 0 270 0 74 26 Mug -0.508 0.910 -2.563 0 270 0 57 27 Apple -0.254 0.870 -2.008 0 270 0 75 28 Lettuce -2.096 1.016 -2.115 0 0 0 82 29 Glassbottle -0.329 1.531 -3.672 0 45 0 65 30 Egg -0.254 0.831 -1.786 0 270 0 75 31 Pen -2.096 0.926 -1.884 0 0 0 82 32 Fork -0.302 0.797 -1.934 0 0 0 75 33 SoapBottle -2.780 0.922 -1.654 0 0 0 82 34 Pencil -2.666 0.923 -2.345 0 0 0 82 35 WineBottle -0.365 0.916 -3.570 0 0 0 57 36 Spatula -0.3 0.915 -2.544 0 22.903 0 57 37 Bread -0.392 1.151 -0.560 0 270 0 74 38 Tomato -0.268 1.754 -0.560 0 270 0 74 39 Pan -2.174 0.913 -1.099 0 0 0 82 40 Cup -0.186 1.526 -3.020 0 0 0 69 41 Pot -1.129 0.935 -3.498 0 0 0 55 42 SaltShaker -0.671 0.912 -3.697 0 0 0 57 43 Potato -1.362 1.661 -3.903 0 0 0 70 44 PepperShaker -0.600 0.912 -3.697 0 0 0 57 45 ButterKnife -0.743 0.915 -3.626 0 0 0 57 46 DishSponge -2.552 0.923 -1.884 0 0 0 82 47 Spoon -2.210 0.924 -1.654 0 0 0 82 48 Plate -0.383 0.083 -1.804 0 0 0 52 49 Knife -2.324 0.946 -0.963 0 0 0 82 50 Mug -1.362 1.625 -3.804 0 0 0 70 51 Bowl -2.780 0.922 -2.345 0 0 0 82 52 Cabinet -0.582 0.388 -1.804 0 0 0 53 StoveBurner -1.515 0.928 -3.752 0 90 0 54 StoveBurner -1.515 0.928 -3.497 0 0 0 55 StoveBurner -1.129 0.928 -3.498 0 0 0 56 Drawer -0.749 0.779 -3.551 0 0 0 57 CounterTop -0.303 0.951 -2.793 0 0 0 58 Cabinet -0.883 2.140 -3.687 0 0 0 59 Cabinet -0.312 2.140 -1.543 0 0 0 60 Sink -0.349 0.907 -2.014 0 0 0 61 Cabinet -0.877 0.388 -3.422 0 0 0 62 Cabinet -0.582 0.388 -2.197 0 0 0 63 Cabinet -0.584 0.388 -3.396 0 0 0 64 Cabinet -0.312 2.140 -2.481 0 0 0 65 Cabinet -0.330 1.921 -3.390 0 0 0 66 Cabinet -1.764 2.140 -3.687 0 0 0 67 StoveBurner -1.129 0.928 -3.752 0 90 0 68 Drawer -0.454 0.779 -3.268 0 0 0 69 Cabinet -0.302 1.916 -2.501 0 0 0 70 Microwave -1.317 1.517 -3.801 0 1.440 0 71 CoffeeMachine -0.153 0.903 -3.144 0 270 0 72 LightSwitch -4.323 1.319 0.0 0 180 0 73 GarbageCan -1.943 -7.152 -3.763 0 0 0 74 Fridge -0.330 0.0 -0.769 0 270 0 75 SinkBasin -0.350 0.786 -2.018 0 270 0 76 StoveKnob -1.582 1.082 -3.958 72.287 0 0 77 StoveKnob -1.177 1.082 -3.958 72.287 0 0 78 StoveKnob -1.424 1.082 -3.958 72.287 0 0 79 StoveKnob -1.028 1.082 -3.958 72.287 0 0 80 Toaster -0.181 0.903 -2.764 0 270 0 81 Window -2.503 1.782 -4.185 90 180 0 82 DiningTable -2.432 0.000 -1.694 0 270 0 83 Shelf -2.432 0.150 -1.694 0 270 0 84 Blinds -2.536 2.699 -3.959 0 0 0 85 Faucet -0.079 0.904 -2.034 270 180 0 86 Chair -3.264 0.002 -2.094 0 53.280 0 87 Chair -3.240 0.002 -1.253 0 117.257 0 88 Shelf -2.432 0.523 -1.694 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn around and go forward and turn to the right to face the green table. | STEP 2: Pick the large knife up from the table. | STEP 3: Turn around and face the sink. | STEP 4: Put the knife in the sink and turn the water on and then off and pick the knife up again. | STEP 5: Turn around and face the green table again. | STEP 6: Put the knife on the table. | END" ]
[ [ "STEP 1: Turn around and go forward and turn to the right to face the green table. ", " STEP 2: Pick the large knife up from the table. ", " STEP 3: Turn around and face the sink. ", " STEP 4: Put the knife in the sink and turn the water on and then off and pick the knife up again. ", " STEP 5: Turn around and face the green table again. ", " STEP 6: Put the knife on the table. ", " END" ] ]
seen
trial_T20190908_052054_959981-0
Place an empty spray bottle into a trash can
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[ "STEP 1: Turn around and walk to the toilet, face the toilet so you are looking at it from the side | STEP 2: Pick up the yellow spray bottle that is sitting on the back of the toilet | STEP 3: Turn to the right and head forward, turn left to face the sink on your left and the black trash can that is to the left of the sink | STEP 4: Place the yellow spray bottle into the trash can | END" ]
[ [ "STEP 1: Turn around and walk to the toilet, face the toilet so you are looking at it from the side ", " STEP 2: Pick up the yellow spray bottle that is sitting on the back of the toilet ", " STEP 3: Turn to the right and head forward, turn left to face the sink on your left and the black trash can that is to the left of the sink ", " STEP 4: Place the yellow spray bottle into the trash can ", " END" ] ]
seen
trial_T20190908_052054_959981-1
Put a bottle in a trash can.
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[ "STEP 1: Turn around and face the toilet. | STEP 2: Pick the yellow spray bottle up from the back of the toilet. | STEP 3: Go forward and then to the left to turn and face the side of the sink near the trash can.. | STEP 4: Put the bottle in the trash can. | END" ]
[ [ "STEP 1: Turn around and face the toilet. ", " STEP 2: Pick the yellow spray bottle up from the back of the toilet. ", " STEP 3: Go forward and then to the left to turn and face the side of the sink near the trash can.. ", " STEP 4: Put the bottle in the trash can. ", " END" ] ]
seen
trial_T20190908_052054_959981-2
throw away the spray bottle
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.901 1.0 0 180 0 1 Cloth -1.269 0.199 0.182 0 270 0 32 2 TissueBox -1.324 0.507 0.294 0 90 0 32 3 SoapBar -1.067 0.808 0.482 0 90 0 27 4 SprayBottle -0.281 0.805 0.286 0 90 0 27 5 SprayBottle -0.543 0.805 0.221 0 90 0 27 6 SoapBottle -0.543 0.809 0.417 0 90 0 27 7 SoapBottle -1.329 0.809 0.286 0 90 0 27 8 Towel -2.554 1.597 0.106 0 0 0 34 9 Towel -2.554 0.873 0.106 0 0 0 35 10 Cloth -1.380 0.199 0.406 0 90 0 32 11 Candle -0.974 0.506 0.126 0 90 0 25 12 HandTowel -0.038 1.68 2.956 0 90 0 38 13 SoapBar -0.308 0.897 3.041 0 180 0 42 14 ToiletPaper -2.250 0.946 2.670 0 0 0 41 15 Plunger -2.307 0.000 3.231 0 0 0 Floor|-00.08| 16 SprayBottle -2.247 0.951 2.452 0 180 0 41 17 TissueBox -1.591 0.808 0.221 0 90 0 27 18 ToiletPaper -1.567 0.843 3.221 0 180 270 37 19 ScrubBrush -2.189 0.000 3.025 0 0 0 Floor|-00.08| 20 SoapBottle -1.853 0.809 0.155 0 90 0 27 21 Drawer -1.324 0.312 0.311 0 90 0 22 Drawer -0.290 0.312 0.311 0 90 0 23 Sink -0.463 -0.013 3.046 0 180 0 24 Mirror -0.504 1.741 3.304 0 0 0 25 Drawer -0.808 0.611 0.311 0 90 0 26 Drawer -0.808 0.312 0.311 0 90 0 27 CounterTop -1.850 0.001 0.342 0 90 0 28 Bathtub -3.499 0.148 0.939 0 0 0 29 Drawer -1.840 0.312 0.311 0 90 0 30 Faucet -0.463 0.969 3.212 0 180 0 31 Drawer -0.290 0.611 0.311 0 90 0 32 Drawer -1.324 0.611 0.311 0 90 0 33 Drawer -1.840 0.611 0.311 0 90 0 34 TowelHolder -2.553 1.582 0.0 0 0 0 35 TowelHolder -2.553 0.859 0.0 0 0 0 36 GarbageCan -2.110 -0.001 1.960 0 104.999 0 37 ToiletPaperHanger -1.628 0.842 3.305 0 180 0 38 HandTowelHolder 0.0 1.781 2.956 0 180 0 39 LightSwitch 0.0 1.368 1.993 0 270 0 40 Window -4.083 1.735 1.162 90 270 0 41 Toilet -1.835 0.000 2.503 0 90 0 42 SinkBasin -0.452 0.888 2.969 0 180 0 43 BathtubBasin -3.518 0.210 0.939 0 0 0 44 ShowerHead -3.540 1.821 1.820 0 0 0 45 ShowerCurtain -3.318 2.572 0.266 0 0 8.184 46 NorthWall 47 SouthWall 48 SouthWall
[ "STEP 1: turn around and walk to the toilet | STEP 2: pick up the spray bottle from the toilet | STEP 3: turn right and take a few steps. turn left and then walk to the trash | STEP 4: throw the spray bottle into the trash | END" ]
[ [ "STEP 1: turn around and walk to the toilet ", " STEP 2: pick up the spray bottle from the toilet ", " STEP 3: turn right and take a few steps. turn left and then walk to the trash ", " STEP 4: throw the spray bottle into the trash ", " END" ] ]
seen
trial_T20190907_125630_644421-0
heat the potato from the refrigerator in the microwave, put it back in the refrigerator
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.900", " -1.5", " 0", " 90", " 0", "" ], [ "1", " Potato", " -2.420", " 0.631", " -0.603", " 0", " 90", " 0", " 76" ], [ "2", " Potato", " 1.726", " 0.947", " -1.024", " 0", " 45", " 0", " 54" ], [ "3", " DishSponge", " -2.273", " 0.114", " -0.122", " 0", " 0", " 0", " 60" ], [ "4", " DishSponge", " 1.119", " 0.910", " -0.972", " 0", " 45", " 0", " 58" ], [ "5", " Spoon", " -2.379", " 0.775", " 0.343", " 0", " 90", " 0", " 61" ], [ "6", " Spoon", " 1.353", " 0.923", " -1.239", " 0", " 45", " 0", " 58" ], [ "7", " Pot", " 1.411", " 0.929", " 0.064", " 0", " 0", " 0", " 73" ], [ "8", " Egg", " 1.604", " 0.215", " 0.761", " 0", " 0", " 0", " 83" ], [ "9", " Plate", " -0.601", " 0.913", " 1.764", " 0", " 0", " 0", " 44" ], [ "10", " Knife", " -2.289", " 0.936", " 0.931", " 0", " 90", " 0", " 72" ], [ "11", " Tomato", " -2.372", " 0.953", " 0.931", " 0", " 0", " 0", " 72" ], [ "12", " Tomato", " -0.211", " 0.953", " 0.870", " 0", " 0", " 0", " 44" ], [ "13", " SoapBottle", " -0.341", " 0.912", " 1.764", " 0", " 0", " 0", " 44" ], [ "14", " SoapBottle", " 1.698", " 1.665", " -0.694", " 0", " 0", " 0", " 64" ], [ "15", " PepperShaker", " -2.680", " 1.933", " -0.465", " 0", " 0", " 0", " 66" ], [ "16", " SaltShaker", " -2.206", " 0.905", " 0.631", " 0", " 0", " 0", " 72" ], [ "17", " Bread", " -0.081", " 0.996", " 1.764", " 0", " 0", " 0", " 44" ], [ "18", " Bread", " 1.342", " 0.996", " -0.726", " 0", " 0", " 0", " 58" ], [ "19", " Apple", " -2.485", " 1.150", " -0.979", " 0", " 90", " 0", " 76" ], [ "20", " Apple", " -2.206", " 0.972", " 0.931", " 0", " 0", " 0", " 72" ], [ "21", " Pan", " 1.691", " 0.929", " -0.335", " 0", " 0", " 0", " 52" ], [ "22", " Knife", " -0.081", " 0.936", " 1.317", " 0", " 0", " 0", " 44" ], [ "23", " Apple", " -2.603", " 1.077", " 2.481", " 0", " 90", " 0", " 84" ], [ "24", " Bowl", " -2.289", " 0.908", " 1.530", " 0", " 0", " 0", " 72" ], [ "25", " Fork", " 1.488", " 0.919", " -1.104", " 0", " 45", " 0", " 58" ], [ "26", " Bread", " -0.341", " 0.996", " 1.540", " 0", " 0", " 0", " 44" ], [ "27", " Plate", " -2.351", " 0.900", " 0.054", " 0", " 0", " 0", " 72" ], [ "28", " Egg", " -2.374", " 0.625", " -1.051", " 0", " 90", " 0", " 76" ], [ "29", " Kettle", " -2.567", " 1.939", " -0.634", " 0", " 0", " 0", " 67" ], [ "30", " Potato", " 1.604", " 0.221", " 0.623", " 0", " 0", " 0", " 83" ], [ "31", " SaltShaker", " 1.684", " 0.906", " 0.376", " 0", " 180", " 0", " 53" ], [ "32", " Lettuce", " 0.048", " 0.994", " 1.540", " 0", " 0", " 0", " 44" ], [ "33", " Cup", " 1.399", " 0.916", " -1.123", " 0", " 225", " 0", " 58" ], [ "34", " SoapBottle", " -2.621", " 0.912", " 0.031", " 0", " 0", " 0", " 72" ], [ "35", " Spatula", " -0.081", " 0.925", " 0.423", " 0", " 0", " 0", " 44" ], [ "36", " PaperTowelRoll", " -0.341", " 1.015", " 1.094", " 0", " 0", " 0", " 44" ], [ "37", " ButterKnife", " -2.621", " 0.910", " 0.931", " 0", " 0", " 0", " 72" ], [ "38", " PepperShaker", " 0.719", " 0.905", " -1.524", " 0", " 45", " 0", " 54" ], [ "39", " DishSponge", " 1.729", " 0.184", " 0.706", " 0", " 0", " 0", " 83" ], [ "40", " Pot", " -2.621", " 0.914", " 0.631", " 0", " 0", " 0", " 72" ], [ "41", " Spoon", " 0.048", " 0.912", " 0.647", " 0", " 0", " 0", " 44" ], [ "42", " Tomato", " -2.485", " 1.131", " -0.790", " 0", " 90", " 0", " 76" ], [ "43", " Mug", " 1.302", " 0.913", " -1.080", " 0", " 45", " 0", " 58" ], [ "44", " CounterTop", " -0.360", " 0.946", " 1.093", " 0", " 0", " 0", "" ], [ "45", " StoveBurner", " 1.412", " 0.923", " -0.335", " 0", " 0", " 0", "" ], [ "46", " StoveKnob", " 1.878", " 1.093", " 0.018", " 287.989", " 90", " 0", "" ], [ "47", " StoveKnob", " 1.878", " 1.093", " -0.306", " 287.989", " 90", " 0", "" ], [ "48", " Cabinet", " -2.446", " 1.948", " 2.924", " 0", " 0", " 0", "" ], [ "49", " Drawer", " -2.276", " 0.792", " 0.902", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.145", " 0.402", " 1.578", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " 0.149", " 2.008", " -1.603", " 0", " 90", " 0", "" ], [ "52", " StoveBurner", " 1.691", " 0.923", " -0.335", " 0", " 0", " 0", "" ], [ "53", " CounterTop", " 1.585", " 0.946", " 0.405", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " 0.474", " 0.946", " -1.625", " 0", " 0", " 0", "" ], [ "55", " StoveBurner", " 1.691", " 0.923", " 0.064", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.446", " 1.948", " 1.687", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.446", " 1.948", " 1.640", " 0", " 0", " 0", "" ], [ "58", " Sink", " 1.381", " 0.810", " -1.271", " 0", " 225", " 0", "" ], [ "59", " StoveKnob", " 1.878", " 1.093", " 0.150", " 287.989", " 90", " 0", "" ], [ "60", " Cabinet", " -2.145", " 0.402", " -0.236", " 0", " 0", " 0", "" ], [ "61", " Drawer", " -2.276", " 0.792", " 0.437", " 0", " 0", " 0", "" ], [ "62", " Drawer", " -2.276", " 0.792", " -0.027", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " 1.572", " 2.008", " 0.474", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " 1.572", " 2.008", " -0.775", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -2.445", " 2.148", " -1.275", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -2.446", " 2.148", " -0.284", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -2.446", " 1.948", " 0.355", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -2.446", " 1.948", " 0.405", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -2.145", " 0.402", " 0.644", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -2.145", " 0.402", " 0.695", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " -2.285", " 1.968", " -1.325", " 0", " 180", " 0", "" ], [ "72", " CounterTop", " -1.485", " 0.946", " 1.319", " 0", " 0", " 0", "" ], [ "73", " StoveBurner", " 1.411", " 0.923", " 0.064", " 0", " 0", " 0", "" ], [ "74", " StoveKnob", " 1.878", " 1.093", " -0.441", " 287.989", " 90", " 0", "" ], [ "75", " Drawer", " -2.276", " 0.792", " 1.368", " 0", " 0", " 0", "" ], [ "76", " Fridge", " -2.475", " 0.0", " -0.782", " 0", " 90", " 0", "" ], [ "77", " LightSwitch", " -0.929", " 1.350", " -1.950", " 0", " 0", " 0", "" ], [ "78", " Toaster", " -2.564", " 0.900", " 1.876", " 0", " 90", " 0", "" ], [ "79", " CoffeeMachine", " 0.464", " 0.900", " -1.810", " 0", " 0", " 0", "" ], [ "80", " Window", " 1.508", " 1.534", " -1.496", " 90", " 135", " 0", "" ], [ "81", " Window", " 1.973", " 1.521", " 1.121", " 90", " 90", " 0", "" ], [ "82", " SinkBasin", " 1.149", " 0.753", " -1.380", " 0", " 225", " 0", "" ], [ "83", " GarbageCan", " 1.646", " -0.000", " 0.679", " 0", " 0", " 0", "" ], [ "84", " Microwave", " -2.580", " 0.900", " 2.440", " 0", " 90", " 0", "" ], [ "85", " Stool", " 0.439", " 0.010", " 0.747", " 0", " 0", " 0", "" ], [ "86", " Stool", " -2.303", " 0.010", " 1.839", " 0", " 0", " 0", "" ], [ "87", " Faucet", " 1.235", " 1.138", " -1.473", " 0", " 225", " 0", "" ], [ "88", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "89", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "90", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 -1.5 0 90 0 1 Potato -2.420 0.631 -0.603 0 90 0 76 2 Potato 1.726 0.947 -1.024 0 45 0 54 3 DishSponge -2.273 0.114 -0.122 0 0 0 60 4 DishSponge 1.119 0.910 -0.972 0 45 0 58 5 Spoon -2.379 0.775 0.343 0 90 0 61 6 Spoon 1.353 0.923 -1.239 0 45 0 58 7 Pot 1.411 0.929 0.064 0 0 0 73 8 Egg 1.604 0.215 0.761 0 0 0 83 9 Plate -0.601 0.913 1.764 0 0 0 44 10 Knife -2.289 0.936 0.931 0 90 0 72 11 Tomato -2.372 0.953 0.931 0 0 0 72 12 Tomato -0.211 0.953 0.870 0 0 0 44 13 SoapBottle -0.341 0.912 1.764 0 0 0 44 14 SoapBottle 1.698 1.665 -0.694 0 0 0 64 15 PepperShaker -2.680 1.933 -0.465 0 0 0 66 16 SaltShaker -2.206 0.905 0.631 0 0 0 72 17 Bread -0.081 0.996 1.764 0 0 0 44 18 Bread 1.342 0.996 -0.726 0 0 0 58 19 Apple -2.485 1.150 -0.979 0 90 0 76 20 Apple -2.206 0.972 0.931 0 0 0 72 21 Pan 1.691 0.929 -0.335 0 0 0 52 22 Knife -0.081 0.936 1.317 0 0 0 44 23 Apple -2.603 1.077 2.481 0 90 0 84 24 Bowl -2.289 0.908 1.530 0 0 0 72 25 Fork 1.488 0.919 -1.104 0 45 0 58 26 Bread -0.341 0.996 1.540 0 0 0 44 27 Plate -2.351 0.900 0.054 0 0 0 72 28 Egg -2.374 0.625 -1.051 0 90 0 76 29 Kettle -2.567 1.939 -0.634 0 0 0 67 30 Potato 1.604 0.221 0.623 0 0 0 83 31 SaltShaker 1.684 0.906 0.376 0 180 0 53 32 Lettuce 0.048 0.994 1.540 0 0 0 44 33 Cup 1.399 0.916 -1.123 0 225 0 58 34 SoapBottle -2.621 0.912 0.031 0 0 0 72 35 Spatula -0.081 0.925 0.423 0 0 0 44 36 PaperTowelRoll -0.341 1.015 1.094 0 0 0 44 37 ButterKnife -2.621 0.910 0.931 0 0 0 72 38 PepperShaker 0.719 0.905 -1.524 0 45 0 54 39 DishSponge 1.729 0.184 0.706 0 0 0 83 40 Pot -2.621 0.914 0.631 0 0 0 72 41 Spoon 0.048 0.912 0.647 0 0 0 44 42 Tomato -2.485 1.131 -0.790 0 90 0 76 43 Mug 1.302 0.913 -1.080 0 45 0 58 44 CounterTop -0.360 0.946 1.093 0 0 0 45 StoveBurner 1.412 0.923 -0.335 0 0 0 46 StoveKnob 1.878 1.093 0.018 287.989 90 0 47 StoveKnob 1.878 1.093 -0.306 287.989 90 0 48 Cabinet -2.446 1.948 2.924 0 0 0 49 Drawer -2.276 0.792 0.902 0 0 0 50 Cabinet -2.145 0.402 1.578 0 0 0 51 Cabinet 0.149 2.008 -1.603 0 90 0 52 StoveBurner 1.691 0.923 -0.335 0 0 0 53 CounterTop 1.585 0.946 0.405 0 0 0 54 CounterTop 0.474 0.946 -1.625 0 0 0 55 StoveBurner 1.691 0.923 0.064 0 0 0 56 Cabinet -2.446 1.948 1.687 0 0 0 57 Cabinet -2.446 1.948 1.640 0 0 0 58 Sink 1.381 0.810 -1.271 0 225 0 59 StoveKnob 1.878 1.093 0.150 287.989 90 0 60 Cabinet -2.145 0.402 -0.236 0 0 0 61 Drawer -2.276 0.792 0.437 0 0 0 62 Drawer -2.276 0.792 -0.027 0 0 0 63 Cabinet 1.572 2.008 0.474 0 0 0 64 Cabinet 1.572 2.008 -0.775 0 0 0 65 Cabinet -2.445 2.148 -1.275 0 0 0 66 Cabinet -2.446 2.148 -0.284 0 0 0 67 Cabinet -2.446 1.948 0.355 0 0 0 68 Cabinet -2.446 1.948 0.405 0 0 0 69 Cabinet -2.145 0.402 0.644 0 0 0 70 Cabinet -2.145 0.402 0.695 0 0 0 71 Cabinet -2.285 1.968 -1.325 0 180 0 72 CounterTop -1.485 0.946 1.319 0 0 0 73 StoveBurner 1.411 0.923 0.064 0 0 0 74 StoveKnob 1.878 1.093 -0.441 287.989 90 0 75 Drawer -2.276 0.792 1.368 0 0 0 76 Fridge -2.475 0.0 -0.782 0 90 0 77 LightSwitch -0.929 1.350 -1.950 0 0 0 78 Toaster -2.564 0.900 1.876 0 90 0 79 CoffeeMachine 0.464 0.900 -1.810 0 0 0 80 Window 1.508 1.534 -1.496 90 135 0 81 Window 1.973 1.521 1.121 90 90 0 82 SinkBasin 1.149 0.753 -1.380 0 225 0 83 GarbageCan 1.646 -0.000 0.679 0 0 0 84 Microwave -2.580 0.900 2.440 0 90 0 85 Stool 0.439 0.010 0.747 0 0 0 86 Stool -2.303 0.010 1.839 0 0 0 87 Faucet 1.235 1.138 -1.473 0 225 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: turn left, walk to the refrigerator | STEP 2: open the refrigerator, take the potato out of the refrigerator | STEP 3: turn right, walk to the end of the counter,turn to the microwave | STEP 4: open the microwave, put the potato in the microwave, heat the potato in the microwave, take the potato out | STEP 5: turn left,walk back to the refrigerator | STEP 6: open the refrigerator, put the potato back in, close the refrigerator | END" ]
[ [ "STEP 1: turn left, walk to the refrigerator ", " STEP 2: open the refrigerator, take the potato out of the refrigerator ", " STEP 3: turn right, walk to the end of the counter,turn to the microwave ", " STEP 4: open the microwave, put the potato in the microwave, heat the potato in the microwave, take the potato out ", " STEP 5: turn left,walk back to the refrigerator ", " STEP 6: open the refrigerator, put the potato back in, close the refrigerator ", " END" ] ]
seen
trial_T20190907_125630_644421-1
Place a cooked potato into a freezer
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 -1.5 0 90 0 1 Potato -2.420 0.631 -0.603 0 90 0 76 2 Potato 1.726 0.947 -1.024 0 45 0 54 3 DishSponge -2.273 0.114 -0.122 0 0 0 60 4 DishSponge 1.119 0.910 -0.972 0 45 0 58 5 Spoon -2.379 0.775 0.343 0 90 0 61 6 Spoon 1.353 0.923 -1.239 0 45 0 58 7 Pot 1.411 0.929 0.064 0 0 0 73 8 Egg 1.604 0.215 0.761 0 0 0 83 9 Plate -0.601 0.913 1.764 0 0 0 44 10 Knife -2.289 0.936 0.931 0 90 0 72 11 Tomato -2.372 0.953 0.931 0 0 0 72 12 Tomato -0.211 0.953 0.870 0 0 0 44 13 SoapBottle -0.341 0.912 1.764 0 0 0 44 14 SoapBottle 1.698 1.665 -0.694 0 0 0 64 15 PepperShaker -2.680 1.933 -0.465 0 0 0 66 16 SaltShaker -2.206 0.905 0.631 0 0 0 72 17 Bread -0.081 0.996 1.764 0 0 0 44 18 Bread 1.342 0.996 -0.726 0 0 0 58 19 Apple -2.485 1.150 -0.979 0 90 0 76 20 Apple -2.206 0.972 0.931 0 0 0 72 21 Pan 1.691 0.929 -0.335 0 0 0 52 22 Knife -0.081 0.936 1.317 0 0 0 44 23 Apple -2.603 1.077 2.481 0 90 0 84 24 Bowl -2.289 0.908 1.530 0 0 0 72 25 Fork 1.488 0.919 -1.104 0 45 0 58 26 Bread -0.341 0.996 1.540 0 0 0 44 27 Plate -2.351 0.900 0.054 0 0 0 72 28 Egg -2.374 0.625 -1.051 0 90 0 76 29 Kettle -2.567 1.939 -0.634 0 0 0 67 30 Potato 1.604 0.221 0.623 0 0 0 83 31 SaltShaker 1.684 0.906 0.376 0 180 0 53 32 Lettuce 0.048 0.994 1.540 0 0 0 44 33 Cup 1.399 0.916 -1.123 0 225 0 58 34 SoapBottle -2.621 0.912 0.031 0 0 0 72 35 Spatula -0.081 0.925 0.423 0 0 0 44 36 PaperTowelRoll -0.341 1.015 1.094 0 0 0 44 37 ButterKnife -2.621 0.910 0.931 0 0 0 72 38 PepperShaker 0.719 0.905 -1.524 0 45 0 54 39 DishSponge 1.729 0.184 0.706 0 0 0 83 40 Pot -2.621 0.914 0.631 0 0 0 72 41 Spoon 0.048 0.912 0.647 0 0 0 44 42 Tomato -2.485 1.131 -0.790 0 90 0 76 43 Mug 1.302 0.913 -1.080 0 45 0 58 44 CounterTop -0.360 0.946 1.093 0 0 0 45 StoveBurner 1.412 0.923 -0.335 0 0 0 46 StoveKnob 1.878 1.093 0.018 287.989 90 0 47 StoveKnob 1.878 1.093 -0.306 287.989 90 0 48 Cabinet -2.446 1.948 2.924 0 0 0 49 Drawer -2.276 0.792 0.902 0 0 0 50 Cabinet -2.145 0.402 1.578 0 0 0 51 Cabinet 0.149 2.008 -1.603 0 90 0 52 StoveBurner 1.691 0.923 -0.335 0 0 0 53 CounterTop 1.585 0.946 0.405 0 0 0 54 CounterTop 0.474 0.946 -1.625 0 0 0 55 StoveBurner 1.691 0.923 0.064 0 0 0 56 Cabinet -2.446 1.948 1.687 0 0 0 57 Cabinet -2.446 1.948 1.640 0 0 0 58 Sink 1.381 0.810 -1.271 0 225 0 59 StoveKnob 1.878 1.093 0.150 287.989 90 0 60 Cabinet -2.145 0.402 -0.236 0 0 0 61 Drawer -2.276 0.792 0.437 0 0 0 62 Drawer -2.276 0.792 -0.027 0 0 0 63 Cabinet 1.572 2.008 0.474 0 0 0 64 Cabinet 1.572 2.008 -0.775 0 0 0 65 Cabinet -2.445 2.148 -1.275 0 0 0 66 Cabinet -2.446 2.148 -0.284 0 0 0 67 Cabinet -2.446 1.948 0.355 0 0 0 68 Cabinet -2.446 1.948 0.405 0 0 0 69 Cabinet -2.145 0.402 0.644 0 0 0 70 Cabinet -2.145 0.402 0.695 0 0 0 71 Cabinet -2.285 1.968 -1.325 0 180 0 72 CounterTop -1.485 0.946 1.319 0 0 0 73 StoveBurner 1.411 0.923 0.064 0 0 0 74 StoveKnob 1.878 1.093 -0.441 287.989 90 0 75 Drawer -2.276 0.792 1.368 0 0 0 76 Fridge -2.475 0.0 -0.782 0 90 0 77 LightSwitch -0.929 1.350 -1.950 0 0 0 78 Toaster -2.564 0.900 1.876 0 90 0 79 CoffeeMachine 0.464 0.900 -1.810 0 0 0 80 Window 1.508 1.534 -1.496 90 135 0 81 Window 1.973 1.521 1.121 90 90 0 82 SinkBasin 1.149 0.753 -1.380 0 225 0 83 GarbageCan 1.646 -0.000 0.679 0 0 0 84 Microwave -2.580 0.900 2.440 0 90 0 85 Stool 0.439 0.010 0.747 0 0 0 86 Stool -2.303 0.010 1.839 0 0 0 87 Faucet 1.235 1.138 -1.473 0 225 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Turn around and walk to the black fridge | STEP 2: Open the fridge and pick up the potato that is on the top shelf to the right then close the fridge | STEP 3: Turn right and walk across the room the turn left and go to the microwave | STEP 4: Open the microwave and place the potato inside the microwave to the left of the apple then turn on the microwave. Open the microwave and pick up the potato then close the microwave | STEP 5: Turn left and cross the room to the black fridge that is on your right | STEP 6: Open the fridge and place the potato in the freezer to the right of the tomato then close the door | END" ]
[ [ "STEP 1: Turn around and walk to the black fridge ", " STEP 2: Open the fridge and pick up the potato that is on the top shelf to the right then close the fridge ", " STEP 3: Turn right and walk across the room the turn left and go to the microwave ", " STEP 4: Open the microwave and place the potato inside the microwave to the left of the apple then turn on the microwave. Open the microwave and pick up the potato then close the microwave ", " STEP 5: Turn left and cross the room to the black fridge that is on your right ", " STEP 6: Open the fridge and place the potato in the freezer to the right of the tomato then close the door ", " END" ] ]
seen
trial_T20190907_125630_644421-2
get a potato from the refrigerator heat it up in the microwave and put it back in the refrigerator
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 -1.5 0 90 0 1 Potato -2.420 0.631 -0.603 0 90 0 76 2 Potato 1.726 0.947 -1.024 0 45 0 54 3 DishSponge -2.273 0.114 -0.122 0 0 0 60 4 DishSponge 1.119 0.910 -0.972 0 45 0 58 5 Spoon -2.379 0.775 0.343 0 90 0 61 6 Spoon 1.353 0.923 -1.239 0 45 0 58 7 Pot 1.411 0.929 0.064 0 0 0 73 8 Egg 1.604 0.215 0.761 0 0 0 83 9 Plate -0.601 0.913 1.764 0 0 0 44 10 Knife -2.289 0.936 0.931 0 90 0 72 11 Tomato -2.372 0.953 0.931 0 0 0 72 12 Tomato -0.211 0.953 0.870 0 0 0 44 13 SoapBottle -0.341 0.912 1.764 0 0 0 44 14 SoapBottle 1.698 1.665 -0.694 0 0 0 64 15 PepperShaker -2.680 1.933 -0.465 0 0 0 66 16 SaltShaker -2.206 0.905 0.631 0 0 0 72 17 Bread -0.081 0.996 1.764 0 0 0 44 18 Bread 1.342 0.996 -0.726 0 0 0 58 19 Apple -2.485 1.150 -0.979 0 90 0 76 20 Apple -2.206 0.972 0.931 0 0 0 72 21 Pan 1.691 0.929 -0.335 0 0 0 52 22 Knife -0.081 0.936 1.317 0 0 0 44 23 Apple -2.603 1.077 2.481 0 90 0 84 24 Bowl -2.289 0.908 1.530 0 0 0 72 25 Fork 1.488 0.919 -1.104 0 45 0 58 26 Bread -0.341 0.996 1.540 0 0 0 44 27 Plate -2.351 0.900 0.054 0 0 0 72 28 Egg -2.374 0.625 -1.051 0 90 0 76 29 Kettle -2.567 1.939 -0.634 0 0 0 67 30 Potato 1.604 0.221 0.623 0 0 0 83 31 SaltShaker 1.684 0.906 0.376 0 180 0 53 32 Lettuce 0.048 0.994 1.540 0 0 0 44 33 Cup 1.399 0.916 -1.123 0 225 0 58 34 SoapBottle -2.621 0.912 0.031 0 0 0 72 35 Spatula -0.081 0.925 0.423 0 0 0 44 36 PaperTowelRoll -0.341 1.015 1.094 0 0 0 44 37 ButterKnife -2.621 0.910 0.931 0 0 0 72 38 PepperShaker 0.719 0.905 -1.524 0 45 0 54 39 DishSponge 1.729 0.184 0.706 0 0 0 83 40 Pot -2.621 0.914 0.631 0 0 0 72 41 Spoon 0.048 0.912 0.647 0 0 0 44 42 Tomato -2.485 1.131 -0.790 0 90 0 76 43 Mug 1.302 0.913 -1.080 0 45 0 58 44 CounterTop -0.360 0.946 1.093 0 0 0 45 StoveBurner 1.412 0.923 -0.335 0 0 0 46 StoveKnob 1.878 1.093 0.018 287.989 90 0 47 StoveKnob 1.878 1.093 -0.306 287.989 90 0 48 Cabinet -2.446 1.948 2.924 0 0 0 49 Drawer -2.276 0.792 0.902 0 0 0 50 Cabinet -2.145 0.402 1.578 0 0 0 51 Cabinet 0.149 2.008 -1.603 0 90 0 52 StoveBurner 1.691 0.923 -0.335 0 0 0 53 CounterTop 1.585 0.946 0.405 0 0 0 54 CounterTop 0.474 0.946 -1.625 0 0 0 55 StoveBurner 1.691 0.923 0.064 0 0 0 56 Cabinet -2.446 1.948 1.687 0 0 0 57 Cabinet -2.446 1.948 1.640 0 0 0 58 Sink 1.381 0.810 -1.271 0 225 0 59 StoveKnob 1.878 1.093 0.150 287.989 90 0 60 Cabinet -2.145 0.402 -0.236 0 0 0 61 Drawer -2.276 0.792 0.437 0 0 0 62 Drawer -2.276 0.792 -0.027 0 0 0 63 Cabinet 1.572 2.008 0.474 0 0 0 64 Cabinet 1.572 2.008 -0.775 0 0 0 65 Cabinet -2.445 2.148 -1.275 0 0 0 66 Cabinet -2.446 2.148 -0.284 0 0 0 67 Cabinet -2.446 1.948 0.355 0 0 0 68 Cabinet -2.446 1.948 0.405 0 0 0 69 Cabinet -2.145 0.402 0.644 0 0 0 70 Cabinet -2.145 0.402 0.695 0 0 0 71 Cabinet -2.285 1.968 -1.325 0 180 0 72 CounterTop -1.485 0.946 1.319 0 0 0 73 StoveBurner 1.411 0.923 0.064 0 0 0 74 StoveKnob 1.878 1.093 -0.441 287.989 90 0 75 Drawer -2.276 0.792 1.368 0 0 0 76 Fridge -2.475 0.0 -0.782 0 90 0 77 LightSwitch -0.929 1.350 -1.950 0 0 0 78 Toaster -2.564 0.900 1.876 0 90 0 79 CoffeeMachine 0.464 0.900 -1.810 0 0 0 80 Window 1.508 1.534 -1.496 90 135 0 81 Window 1.973 1.521 1.121 90 90 0 82 SinkBasin 1.149 0.753 -1.380 0 225 0 83 GarbageCan 1.646 -0.000 0.679 0 0 0 84 Microwave -2.580 0.900 2.440 0 90 0 85 Stool 0.439 0.010 0.747 0 0 0 86 Stool -2.303 0.010 1.839 0 0 0 87 Faucet 1.235 1.138 -1.473 0 225 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: turn around to the left towards the refrigerator | STEP 2: open the refrigerator get a potato out of the refrigerator | STEP 3: turn to the right across the room towards the microwave | STEP 4: open the microwave door put the potato inside the microwave heat it up get it back out of the microwave | STEP 5: turn to the left and across the room towards the refrigerator | STEP 6: open the refrigerator door and put the potato inside of there | END" ]
[ [ "STEP 1: turn around to the left towards the refrigerator ", " STEP 2: open the refrigerator get a potato out of the refrigerator ", " STEP 3: turn to the right across the room towards the microwave ", " STEP 4: open the microwave door put the potato inside the microwave heat it up get it back out of the microwave ", " STEP 5: turn to the left and across the room towards the refrigerator ", " STEP 6: open the refrigerator door and put the potato inside of there ", " END" ] ]
seen
trial_T20190909_135834_661867-0
put washed potato inside fridge
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99" ], [ "11", " Spoon", " -1.123", " 0.913", " -0.748", " 0", " 0", " 0", " 78" ], [ "12", " Fork", " -1.012", " 0.750", " 2.273", " 0", " 0", " 0", " 53" ], [ "13", " Pot", " 0.802", " 0.939", " -0.473", " 0", " 0", " 0", " 80" ], [ "14", " Egg", " 0.103", " 0.792", " -0.533", " 0", " 0", " 0", " 99" ], [ "15", " Cup", " -1.296", " 1.014", " 0.098", " 0", " 90", " 0", " 98" ], [ "16", " Cup", " -0.293", " 0.115", " -0.621", " 0", " 0", " 0", " 68" ], [ "17", " Knife", " 1.117", " 0.908", " 2.369", " 0", " 270", " 0", " 104" ], [ "18", " Tomato", " 1.189", " 0.135", " 1.409", " 0", " 0", " 0", " 93" ], [ "19", " Tomato", " -0.919", " 0.799", " 2.830", " 0", " 0", " 0", " 53" ], [ "20", " SoapBottle", " 0.086", " 0.117", " -0.446", " 0", " 0", " 0", " 67" ], [ "21", " SoapBottle", " -1.325", " 1.657", " 0.222", " 0", " 0", " 0", " 61" ], [ "22", " Bowl", " -1.206", " 1.419", " 1.197", " 0", " 90", " 0", " 92" ], [ "23", " Bowl", " -1.105", " 0.748", " 2.644", " 0", " 0", " 0", " 53" ], 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.908 2.25 0 180 0 1 SprayBottle 1.284 0.885 2.261 0 0 0 104 2 SprayBottle 1.284 0.885 2.477 0 0 0 104 3 Potato -1.378 1.681 1.289 0 90 0 92 4 CellPhone -0.813 0.909 -0.907 0 0 0 78 5 DishSponge -1.264 0.116 0.207 0 180 0 75 6 ButterKnife -1.012 0.748 1.902 0 0 0 53 7 Glassbottle -1.105 0.750 2.459 0 0 0 53 8 WineBottle 1.200 0.887 2.369 0 0 0 104 9 Kettle 1.128 0.912 0.706 0 0 0 72 10 Spoon -0.082 0.759 -0.651 0 0 0 99 11 Spoon -1.123 0.913 -0.748 0 0 0 78 12 Fork -1.012 0.750 2.273 0 0 0 53 13 Pot 0.802 0.939 -0.473 0 0 0 80 14 Egg 0.103 0.792 -0.533 0 0 0 99 15 Cup -1.296 1.014 0.098 0 90 0 98 16 Cup -0.293 0.115 -0.621 0 0 0 68 17 Knife 1.117 0.908 2.369 0 270 0 104 18 Tomato 1.189 0.135 1.409 0 0 0 93 19 Tomato -0.919 0.799 2.830 0 0 0 53 20 SoapBottle 0.086 0.117 -0.446 0 0 0 67 21 SoapBottle -1.325 1.657 0.222 0 0 0 61 22 Bowl -1.206 1.419 1.197 0 90 0 92 23 Bowl -1.105 0.748 2.644 0 0 0 53 24 SaltShaker -1.325 1.652 -0.443 0 0 0 59 25 PepperShaker 1.450 0.882 2.261 0 0 0 104 26 Mug -1.206 1.283 1.092 0 90 0 92 27 Bread -1.320 0.814 1.197 0 90 0 92 28 Glassbottle -1.060 0.912 -0.902 0 0 0 78 29 Fork 1.367 0.886 2.153 0 0 0 104 30 Kettle 0.502 0.939 -0.740 0 90 0 79 31 Tomato 1.444 0.961 -0.428 0 0 0 72 32 Plate -0.813 0.912 -0.669 0 0 0 78 33 CellPhone -1.286 0.909 -0.902 0 0 0 78 34 Lettuce -1.290 0.820 3.015 0 0 0 53 35 Pot -1.206 0.751 0.778 0 90 0 92 36 SoapBottle 0.951 0.887 2.261 0 0 0 104 37 WineBottle 1.367 0.887 2.261 0 0 0 104 38 Spatula 1.286 0.926 0.139 0 0 0 72 39 Bowl -1.263 1.419 0.883 0 90 0 92 40 Apple -1.383 0.809 1.902 0 0 0 53 41 Cup 0.951 0.885 2.153 0 0 0 104 42 Knife 1.284 0.908 2.800 0 0 0 104 43 Egg -1.394 1.049 0.046 0 90 0 98 44 SaltShaker 1.034 0.882 2.477 0 0 0 104 45 PepperShaker -1.388 2.149 1.319 0 0 0 71 46 Potato -1.394 1.060 -0.109 0 90 0 98 47 ButterKnife 1.034 0.886 2.153 0 0 0 104 48 DishSponge -1.383 0.749 2.459 0 0 0 53 49 Pan -1.332 0.9 -0.699 0 345.0 0 78 50 Spoon -1.099 0.777 0.245 0 270 0 74 51 SprayBottle 1.357 0.085 1.472 0 0 0 93 52 Mug 1.450 0.881 2.153 0 0 0 104 53 DiningTable -1.182 0.006 2.414 0 90 0 54 Cabinet 1.184 2.059 0.375 0 0 0 55 Cabinet 1.184 2.059 -0.635 0 0 0 56 Cabinet 0.591 2.309 -0.645 0 0 0 57 Cabinet -0.574 2.059 -0.644 0 0 0 58 Cabinet -1.103 2.059 -0.644 0 0 0 59 Cabinet -1.185 2.059 -0.331 0 0 0 60 Cabinet -1.185 2.059 -0.281 0 0 0 61 Cabinet -1.185 2.059 0.375 0 0 0 62 Cabinet 1.184 2.309 1.174 0 0 0 63 Cabinet 1.184 2.309 0.424 0 0 0 64 Cabinet 0.988 0.402 0.581 0 0 0 65 Cabinet 0.988 0.402 0.531 0 0 0 66 Cabinet 0.988 0.402 -0.178 0 0 0 67 Cabinet 0.335 0.402 -0.348 0 0 0 68 Cabinet -0.374 0.402 -0.348 0 0 0 69 Cabinet 0.988 0.402 1.231 0 0 0 70 Cabinet -1.185 2.309 1.374 0 0 0 71 Cabinet -1.185 2.309 0.424 0 0 0 72 CounterTop 1.274 0.947 0.064 0 0 0 73 Drawer 1.116 0.792 -0.015 0 0 0 74 Drawer -1.116 0.792 0.210 0 180 0 75 Cabinet -0.990 0.402 0.374 0 180 0 76 Drawer -1.116 0.792 -0.170 0 180 0 77 Cabinet -0.990 0.402 -0.335 0 180 0 78 CounterTop -1.001 0.947 -0.669 0 0 0 79 StoveBurner 0.502 0.932 -0.740 0 90 0 80 StoveBurner 0.801 0.932 -0.473 0 0 0 81 StoveBurner 0.801 0.932 -0.740 0 90 0 82 Drawer 1.116 0.792 1.081 0 0 0 83 Sink -0.013 0.912 -0.615 0 0 0 84 Drawer 1.116 0.792 0.732 0 0 0 85 StoveBurner 0.502 0.932 -0.469 0 0 0 86 Drawer 1.116 0.792 0.367 0 0 0 87 StoveKnob 0.550 1.085 -0.912 287.970 180 0 88 StoveKnob 0.884 1.085 -0.912 287.970 180 0 89 StoveKnob 0.432 1.085 -0.912 287.970 180 0 90 StoveKnob 0.777 1.085 -0.912 287.970 180 0 91 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 92 Fridge -1.300 0.008 0.987 0 90 0 93 GarbageCan 1.296 -0.024 1.465 0 0 0 94 Window -0.012 1.641 -0.972 90 0 0 95 Window 1.598 1.646 2.489 90 270 0 96 Toaster 1.356 0.900 1.044 0 270 0 97 LightSwitch 0.118 1.353 3.799 0 180 0 98 Microwave -1.343 0.900 0.053 0 90 0 99 SinkBasin -0.029 0.748 -0.612 0 0 0 100 Faucet -0.026 0.927 -0.808 0 0 0 101 Shelf -1.182 0.127 2.414 0 90 0 102 Stool 1.140 0.007 3.262 1.206 20.753 0 103 Shelf -1.182 0.435 2.414 0 90 0 104 DiningTable 1.169 0.014 2.569 0 0 1.896 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: walk to face microwave | STEP 2: remove potato from microwave | STEP 3: walk to face sink | STEP 4: wash and remove potato from sink | STEP 5: walk to face fridge | STEP 6: put potato inside fridge | END" ]
[ [ "STEP 1: walk to face microwave ", " STEP 2: remove potato from microwave ", " STEP 3: walk to face sink ", " STEP 4: wash and remove potato from sink ", " STEP 5: walk to face fridge ", " STEP 6: put potato inside fridge ", " END" ] ]
seen
trial_T20190909_135834_661867-1
Put a washed potato in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.908 2.25 0 180 0 1 SprayBottle 1.284 0.885 2.261 0 0 0 104 2 SprayBottle 1.284 0.885 2.477 0 0 0 104 3 Potato -1.378 1.681 1.289 0 90 0 92 4 CellPhone -0.813 0.909 -0.907 0 0 0 78 5 DishSponge -1.264 0.116 0.207 0 180 0 75 6 ButterKnife -1.012 0.748 1.902 0 0 0 53 7 Glassbottle -1.105 0.750 2.459 0 0 0 53 8 WineBottle 1.200 0.887 2.369 0 0 0 104 9 Kettle 1.128 0.912 0.706 0 0 0 72 10 Spoon -0.082 0.759 -0.651 0 0 0 99 11 Spoon -1.123 0.913 -0.748 0 0 0 78 12 Fork -1.012 0.750 2.273 0 0 0 53 13 Pot 0.802 0.939 -0.473 0 0 0 80 14 Egg 0.103 0.792 -0.533 0 0 0 99 15 Cup -1.296 1.014 0.098 0 90 0 98 16 Cup -0.293 0.115 -0.621 0 0 0 68 17 Knife 1.117 0.908 2.369 0 270 0 104 18 Tomato 1.189 0.135 1.409 0 0 0 93 19 Tomato -0.919 0.799 2.830 0 0 0 53 20 SoapBottle 0.086 0.117 -0.446 0 0 0 67 21 SoapBottle -1.325 1.657 0.222 0 0 0 61 22 Bowl -1.206 1.419 1.197 0 90 0 92 23 Bowl -1.105 0.748 2.644 0 0 0 53 24 SaltShaker -1.325 1.652 -0.443 0 0 0 59 25 PepperShaker 1.450 0.882 2.261 0 0 0 104 26 Mug -1.206 1.283 1.092 0 90 0 92 27 Bread -1.320 0.814 1.197 0 90 0 92 28 Glassbottle -1.060 0.912 -0.902 0 0 0 78 29 Fork 1.367 0.886 2.153 0 0 0 104 30 Kettle 0.502 0.939 -0.740 0 90 0 79 31 Tomato 1.444 0.961 -0.428 0 0 0 72 32 Plate -0.813 0.912 -0.669 0 0 0 78 33 CellPhone -1.286 0.909 -0.902 0 0 0 78 34 Lettuce -1.290 0.820 3.015 0 0 0 53 35 Pot -1.206 0.751 0.778 0 90 0 92 36 SoapBottle 0.951 0.887 2.261 0 0 0 104 37 WineBottle 1.367 0.887 2.261 0 0 0 104 38 Spatula 1.286 0.926 0.139 0 0 0 72 39 Bowl -1.263 1.419 0.883 0 90 0 92 40 Apple -1.383 0.809 1.902 0 0 0 53 41 Cup 0.951 0.885 2.153 0 0 0 104 42 Knife 1.284 0.908 2.800 0 0 0 104 43 Egg -1.394 1.049 0.046 0 90 0 98 44 SaltShaker 1.034 0.882 2.477 0 0 0 104 45 PepperShaker -1.388 2.149 1.319 0 0 0 71 46 Potato -1.394 1.060 -0.109 0 90 0 98 47 ButterKnife 1.034 0.886 2.153 0 0 0 104 48 DishSponge -1.383 0.749 2.459 0 0 0 53 49 Pan -1.332 0.9 -0.699 0 345.0 0 78 50 Spoon -1.099 0.777 0.245 0 270 0 74 51 SprayBottle 1.357 0.085 1.472 0 0 0 93 52 Mug 1.450 0.881 2.153 0 0 0 104 53 DiningTable -1.182 0.006 2.414 0 90 0 54 Cabinet 1.184 2.059 0.375 0 0 0 55 Cabinet 1.184 2.059 -0.635 0 0 0 56 Cabinet 0.591 2.309 -0.645 0 0 0 57 Cabinet -0.574 2.059 -0.644 0 0 0 58 Cabinet -1.103 2.059 -0.644 0 0 0 59 Cabinet -1.185 2.059 -0.331 0 0 0 60 Cabinet -1.185 2.059 -0.281 0 0 0 61 Cabinet -1.185 2.059 0.375 0 0 0 62 Cabinet 1.184 2.309 1.174 0 0 0 63 Cabinet 1.184 2.309 0.424 0 0 0 64 Cabinet 0.988 0.402 0.581 0 0 0 65 Cabinet 0.988 0.402 0.531 0 0 0 66 Cabinet 0.988 0.402 -0.178 0 0 0 67 Cabinet 0.335 0.402 -0.348 0 0 0 68 Cabinet -0.374 0.402 -0.348 0 0 0 69 Cabinet 0.988 0.402 1.231 0 0 0 70 Cabinet -1.185 2.309 1.374 0 0 0 71 Cabinet -1.185 2.309 0.424 0 0 0 72 CounterTop 1.274 0.947 0.064 0 0 0 73 Drawer 1.116 0.792 -0.015 0 0 0 74 Drawer -1.116 0.792 0.210 0 180 0 75 Cabinet -0.990 0.402 0.374 0 180 0 76 Drawer -1.116 0.792 -0.170 0 180 0 77 Cabinet -0.990 0.402 -0.335 0 180 0 78 CounterTop -1.001 0.947 -0.669 0 0 0 79 StoveBurner 0.502 0.932 -0.740 0 90 0 80 StoveBurner 0.801 0.932 -0.473 0 0 0 81 StoveBurner 0.801 0.932 -0.740 0 90 0 82 Drawer 1.116 0.792 1.081 0 0 0 83 Sink -0.013 0.912 -0.615 0 0 0 84 Drawer 1.116 0.792 0.732 0 0 0 85 StoveBurner 0.502 0.932 -0.469 0 0 0 86 Drawer 1.116 0.792 0.367 0 0 0 87 StoveKnob 0.550 1.085 -0.912 287.970 180 0 88 StoveKnob 0.884 1.085 -0.912 287.970 180 0 89 StoveKnob 0.432 1.085 -0.912 287.970 180 0 90 StoveKnob 0.777 1.085 -0.912 287.970 180 0 91 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 92 Fridge -1.300 0.008 0.987 0 90 0 93 GarbageCan 1.296 -0.024 1.465 0 0 0 94 Window -0.012 1.641 -0.972 90 0 0 95 Window 1.598 1.646 2.489 90 270 0 96 Toaster 1.356 0.900 1.044 0 270 0 97 LightSwitch 0.118 1.353 3.799 0 180 0 98 Microwave -1.343 0.900 0.053 0 90 0 99 SinkBasin -0.029 0.748 -0.612 0 0 0 100 Faucet -0.026 0.927 -0.808 0 0 0 101 Shelf -1.182 0.127 2.414 0 90 0 102 Stool 1.140 0.007 3.262 1.206 20.753 0 103 Shelf -1.182 0.435 2.414 0 90 0 104 DiningTable 1.169 0.014 2.569 0 0 1.896 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Move forward to the sink, turn right, go to the microwave on the counter. | STEP 2: Take the potato out of the mike. | STEP 3: Turn around, bring the potato to the sink on the right. | STEP 4: Wash the potato in the sink. | STEP 5: Bring the washed potato to the fridge on the right. | STEP 6: Put the washed potato in the fridge. | END" ]
[ [ "STEP 1: Move forward to the sink, turn right, go to the microwave on the counter. ", " STEP 2: Take the potato out of the mike. ", " STEP 3: Turn around, bring the potato to the sink on the right. ", " STEP 4: Wash the potato in the sink. ", " STEP 5: Bring the washed potato to the fridge on the right. ", " STEP 6: Put the washed potato in the fridge. ", " END" ] ]
seen
trial_T20190909_135834_661867-2
Put a cleaned potato in the refrigerator
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.908 2.25 0 180 0 1 SprayBottle 1.284 0.885 2.261 0 0 0 104 2 SprayBottle 1.284 0.885 2.477 0 0 0 104 3 Potato -1.378 1.681 1.289 0 90 0 92 4 CellPhone -0.813 0.909 -0.907 0 0 0 78 5 DishSponge -1.264 0.116 0.207 0 180 0 75 6 ButterKnife -1.012 0.748 1.902 0 0 0 53 7 Glassbottle -1.105 0.750 2.459 0 0 0 53 8 WineBottle 1.200 0.887 2.369 0 0 0 104 9 Kettle 1.128 0.912 0.706 0 0 0 72 10 Spoon -0.082 0.759 -0.651 0 0 0 99 11 Spoon -1.123 0.913 -0.748 0 0 0 78 12 Fork -1.012 0.750 2.273 0 0 0 53 13 Pot 0.802 0.939 -0.473 0 0 0 80 14 Egg 0.103 0.792 -0.533 0 0 0 99 15 Cup -1.296 1.014 0.098 0 90 0 98 16 Cup -0.293 0.115 -0.621 0 0 0 68 17 Knife 1.117 0.908 2.369 0 270 0 104 18 Tomato 1.189 0.135 1.409 0 0 0 93 19 Tomato -0.919 0.799 2.830 0 0 0 53 20 SoapBottle 0.086 0.117 -0.446 0 0 0 67 21 SoapBottle -1.325 1.657 0.222 0 0 0 61 22 Bowl -1.206 1.419 1.197 0 90 0 92 23 Bowl -1.105 0.748 2.644 0 0 0 53 24 SaltShaker -1.325 1.652 -0.443 0 0 0 59 25 PepperShaker 1.450 0.882 2.261 0 0 0 104 26 Mug -1.206 1.283 1.092 0 90 0 92 27 Bread -1.320 0.814 1.197 0 90 0 92 28 Glassbottle -1.060 0.912 -0.902 0 0 0 78 29 Fork 1.367 0.886 2.153 0 0 0 104 30 Kettle 0.502 0.939 -0.740 0 90 0 79 31 Tomato 1.444 0.961 -0.428 0 0 0 72 32 Plate -0.813 0.912 -0.669 0 0 0 78 33 CellPhone -1.286 0.909 -0.902 0 0 0 78 34 Lettuce -1.290 0.820 3.015 0 0 0 53 35 Pot -1.206 0.751 0.778 0 90 0 92 36 SoapBottle 0.951 0.887 2.261 0 0 0 104 37 WineBottle 1.367 0.887 2.261 0 0 0 104 38 Spatula 1.286 0.926 0.139 0 0 0 72 39 Bowl -1.263 1.419 0.883 0 90 0 92 40 Apple -1.383 0.809 1.902 0 0 0 53 41 Cup 0.951 0.885 2.153 0 0 0 104 42 Knife 1.284 0.908 2.800 0 0 0 104 43 Egg -1.394 1.049 0.046 0 90 0 98 44 SaltShaker 1.034 0.882 2.477 0 0 0 104 45 PepperShaker -1.388 2.149 1.319 0 0 0 71 46 Potato -1.394 1.060 -0.109 0 90 0 98 47 ButterKnife 1.034 0.886 2.153 0 0 0 104 48 DishSponge -1.383 0.749 2.459 0 0 0 53 49 Pan -1.332 0.9 -0.699 0 345.0 0 78 50 Spoon -1.099 0.777 0.245 0 270 0 74 51 SprayBottle 1.357 0.085 1.472 0 0 0 93 52 Mug 1.450 0.881 2.153 0 0 0 104 53 DiningTable -1.182 0.006 2.414 0 90 0 54 Cabinet 1.184 2.059 0.375 0 0 0 55 Cabinet 1.184 2.059 -0.635 0 0 0 56 Cabinet 0.591 2.309 -0.645 0 0 0 57 Cabinet -0.574 2.059 -0.644 0 0 0 58 Cabinet -1.103 2.059 -0.644 0 0 0 59 Cabinet -1.185 2.059 -0.331 0 0 0 60 Cabinet -1.185 2.059 -0.281 0 0 0 61 Cabinet -1.185 2.059 0.375 0 0 0 62 Cabinet 1.184 2.309 1.174 0 0 0 63 Cabinet 1.184 2.309 0.424 0 0 0 64 Cabinet 0.988 0.402 0.581 0 0 0 65 Cabinet 0.988 0.402 0.531 0 0 0 66 Cabinet 0.988 0.402 -0.178 0 0 0 67 Cabinet 0.335 0.402 -0.348 0 0 0 68 Cabinet -0.374 0.402 -0.348 0 0 0 69 Cabinet 0.988 0.402 1.231 0 0 0 70 Cabinet -1.185 2.309 1.374 0 0 0 71 Cabinet -1.185 2.309 0.424 0 0 0 72 CounterTop 1.274 0.947 0.064 0 0 0 73 Drawer 1.116 0.792 -0.015 0 0 0 74 Drawer -1.116 0.792 0.210 0 180 0 75 Cabinet -0.990 0.402 0.374 0 180 0 76 Drawer -1.116 0.792 -0.170 0 180 0 77 Cabinet -0.990 0.402 -0.335 0 180 0 78 CounterTop -1.001 0.947 -0.669 0 0 0 79 StoveBurner 0.502 0.932 -0.740 0 90 0 80 StoveBurner 0.801 0.932 -0.473 0 0 0 81 StoveBurner 0.801 0.932 -0.740 0 90 0 82 Drawer 1.116 0.792 1.081 0 0 0 83 Sink -0.013 0.912 -0.615 0 0 0 84 Drawer 1.116 0.792 0.732 0 0 0 85 StoveBurner 0.502 0.932 -0.469 0 0 0 86 Drawer 1.116 0.792 0.367 0 0 0 87 StoveKnob 0.550 1.085 -0.912 287.970 180 0 88 StoveKnob 0.884 1.085 -0.912 287.970 180 0 89 StoveKnob 0.432 1.085 -0.912 287.970 180 0 90 StoveKnob 0.777 1.085 -0.912 287.970 180 0 91 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 92 Fridge -1.300 0.008 0.987 0 90 0 93 GarbageCan 1.296 -0.024 1.465 0 0 0 94 Window -0.012 1.641 -0.972 90 0 0 95 Window 1.598 1.646 2.489 90 270 0 96 Toaster 1.356 0.900 1.044 0 270 0 97 LightSwitch 0.118 1.353 3.799 0 180 0 98 Microwave -1.343 0.900 0.053 0 90 0 99 SinkBasin -0.029 0.748 -0.612 0 0 0 100 Faucet -0.026 0.927 -0.808 0 0 0 101 Shelf -1.182 0.127 2.414 0 90 0 102 Stool 1.140 0.007 3.262 1.206 20.753 0 103 Shelf -1.182 0.435 2.414 0 90 0 104 DiningTable 1.169 0.014 2.569 0 0 1.896 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Go forward to the microwave on the right | STEP 2: Open the microwave, remove the potato from the microwave and close the microwave door | STEP 3: Turn left and go to the sink | STEP 4: Put the potato in the sink, turn on the water, turn off the water and remove the potato from the sink | STEP 5: Turn right and go to the refrigerator on the left | STEP 6: Put the potato in the refrigerator to the right of the pot | END" ]
[ [ "STEP 1: Go forward to the microwave on the right ", " STEP 2: Open the microwave, remove the potato from the microwave and close the microwave door ", " STEP 3: Turn left and go to the sink ", " STEP 4: Put the potato in the sink, turn on the water, turn off the water and remove the potato from the sink ", " STEP 5: Turn right and go to the refrigerator on the left ", " STEP 6: Put the potato in the refrigerator to the right of the pot ", " END" ] ]
seen
trial_T20190908_082241_050373-0
Put the chilled tomato in the microwave
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90", " 135", " 0", "" ], [ "76", " Window", " 1.973", " 1.521", " 1.121", " 90", " 90", " 0", "" ], [ "77", " SinkBasin", " 1.149", " 0.753", " -1.380", " 0", " 225", " 0", "" ], [ "78", " GarbageCan", " 1.646", " -0.000", " 0.679", " 0", " 0", " 0", "" ], [ "79", " Microwave", " -2.580", " 0.900", " 2.440", " 0", " 90", " 0", "" ], [ "80", " Stool", " 0.439", " 0.010", " 0.747", " 0", " 0", " 0", "" ], [ "81", " Stool", " -2.303", " 0.010", " 1.839", " 0", " 0", " 0", "" ], [ "82", " Faucet", " 1.235", " 1.138", " -1.473", " 0", " 225", " 0", "" ], [ "83", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -0.5 0 0 0 1 DishSponge -2.241 0.114 0.334 0 0 0 64 2 DishSponge -2.287 0.773 0.809 0 0 0 44 3 ButterKnife -2.538 0.910 0.331 0 0 0 67 4 Spoon 1.353 0.923 -1.239 0 45 0 53 5 Pot 1.412 0.929 -0.335 0 0 0 40 6 Pot -0.601 0.914 0.870 0 0 0 39 7 Egg -2.570 1.028 2.380 0 90 0 79 8 Egg 1.207 0.794 -1.366 0 225 0 77 9 Cup 1.283 0.916 -1.169 0 225 0 53 10 Tomato 1.729 0.227 0.651 0 0 0 78 11 Bowl 1.428 0.908 -0.726 0 0 0 49 12 SaltShaker -2.564 1.532 1.483 0 0 0 52 13 SaltShaker -2.605 1.532 2.695 0 0 0 43 14 Lettuce -0.211 0.994 1.317 0 0 0 39 15 Apple -2.420 0.656 -0.514 0 90 0 71 16 Pan -0.601 0.910 1.317 0 0 0 39 17 Knife -2.455 0.936 0.031 0 0 0 67 18 Apple 1.604 0.246 0.706 0 0 0 78 19 Bowl -2.310 0.111 -0.023 0 0 0 55 20 Fork 1.488 0.919 -1.104 0 225 0 53 21 Bread -2.466 0.680 -0.962 0 90 0 71 22 Plate 1.735 1.666 -0.622 0 0 0 59 23 Egg 1.391 0.950 -1.061 0 225 0 53 24 Kettle -2.599 1.539 0.629 0 0 0 62 25 Potato 1.598 0.947 0.346 0 0 0 48 26 SaltShaker -2.375 1.578 -1.412 0 180 0 66 27 Lettuce -0.081 0.994 0.423 0 0 0 39 28 Cup -2.704 0.908 1.230 0 0 0 67 29 SoapBottle -2.448 1.585 -1.558 0 180 0 66 30 Spatula 1.513 0.925 -0.851 0 180 0 53 31 PaperTowelRoll -2.621 1.015 1.530 0 0 0 67 32 ButterKnife 1.326 0.918 -1.266 0 225 0 53 33 PepperShaker -0.341 0.905 1.094 0 0 0 39 34 DishSponge -2.257 0.773 0.952 0 0 0 44 35 Pot 1.691 0.929 -0.335 0 0 0 47 36 Spoon -2.196 0.774 -0.121 0 90 0 57 37 Tomato 1.341 0.953 0.435 0 0 0 48 38 Mug -0.341 0.905 1.764 0 0 0 39 39 CounterTop -0.360 0.946 1.093 0 0 0 40 StoveBurner 1.412 0.923 -0.335 0 0 0 41 StoveKnob 1.878 1.093 0.018 287.989 90 0 42 StoveKnob 1.878 1.093 -0.306 287.989 90 0 43 Cabinet -2.446 1.948 2.924 0 0 0 44 Drawer -2.276 0.792 0.902 0 0 0 45 Cabinet -2.145 0.402 1.578 0 0 0 46 Cabinet 0.149 2.008 -1.603 0 90 0 47 StoveBurner 1.691 0.923 -0.335 0 0 0 48 CounterTop 1.585 0.946 0.405 0 0 0 49 CounterTop 0.474 0.946 -1.625 0 0 0 50 StoveBurner 1.691 0.923 0.064 0 0 0 51 Cabinet -2.446 1.948 1.687 0 0 0 52 Cabinet -2.446 1.948 1.640 0 0 0 53 Sink 1.381 0.810 -1.271 0 225 0 54 StoveKnob 1.878 1.093 0.150 287.989 90 0 55 Cabinet -2.145 0.402 -0.236 0 0 0 56 Drawer -2.276 0.792 0.437 0 0 0 57 Drawer -2.276 0.792 -0.027 0 0 0 58 Cabinet 1.572 2.008 0.474 0 0 0 59 Cabinet 1.572 2.008 -0.775 0 0 0 60 Cabinet -2.445 2.148 -1.275 0 0 0 61 Cabinet -2.446 2.148 -0.284 0 0 0 62 Cabinet -2.446 1.948 0.355 0 0 0 63 Cabinet -2.446 1.948 0.405 0 0 0 64 Cabinet -2.145 0.402 0.644 0 0 0 65 Cabinet -2.145 0.402 0.695 0 0 0 66 Cabinet -2.285 1.968 -1.325 0 180 0 67 CounterTop -1.485 0.946 1.319 0 0 0 68 StoveBurner 1.411 0.923 0.064 0 0 0 69 StoveKnob 1.878 1.093 -0.441 287.989 90 0 70 Drawer -2.276 0.792 1.368 0 0 0 71 Fridge -2.475 0.0 -0.782 0 90 0 72 LightSwitch -0.929 1.350 -1.950 0 0 0 73 Toaster -2.564 0.900 1.876 0 90 0 74 CoffeeMachine 0.464 0.900 -1.810 0 0 0 75 Window 1.508 1.534 -1.496 90 135 0 76 Window 1.973 1.521 1.121 90 90 0 77 SinkBasin 1.149 0.753 -1.380 0 225 0 78 GarbageCan 1.646 -0.000 0.679 0 0 0 79 Microwave -2.580 0.900 2.440 0 90 0 80 Stool 0.439 0.010 0.747 0 0 0 81 Stool -2.303 0.010 1.839 0 0 0 82 Faucet 1.235 1.138 -1.473 0 225 0 83 NorthWall 84 EastWall 85 SouthWall 86 WestWall
[ "STEP 1: Turn right and walk up to the trash bin | STEP 2: Pick up the tomato from the trash bin | STEP 3: Turn right and walk around the kitchen island to the fridge | STEP 4: Put the tomato into the fridge then remove it | STEP 5: Turn right and walk forward to the microwave on the counter | STEP 6: Put the tomato in the microwave | END" ]
[ [ "STEP 1: Turn right and walk up to the trash bin ", " STEP 2: Pick up the tomato from the trash bin ", " STEP 3: Turn right and walk around the kitchen island to the fridge ", " STEP 4: Put the tomato into the fridge then remove it ", " STEP 5: Turn right and walk forward to the microwave on the counter ", " STEP 6: Put the tomato in the microwave ", " END" ] ]
seen
trial_T20190908_082241_050373-1
Place a cold tomato in the microwave.
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[ "STEP 1: Move straight ahead, and when you're lined up with the window on your right, turn right to stand in front of the trash bin. | STEP 2: Pick up the tomato from behind the apple in the trash bin. | STEP 3: Turn right to move to the dishwasher, then head right again until you get to the fridge. | STEP 4: Open the fridge to place the tomato in the top section, close the door and wait a few seconds, and then remove the tomato. | STEP 5: Turn right and carry the tomato to stand in front of the microwave at the end of the counter on the left. | STEP 6: Open the microwave and place the tomato inside. | END" ]
[ [ "STEP 1: Move straight ahead, and when you're lined up with the window on your right, turn right to stand in front of the trash bin. ", " STEP 2: Pick up the tomato from behind the apple in the trash bin. ", " STEP 3: Turn right to move to the dishwasher, then head right again until you get to the fridge. ", " STEP 4: Open the fridge to place the tomato in the top section, close the door and wait a few seconds, and then remove the tomato. ", " STEP 5: Turn right and carry the tomato to stand in front of the microwave at the end of the counter on the left. ", " STEP 6: Open the microwave and place the tomato inside. ", " END" ] ]
seen
trial_T20190908_082241_050373-2
Chill a tomato from the trash bin in the freezer and place it in the microwave.
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90", " 135", " 0", "" ], [ "76", " Window", " 1.973", " 1.521", " 1.121", " 90", " 90", " 0", "" ], [ "77", " SinkBasin", " 1.149", " 0.753", " -1.380", " 0", " 225", " 0", "" ], [ "78", " GarbageCan", " 1.646", " -0.000", " 0.679", " 0", " 0", " 0", "" ], [ "79", " Microwave", " -2.580", " 0.900", " 2.440", " 0", " 90", " 0", "" ], [ "80", " Stool", " 0.439", " 0.010", " 0.747", " 0", " 0", " 0", "" ], [ "81", " Stool", " -2.303", " 0.010", " 1.839", " 0", " 0", " 0", "" ], [ "82", " Faucet", " 1.235", " 1.138", " -1.473", " 0", " 225", " 0", "" ], [ "83", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -0.5 0 0 0 1 DishSponge -2.241 0.114 0.334 0 0 0 64 2 DishSponge -2.287 0.773 0.809 0 0 0 44 3 ButterKnife -2.538 0.910 0.331 0 0 0 67 4 Spoon 1.353 0.923 -1.239 0 45 0 53 5 Pot 1.412 0.929 -0.335 0 0 0 40 6 Pot -0.601 0.914 0.870 0 0 0 39 7 Egg -2.570 1.028 2.380 0 90 0 79 8 Egg 1.207 0.794 -1.366 0 225 0 77 9 Cup 1.283 0.916 -1.169 0 225 0 53 10 Tomato 1.729 0.227 0.651 0 0 0 78 11 Bowl 1.428 0.908 -0.726 0 0 0 49 12 SaltShaker -2.564 1.532 1.483 0 0 0 52 13 SaltShaker -2.605 1.532 2.695 0 0 0 43 14 Lettuce -0.211 0.994 1.317 0 0 0 39 15 Apple -2.420 0.656 -0.514 0 90 0 71 16 Pan -0.601 0.910 1.317 0 0 0 39 17 Knife -2.455 0.936 0.031 0 0 0 67 18 Apple 1.604 0.246 0.706 0 0 0 78 19 Bowl -2.310 0.111 -0.023 0 0 0 55 20 Fork 1.488 0.919 -1.104 0 225 0 53 21 Bread -2.466 0.680 -0.962 0 90 0 71 22 Plate 1.735 1.666 -0.622 0 0 0 59 23 Egg 1.391 0.950 -1.061 0 225 0 53 24 Kettle -2.599 1.539 0.629 0 0 0 62 25 Potato 1.598 0.947 0.346 0 0 0 48 26 SaltShaker -2.375 1.578 -1.412 0 180 0 66 27 Lettuce -0.081 0.994 0.423 0 0 0 39 28 Cup -2.704 0.908 1.230 0 0 0 67 29 SoapBottle -2.448 1.585 -1.558 0 180 0 66 30 Spatula 1.513 0.925 -0.851 0 180 0 53 31 PaperTowelRoll -2.621 1.015 1.530 0 0 0 67 32 ButterKnife 1.326 0.918 -1.266 0 225 0 53 33 PepperShaker -0.341 0.905 1.094 0 0 0 39 34 DishSponge -2.257 0.773 0.952 0 0 0 44 35 Pot 1.691 0.929 -0.335 0 0 0 47 36 Spoon -2.196 0.774 -0.121 0 90 0 57 37 Tomato 1.341 0.953 0.435 0 0 0 48 38 Mug -0.341 0.905 1.764 0 0 0 39 39 CounterTop -0.360 0.946 1.093 0 0 0 40 StoveBurner 1.412 0.923 -0.335 0 0 0 41 StoveKnob 1.878 1.093 0.018 287.989 90 0 42 StoveKnob 1.878 1.093 -0.306 287.989 90 0 43 Cabinet -2.446 1.948 2.924 0 0 0 44 Drawer -2.276 0.792 0.902 0 0 0 45 Cabinet -2.145 0.402 1.578 0 0 0 46 Cabinet 0.149 2.008 -1.603 0 90 0 47 StoveBurner 1.691 0.923 -0.335 0 0 0 48 CounterTop 1.585 0.946 0.405 0 0 0 49 CounterTop 0.474 0.946 -1.625 0 0 0 50 StoveBurner 1.691 0.923 0.064 0 0 0 51 Cabinet -2.446 1.948 1.687 0 0 0 52 Cabinet -2.446 1.948 1.640 0 0 0 53 Sink 1.381 0.810 -1.271 0 225 0 54 StoveKnob 1.878 1.093 0.150 287.989 90 0 55 Cabinet -2.145 0.402 -0.236 0 0 0 56 Drawer -2.276 0.792 0.437 0 0 0 57 Drawer -2.276 0.792 -0.027 0 0 0 58 Cabinet 1.572 2.008 0.474 0 0 0 59 Cabinet 1.572 2.008 -0.775 0 0 0 60 Cabinet -2.445 2.148 -1.275 0 0 0 61 Cabinet -2.446 2.148 -0.284 0 0 0 62 Cabinet -2.446 1.948 0.355 0 0 0 63 Cabinet -2.446 1.948 0.405 0 0 0 64 Cabinet -2.145 0.402 0.644 0 0 0 65 Cabinet -2.145 0.402 0.695 0 0 0 66 Cabinet -2.285 1.968 -1.325 0 180 0 67 CounterTop -1.485 0.946 1.319 0 0 0 68 StoveBurner 1.411 0.923 0.064 0 0 0 69 StoveKnob 1.878 1.093 -0.441 287.989 90 0 70 Drawer -2.276 0.792 1.368 0 0 0 71 Fridge -2.475 0.0 -0.782 0 90 0 72 LightSwitch -0.929 1.350 -1.950 0 0 0 73 Toaster -2.564 0.900 1.876 0 90 0 74 CoffeeMachine 0.464 0.900 -1.810 0 0 0 75 Window 1.508 1.534 -1.496 90 135 0 76 Window 1.973 1.521 1.121 90 90 0 77 SinkBasin 1.149 0.753 -1.380 0 225 0 78 GarbageCan 1.646 -0.000 0.679 0 0 0 79 Microwave -2.580 0.900 2.440 0 90 0 80 Stool 0.439 0.010 0.747 0 0 0 81 Stool -2.303 0.010 1.839 0 0 0 82 Faucet 1.235 1.138 -1.473 0 225 0 83 NorthWall 84 EastWall 85 SouthWall 86 WestWall
[ "STEP 1: Go forward and turn right to face the trash bin to the left of the counter. | STEP 2: Pick up a tomato from inside the trash bin. | STEP 3: Turn around and head to the refrigerator. | STEP 4: Chill the tomato in the freezer compartment for a moment and then take it back out. | STEP 5: Turn right and move to the microwave at the end of the counter. | STEP 6: Place the tomato in to the microwave. | END" ]
[ [ "STEP 1: Go forward and turn right to face the trash bin to the left of the counter. ", " STEP 2: Pick up a tomato from inside the trash bin. ", " STEP 3: Turn around and head to the refrigerator. ", " STEP 4: Chill the tomato in the freezer compartment for a moment and then take it back out. ", " STEP 5: Turn right and move to the microwave at the end of the counter. ", " STEP 6: Place the tomato in to the microwave. ", " END" ] ]
seen
trial_T20190907_123331_293578-0
Put two grey spray bottles in the second from the right cabinet under the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.909 1.5 0 90 0 1 SoapBar -2.291 0.106 0.725 0 0 0 37 2 SprayBottle -1.284 1.105 2.905 0 0 0 24 3 DishSponge -0.822 1.072 0.333 0 0 0 43 4 SoapBottle -2.315 1.106 2.905 0 0 0 24 5 SoapBottle -1.187 0.601 1.110 0 0 0 27 6 ToiletPaper -1.464 0.596 1.072 0 0 0 27 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -0.885 0.969 3.091 0 180 0 22 10 ToiletPaper -0.625 1.067 0.302 0 0 0 43 11 SoapBottle -0.108 0.073 3.280 0 270 0 39 12 ToiletPaper -1.287 0.051 3.290 0 0 0 29 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -1.298 0.705 1.184 0 0 0 27 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -2.725 0.111 0.454 0 0 0 37 17 Candle -0.888 1.069 0.271 0 0 0 43 18 DishSponge -2.710 0.600 1.384 0 0 0 38 19 SprayBottle -0.127 0.073 3.185 0 270 0 39 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Move to the right of the sink to the bin. | STEP 2: Pick up a grey spray bottle from the bin. | STEP 3: Move to the middle of the counter to the left of you. | STEP 4: Open the second from the right cabinet door and place the bottle inside and close the door. | STEP 5: Move to the middle of the counter in between the two sinks. | STEP 6: Pick up the grey spray bottle from the counter. | STEP 7: Move to the middle of the counter to the left of you. | STEP 8: Open the second from the right cabinet door and place the bottle inside and close the door. | END" ]
[ [ "STEP 1: Move to the right of the sink to the bin. ", " STEP 2: Pick up a grey spray bottle from the bin. ", " STEP 3: Move to the middle of the counter to the left of you. ", " STEP 4: Open the second from the right cabinet door and place the bottle inside and close the door. ", " STEP 5: Move to the middle of the counter in between the two sinks. ", " STEP 6: Pick up the grey spray bottle from the counter. ", " STEP 7: Move to the middle of the counter to the left of you. ", " STEP 8: Open the second from the right cabinet door and place the bottle inside and close the door. ", " END" ] ]
seen
trial_T20190907_123331_293578-1
Place spray bottles in a cabinet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.909 1.5 0 90 0 1 SoapBar -2.291 0.106 0.725 0 0 0 37 2 SprayBottle -1.284 1.105 2.905 0 0 0 24 3 DishSponge -0.822 1.072 0.333 0 0 0 43 4 SoapBottle -2.315 1.106 2.905 0 0 0 24 5 SoapBottle -1.187 0.601 1.110 0 0 0 27 6 ToiletPaper -1.464 0.596 1.072 0 0 0 27 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -0.885 0.969 3.091 0 180 0 22 10 ToiletPaper -0.625 1.067 0.302 0 0 0 43 11 SoapBottle -0.108 0.073 3.280 0 270 0 39 12 ToiletPaper -1.287 0.051 3.290 0 0 0 29 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -1.298 0.705 1.184 0 0 0 27 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -2.725 0.111 0.454 0 0 0 37 17 Candle -0.888 1.069 0.271 0 0 0 43 18 DishSponge -2.710 0.600 1.384 0 0 0 38 19 SprayBottle -0.127 0.073 3.185 0 270 0 39 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn left and head to the trash can that is to the right of the sink | STEP 2: Pick up the spray bottle that is inside the trash can | STEP 3: Turn around and take a step then turn to your right and head to the vanity with the two sinks | STEP 4: Open the left cabinet that is under the right hand sink and place the spray bottle into the cabinet then close the door | STEP 5: Step closer to the sink | STEP 6: Pick up the spray bottle that is sitting on the counter between the sinks | STEP 7: Turn around and take a step, and then turn around to face the sinks | STEP 8: Open the left cabinet that is under the right hand sink and place the spray bottle into the cabinet to the right of the spray bottle that is already there, then close the door | END" ]
[ [ "STEP 1: Turn left and head to the trash can that is to the right of the sink ", " STEP 2: Pick up the spray bottle that is inside the trash can ", " STEP 3: Turn around and take a step then turn to your right and head to the vanity with the two sinks ", " STEP 4: Open the left cabinet that is under the right hand sink and place the spray bottle into the cabinet then close the door ", " STEP 5: Step closer to the sink ", " STEP 6: Pick up the spray bottle that is sitting on the counter between the sinks ", " STEP 7: Turn around and take a step, and then turn around to face the sinks ", " STEP 8: Open the left cabinet that is under the right hand sink and place the spray bottle into the cabinet to the right of the spray bottle that is already there, then close the door ", " END" ] ]
seen
trial_T20190907_123331_293578-2
Put away bottles in the bathroom
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.909 1.5 0 90 0 1 SoapBar -2.291 0.106 0.725 0 0 0 37 2 SprayBottle -1.284 1.105 2.905 0 0 0 24 3 DishSponge -0.822 1.072 0.333 0 0 0 43 4 SoapBottle -2.315 1.106 2.905 0 0 0 24 5 SoapBottle -1.187 0.601 1.110 0 0 0 27 6 ToiletPaper -1.464 0.596 1.072 0 0 0 27 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -0.885 0.969 3.091 0 180 0 22 10 ToiletPaper -0.625 1.067 0.302 0 0 0 43 11 SoapBottle -0.108 0.073 3.280 0 270 0 39 12 ToiletPaper -1.287 0.051 3.290 0 0 0 29 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -1.298 0.705 1.184 0 0 0 27 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -2.725 0.111 0.454 0 0 0 37 17 Candle -0.888 1.069 0.271 0 0 0 43 18 DishSponge -2.710 0.600 1.384 0 0 0 38 19 SprayBottle -0.127 0.073 3.185 0 270 0 39 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn around and walk straight then turn left and face the green trash bin | STEP 2: Pick up the bottle from the trash bin | STEP 3: Turn around and walk to the right and face the sinks | STEP 4: Open the cabinet below and place the bottle inside | STEP 5: Face the counter next to the sink | STEP 6: Pick up the bottle on the counter | STEP 7: Turn to the left and open the cabinet door below | STEP 8: Place the bottle inside the cabinet | END" ]
[ [ "STEP 1: Turn around and walk straight then turn left and face the green trash bin ", " STEP 2: Pick up the bottle from the trash bin ", " STEP 3: Turn around and walk to the right and face the sinks ", " STEP 4: Open the cabinet below and place the bottle inside ", " STEP 5: Face the counter next to the sink ", " STEP 6: Pick up the bottle on the counter ", " STEP 7: Turn to the left and open the cabinet door below ", " STEP 8: Place the bottle inside the cabinet ", " END" ] ]
seen
trial_T20190907_123331_293578-3
To collect black spray bottles, as well as store them under the right side of the sink.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.25", " 0.909", " 1.5", " 0", " 90", " 0", "" ], [ "1", " SoapBar", " -2.291", " 0.106", " 0.725", " 0", " 0", " 0", " 37" ], [ "2", " SprayBottle", " -1.284", " 1.105", " 2.905", " 0", " 0", " 0", " 24" ], [ "3", " DishSponge", " -0.822", " 1.072", " 0.333", " 0", " 0", " 0", " 43" ], [ "4", " SoapBottle", " -2.315", " 1.106", " 2.905", " 0", " 0", " 0", " 24" ], [ "5", " SoapBottle", " -1.187", " 0.601", " 1.110", " 0", " 0", " 0", " 27" ], [ "6", " ToiletPaper", " -1.464", " 0.596", " 1.072", " 0", " 0", " 0", " 27" ], [ "7", " HandTowel", " -0.242", " 1.76", " 3.427", " 0", " 0", " 0", " 41" ], [ "8", " Plunger", " -0.219", " 0.026", " 0.490", " 0", " 0", " 0", "" ], [ "9", " SoapBar", " -0.885", " 0.969", " 3.091", " 0", " 180", " 0", " 22" ], [ "10", " ToiletPaper", " -0.625", " 1.067", " 0.302", " 0", " 0", " 0", " 43" ], [ "11", " SoapBottle", " -0.108", " 0.073", " 3.280", " 0", " 270", " 0", " 39" ], [ "12", " ToiletPaper", " -1.287", " 0.051", " 3.290", " 0", " 0", " 0", " 29" ], [ "13", " Towel", " 0.402", " 1.389", " 3.359", " 0", " 0", " 0", " 36" ], [ "14", " PaperTowelRoll", " -1.298", " 0.705", " 1.184", " 0", " 0", " 0", " 27" ], [ "15", " ScrubBrush", " -0.351", " 0.026", " 0.353", " 0", " 0", " 0", "" ], [ "16", " Cloth", " -2.725", " 0.111", " 0.454", " 0", " 0", " 0", " 37" ], [ "17", " Candle", " -0.888", " 1.069", " 0.271", " 0", " 0", " 0", " 43" ], [ "18", " DishSponge", " -2.710", " 0.600", " 1.384", " 0", " 0", " 0", " 38" ], [ "19", " SprayBottle", " -0.127", " 0.073", " 3.185", " 0", " 270", " 0", " 39" ], [ "20", " Window", " -3.447", " 1.593", " 0.648", " 0", " 0", " 0", "" ], [ "21", " Mirror", " -1.386", " 1.595", " 3.464", " 0", " 0", " 0", "" ], [ "22", " SinkBasin", " -0.837", " 0.960", " 3.091", " 0", " 180", " 0", "" ], [ "23", " ShowerDoor", " -2.477", " 1.774", " 2.386", " 0", " 0", " 0", "" ], [ "24", " CounterTop", " -1.358", " 1.094", " 3.151", " 0", " 0", " 0", "" ], [ "25", " Sink", " -0.846", " 0.952", " 3.144", " 0", " 180", " 0", "" ], [ "26", " Cabinet", " -1.399", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "27", " Bathtub", " -2.234", " 0.288", " 0.722", " 0", " 0", " 0", "" ], [ "28", " Cabinet", " -0.337", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "29", " Cabinet", " -1.362", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "30", " Cabinet", " -2.423", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "31", " ShowerGlass", " -2.895", " 1.423", " 2.342", " 0", " 0", " 0", "" ], [ "32", " Faucet", " -0.853", " 1.094", " 3.367", " 0", " 180", " 0", "" ], [ "33", " ShowerHead", " -2.949", " 2.154", " 3.427", " 0", " 0", " 0", "" ], [ "34", " Window", " -2.190", " 1.550", " 0.086", " 0", " 0", " 0", "" ], [ "35", " TowelHolder", " 0.967", " 1.343", " 2.855", " 0", " 270", " 0", "" ], [ "36", " TowelHolder", " 0.402", " 1.375", " 3.466", " 0", " 180", " 0", "" ], [ "37", " BathtubBasin", " -2.322", " 0.096", " 0.634", " 0", " 0", " 0", "" ], [ "38", " Shelf", " -2.930", " 0.589", " 1.425", " 0", " 0", " 0", "" ], [ "39", " GarbageCan", " -0.061", " -0.001", " 3.131", " 0", " 270", " 0", "" ], [ "40", " LightSwitch", " 0.968", " 1.432", " 1.128", " 0", " 270", " 0", "" ], [ "41", " HandTowelHolder", " -0.241", " 1.861", " 3.466", " 0", " 90", " 0", "" ], [ "42", " ToiletPaperHanger", " -0.039", " 0.958", " 0.201", " 0", " 0", " 0", "" ], [ "43", " Toilet", " -0.694", " 0.026", " 0.656", " 0", " 90", " 0", "" ], [ "44", " Faucet", " -1.944", " 1.094", " 3.367", " 0", " 180", " 0", "" ], [ "45", " Sink", " -1.934", " 0.952", " 3.144", " 0", " 180", " 0", "" ], [ "46", " SinkBasin", " -1.926", " 0.960", " 3.091", " 0", " 180", " 0", "" ], [ "47", " Faucet", " -1.342", " 0.638", " 0.629", " 0", " 90", " 0", "" ], [ "48", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "50", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.909 1.5 0 90 0 1 SoapBar -2.291 0.106 0.725 0 0 0 37 2 SprayBottle -1.284 1.105 2.905 0 0 0 24 3 DishSponge -0.822 1.072 0.333 0 0 0 43 4 SoapBottle -2.315 1.106 2.905 0 0 0 24 5 SoapBottle -1.187 0.601 1.110 0 0 0 27 6 ToiletPaper -1.464 0.596 1.072 0 0 0 27 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -0.885 0.969 3.091 0 180 0 22 10 ToiletPaper -0.625 1.067 0.302 0 0 0 43 11 SoapBottle -0.108 0.073 3.280 0 270 0 39 12 ToiletPaper -1.287 0.051 3.290 0 0 0 29 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -1.298 0.705 1.184 0 0 0 27 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -2.725 0.111 0.454 0 0 0 37 17 Candle -0.888 1.069 0.271 0 0 0 43 18 DishSponge -2.710 0.600 1.384 0 0 0 38 19 SprayBottle -0.127 0.073 3.185 0 270 0 39 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn to the left and walk forward to face the trash can on the ground. | STEP 2: Pick up the black spray bottle in the trash can. | STEP 3: Turn to the left and face the cabinet on the right side of the sink. | STEP 4: Place the black spray bottle in the cabinet under the right side of the sink. | STEP 5: Look up to face the black spray bottle on top of the counter between the two sinks. | STEP 6: Pick up the black spray bottle on counter between the sink. | STEP 7: Look down to face the cabinet on the right below the sink. | STEP 8: Put the black spray bottle in the cabinet under the sink beside the other black spray bottles. | END" ]
[ [ "STEP 1: Turn to the left and walk forward to face the trash can on the ground. ", " STEP 2: Pick up the black spray bottle in the trash can. ", " STEP 3: Turn to the left and face the cabinet on the right side of the sink. ", " STEP 4: Place the black spray bottle in the cabinet under the right side of the sink. ", " STEP 5: Look up to face the black spray bottle on top of the counter between the two sinks. ", " STEP 6: Pick up the black spray bottle on counter between the sink. ", " STEP 7: Look down to face the cabinet on the right below the sink. ", " STEP 8: Put the black spray bottle in the cabinet under the sink beside the other black spray bottles. ", " END" ] ]
seen
trial_T20190907_123331_293578-4
Place two spray bottles into the cabinet below the sink.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.25", " 0.909", " 1.5", " 0", " 90", " 0", "" ], [ "1", " SoapBar", " -2.291", " 0.106", " 0.725", " 0", " 0", " 0", " 37" ], [ "2", " SprayBottle", " -1.284", " 1.105", " 2.905", " 0", " 0", " 0", " 24" ], [ "3", " DishSponge", " -0.822", " 1.072", " 0.333", " 0", " 0", " 0", " 43" ], [ "4", " SoapBottle", " -2.315", " 1.106", " 2.905", " 0", " 0", " 0", " 24" ], [ "5", " SoapBottle", " -1.187", " 0.601", " 1.110", " 0", " 0", " 0", " 27" ], [ "6", " ToiletPaper", " -1.464", " 0.596", " 1.072", " 0", " 0", " 0", " 27" ], [ "7", " HandTowel", " -0.242", " 1.76", " 3.427", " 0", " 0", " 0", " 41" ], [ "8", " Plunger", " -0.219", " 0.026", " 0.490", " 0", " 0", " 0", "" ], [ "9", " SoapBar", " -0.885", " 0.969", " 3.091", " 0", " 180", " 0", " 22" ], [ "10", " ToiletPaper", " -0.625", " 1.067", " 0.302", " 0", " 0", " 0", " 43" ], [ "11", " SoapBottle", " -0.108", " 0.073", " 3.280", " 0", " 270", " 0", " 39" ], [ "12", " ToiletPaper", " -1.287", " 0.051", " 3.290", " 0", " 0", " 0", " 29" ], [ "13", " Towel", " 0.402", " 1.389", " 3.359", " 0", " 0", " 0", " 36" ], [ "14", " PaperTowelRoll", " -1.298", " 0.705", " 1.184", " 0", " 0", " 0", " 27" ], [ "15", " ScrubBrush", " -0.351", " 0.026", " 0.353", " 0", " 0", " 0", "" ], [ "16", " Cloth", " -2.725", " 0.111", " 0.454", " 0", " 0", " 0", " 37" ], [ "17", " Candle", " -0.888", " 1.069", " 0.271", " 0", " 0", " 0", " 43" ], [ "18", " DishSponge", " -2.710", " 0.600", " 1.384", " 0", " 0", " 0", " 38" ], [ "19", " SprayBottle", " -0.127", " 0.073", " 3.185", " 0", " 270", " 0", " 39" ], [ "20", " Window", " -3.447", " 1.593", " 0.648", " 0", " 0", " 0", "" ], [ "21", " Mirror", " -1.386", " 1.595", " 3.464", " 0", " 0", " 0", "" ], [ "22", " SinkBasin", " -0.837", " 0.960", " 3.091", " 0", " 180", " 0", "" ], [ "23", " ShowerDoor", " -2.477", " 1.774", " 2.386", " 0", " 0", " 0", "" ], [ "24", " CounterTop", " -1.358", " 1.094", " 3.151", " 0", " 0", " 0", "" ], [ "25", " Sink", " -0.846", " 0.952", " 3.144", " 0", " 180", " 0", "" ], [ "26", " Cabinet", " -1.399", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "27", " Bathtub", " -2.234", " 0.288", " 0.722", " 0", " 0", " 0", "" ], [ "28", " Cabinet", " -0.337", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "29", " Cabinet", " -1.362", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "30", " Cabinet", " -2.423", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "31", " ShowerGlass", " -2.895", " 1.423", " 2.342", " 0", " 0", " 0", "" ], [ "32", " Faucet", " -0.853", " 1.094", " 3.367", " 0", " 180", " 0", "" ], [ "33", " ShowerHead", " -2.949", " 2.154", " 3.427", " 0", " 0", " 0", "" ], [ "34", " Window", " -2.190", " 1.550", " 0.086", " 0", " 0", " 0", "" ], [ "35", " TowelHolder", " 0.967", " 1.343", " 2.855", " 0", " 270", " 0", "" ], [ "36", " TowelHolder", " 0.402", " 1.375", " 3.466", " 0", " 180", " 0", "" ], [ "37", " BathtubBasin", " -2.322", " 0.096", " 0.634", " 0", " 0", " 0", "" ], [ "38", " Shelf", " -2.930", " 0.589", " 1.425", " 0", " 0", " 0", "" ], [ "39", " GarbageCan", " -0.061", " -0.001", " 3.131", " 0", " 270", " 0", "" ], [ "40", " LightSwitch", " 0.968", " 1.432", " 1.128", " 0", " 270", " 0", "" ], [ "41", " HandTowelHolder", " -0.241", " 1.861", " 3.466", " 0", " 90", " 0", "" ], [ "42", " ToiletPaperHanger", " -0.039", " 0.958", " 0.201", " 0", " 0", " 0", "" ], [ "43", " Toilet", " -0.694", " 0.026", " 0.656", " 0", " 90", " 0", "" ], [ "44", " Faucet", " -1.944", " 1.094", " 3.367", " 0", " 180", " 0", "" ], [ "45", " Sink", " -1.934", " 0.952", " 3.144", " 0", " 180", " 0", "" ], [ "46", " SinkBasin", " -1.926", " 0.960", " 3.091", " 0", " 180", " 0", "" ], [ "47", " Faucet", " -1.342", " 0.638", " 0.629", " 0", " 90", " 0", "" ], [ "48", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "50", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.909 1.5 0 90 0 1 SoapBar -2.291 0.106 0.725 0 0 0 37 2 SprayBottle -1.284 1.105 2.905 0 0 0 24 3 DishSponge -0.822 1.072 0.333 0 0 0 43 4 SoapBottle -2.315 1.106 2.905 0 0 0 24 5 SoapBottle -1.187 0.601 1.110 0 0 0 27 6 ToiletPaper -1.464 0.596 1.072 0 0 0 27 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -0.885 0.969 3.091 0 180 0 22 10 ToiletPaper -0.625 1.067 0.302 0 0 0 43 11 SoapBottle -0.108 0.073 3.280 0 270 0 39 12 ToiletPaper -1.287 0.051 3.290 0 0 0 29 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -1.298 0.705 1.184 0 0 0 27 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -2.725 0.111 0.454 0 0 0 37 17 Candle -0.888 1.069 0.271 0 0 0 43 18 DishSponge -2.710 0.600 1.384 0 0 0 38 19 SprayBottle -0.127 0.073 3.185 0 270 0 39 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn right, move to the green bin. | STEP 2: Pick up the spray bottle from the green bin. | STEP 3: Turn left, move to in front of the bathroom sinks. | STEP 4: Place spray bottle in to right hand cabinet below sink. | STEP 5: Move to in front of the bathroom sinks. | STEP 6: Pick up the spray bottle from between the bathroom sinks. | STEP 7: Move to in front of the bathroom sinks. | STEP 8: Place spray bottle in to right hand cabinet below sink. | END" ]
[ [ "STEP 1: Turn right, move to the green bin. ", " STEP 2: Pick up the spray bottle from the green bin. ", " STEP 3: Turn left, move to in front of the bathroom sinks. ", " STEP 4: Place spray bottle in to right hand cabinet below sink. ", " STEP 5: Move to in front of the bathroom sinks. ", " STEP 6: Pick up the spray bottle from between the bathroom sinks. ", " STEP 7: Move to in front of the bathroom sinks. ", " STEP 8: Place spray bottle in to right hand cabinet below sink. ", " END" ] ]
seen
trial_T20190908_132230_515563-0
Place two bread slices from two different loaves of bread in the refrigerator.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.900", " -0.75", " 0", " 270", " 0", "" ], [ "1", " DishSponge", " 0.908", " 0.919", " -1.848", " 0", " 270", " 0", " 48" ], [ "2", " ButterKnife", " -2.477", " 0.952", " 0.704", " 0", " 180", " 0", " 83" ], [ "3", " Fork", " 1.412", " 0.912", " -1.571", " 0", " 90", " 0", " 50" ], [ "4", " Spoon", " 1.412", " 0.913", " -1.737", " 0", " 0", " 0", " 50" ], [ "5", " Spatula", " -2.065", " 0.967", " 0.435", " 0", " 90", " 0", " 83" ], [ "6", " Spatula", " 1.785", " 0.927", " 0.706", " 0", " 270", " 0", " 65" ], [ "7", " Egg", " -0.394", " 0.105", " 0.525", " 0", " 90", " 0", " 79" ], [ "8", " Egg", " 1.601", " 0.947", " 0.706", " 0", " 0", " 0", " 65" ], [ "9", " Cup", " -1.791", " 0.950", " 0.524", " 0", " 90", " 0", " 83" ], [ "10", " Knife", " 0.649", " 0.944", " -1.582", " 0", " 270", " 0", " 48" ], [ "11", " Bowl", " 0.562", " 0.109", " 0.308", " 0", " 0", " 0", " 61" ], [ "12", " Bowl", " 1.681", " 1.328", " -1.846", " 0", " 180", " 0", " 66" ], [ "13", " SaltShaker", " -2.065", " 0.948", " 0.345", " 0", " 90", " 0", " 83" ], [ "14", " SaltShaker", " -2.203", " 0.948", " 0.614", " 0", " 90", " 0", " 83" ], [ "15", " PepperShaker", " -2.340", " 0.948", " 0.165", " 0", " 90", " 0", " 83" ], [ "16", " Bread", " -2.065", " 1.035", " 0.165", " 0", " 90", " 0", " 83" ], [ "17", " Bread", " -0.267", " 0.995", " -1.820", " 0", " 0", " 0", " 50" ], [ "18", " Lettuce", " -2.135", " 0.601", " -1.763", " 0", " 0", " 0", " 80" ], [ "19", " Lettuce", " 1.724", " 1.002", " 0.292", " 0", " 0", " 0", " 65" ], [ "20", " Apple", " -2.135", " 1.559", " -1.763", " 0", " 0", " 0", " 80" ], [ "21", " Bread", " 1.299", " 0.978", " -1.532", " 0", " 0", " 0", " 50" ], [ "22", " Knife", " -2.065", " 0.977", " 0.255", " 0", " 90", " 0", " 83" ], [ "23", " Fork", " -0.971", " 0.774", " -1.505", " 0", " 0", " 0", " 63" ], [ "24", " Bowl", " -0.586", " 0.110", " -1.545", " 0", " 0", " 0", " 64" ], [ "25", " Kettle", " -0.096", " 0.111", " -1.545", " 0", " 0", " 0", " 59" ], [ "26", " Cup", " -2.397", " 1.491", " -1.677", " 0", " 0", " 0", " 80" ], [ "27", " Tomato", " -0.394", " 0.119", " 0.612", " 0", " 90", " 0", " 79" ], [ "28", " SoapBottle", " 0.271", " 0.107", " -1.509", " 0", " 180", " 0", " 47" ], [ "29", " Plate", " -2.477", " 0.953", " 0.345", " 0", " 90", " 0", " 83" ], [ "30", " Pot", " 1.007", " 0.962", " 0.561", " 0", " 270", " 0", " 52" ], [ "31", " Spatula", " 0.856", " 0.934", " -1.516", " 0", " 270", " 0", " 48" ], [ "32", " PaperTowelRoll", " -0.329", " 0.174", " 0.439", " 0", " 90", " 0", " 79" ], [ "33", " Egg", " -1.928", " 0.987", " 0.614", " 0", " 90", " 0", " 83" ], [ "34", " Lettuce", " -0.096", " 1.002", " 0.375", " 0", " 0", " 0", " 49" ], [ "35", " SaltShaker", " 1.781", " 0.908", " -1.571", " 0", " 0", " 0", " 50" ], [ "36", " PepperShaker", " 1.846", " 0.908", " 0.292", " 0", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 -0.75 0 270 0 1 DishSponge 0.908 0.919 -1.848 0 270 0 48 2 ButterKnife -2.477 0.952 0.704 0 180 0 83 3 Fork 1.412 0.912 -1.571 0 90 0 50 4 Spoon 1.412 0.913 -1.737 0 0 0 50 5 Spatula -2.065 0.967 0.435 0 90 0 83 6 Spatula 1.785 0.927 0.706 0 270 0 65 7 Egg -0.394 0.105 0.525 0 90 0 79 8 Egg 1.601 0.947 0.706 0 0 0 65 9 Cup -1.791 0.950 0.524 0 90 0 83 10 Knife 0.649 0.944 -1.582 0 270 0 48 11 Bowl 0.562 0.109 0.308 0 0 0 61 12 Bowl 1.681 1.328 -1.846 0 180 0 66 13 SaltShaker -2.065 0.948 0.345 0 90 0 83 14 SaltShaker -2.203 0.948 0.614 0 90 0 83 15 PepperShaker -2.340 0.948 0.165 0 90 0 83 16 Bread -2.065 1.035 0.165 0 90 0 83 17 Bread -0.267 0.995 -1.820 0 0 0 50 18 Lettuce -2.135 0.601 -1.763 0 0 0 80 19 Lettuce 1.724 1.002 0.292 0 0 0 65 20 Apple -2.135 1.559 -1.763 0 0 0 80 21 Bread 1.299 0.978 -1.532 0 0 0 50 22 Knife -2.065 0.977 0.255 0 90 0 83 23 Fork -0.971 0.774 -1.505 0 0 0 63 24 Bowl -0.586 0.110 -1.545 0 0 0 64 25 Kettle -0.096 0.111 -1.545 0 0 0 59 26 Cup -2.397 1.491 -1.677 0 0 0 80 27 Tomato -0.394 0.119 0.612 0 90 0 79 28 SoapBottle 0.271 0.107 -1.509 0 180 0 47 29 Plate -2.477 0.953 0.345 0 90 0 83 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 0.856 0.934 -1.516 0 270 0 48 32 PaperTowelRoll -0.329 0.174 0.439 0 90 0 79 33 Egg -1.928 0.987 0.614 0 90 0 83 34 Lettuce -0.096 1.002 0.375 0 0 0 49 35 SaltShaker 1.781 0.908 -1.571 0 0 0 50 36 PepperShaker 1.846 0.908 0.292 0 0 0 65 37 Apple -1.928 1.019 0.704 0 90 0 83 38 ButterKnife 1.658 0.912 -1.737 0 0 0 50 39 Potato -1.959 1.522 -1.677 0 0 0 80 40 Pan 1.361 0.962 0.294 0 180 0 45 41 DishSponge 1.663 0.911 0.623 0 0 0 65 42 Spoon -0.451 0.913 -1.406 0 0 0 50 43 Mug 0.618 0.945 0.469 0 180 0 74 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: take a few steps forward and turn to the right and go the table | STEP 2: pick up the yellow handle knife from the table | STEP 3: slice with the knife the loaf of bread on the table | STEP 4: turn to the left and take a step and turn to the right facing the table | STEP 5: put the knife on the table left of the salt | STEP 6: turn to the right and take a step and turn to the left facing the table | STEP 7: pick up a slice of bread from the table | STEP 8: turn to the left and take a step and turn to the left and go to the refrigerator | STEP 9: open the refrigerator door and put the bread slice on the middle shelf and close the door | STEP 10: turn to the left twice and go to the table | STEP 11: pick up the yellow handle knife from the table | STEP 12: turn to the right and to to the right of the green waste basket and turn to the right and go to the counter | STEP 13: slice with the knife the loaf of bread on the counter top | STEP 14: turn to the right and take a few steps and turn to the left facing the microwave | STEP 15: open the microwave door and put the knife in it and close the door | STEP 16: turn to the left and take a few steps and turn to the right facing the counter and bread | STEP 17: pick up a bread slice from the counter top | STEP 18: turn to the right and go to the refrigerator and turn to the left facing the refrigerator | STEP 19: open the refrigerator door and put the bread slice on the top shelf and close the door | END" ]
[ [ "STEP 1: take a few steps forward and turn to the right and go the table ", " STEP 2: pick up the yellow handle knife from the table ", " STEP 3: slice with the knife the loaf of bread on the table ", " STEP 4: turn to the left and take a step and turn to the right facing the table ", " STEP 5: put the knife on the table left of the salt ", " STEP 6: turn to the right and take a step and turn to the left facing the table ", " STEP 7: pick up a slice of bread from the table ", " STEP 8: turn to the left and take a step and turn to the left and go to the refrigerator ", " STEP 9: open the refrigerator door and put the bread slice on the middle shelf and close the door ", " STEP 10: turn to the left twice and go to the table ", " STEP 11: pick up the yellow handle knife from the table ", " STEP 12: turn to the right and to to the right of the green waste basket and turn to the right and go to the counter ", " STEP 13: slice with the knife the loaf of bread on the counter top ", " STEP 14: turn to the right and take a few steps and turn to the left facing the microwave ", " STEP 15: open the microwave door and put the knife in it and close the door ", " STEP 16: turn to the left and take a few steps and turn to the right facing the counter and bread ", " STEP 17: pick up a bread slice from the counter top ", " STEP 18: turn to the right and go to the refrigerator and turn to the left facing the refrigerator ", " STEP 19: open the refrigerator door and put the bread slice on the top shelf and close the door ", " END" ] ]
seen
trial_T20190908_132230_515563-1
Put two slices of bread inside the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 -0.75 0 270 0 1 DishSponge 0.908 0.919 -1.848 0 270 0 48 2 ButterKnife -2.477 0.952 0.704 0 180 0 83 3 Fork 1.412 0.912 -1.571 0 90 0 50 4 Spoon 1.412 0.913 -1.737 0 0 0 50 5 Spatula -2.065 0.967 0.435 0 90 0 83 6 Spatula 1.785 0.927 0.706 0 270 0 65 7 Egg -0.394 0.105 0.525 0 90 0 79 8 Egg 1.601 0.947 0.706 0 0 0 65 9 Cup -1.791 0.950 0.524 0 90 0 83 10 Knife 0.649 0.944 -1.582 0 270 0 48 11 Bowl 0.562 0.109 0.308 0 0 0 61 12 Bowl 1.681 1.328 -1.846 0 180 0 66 13 SaltShaker -2.065 0.948 0.345 0 90 0 83 14 SaltShaker -2.203 0.948 0.614 0 90 0 83 15 PepperShaker -2.340 0.948 0.165 0 90 0 83 16 Bread -2.065 1.035 0.165 0 90 0 83 17 Bread -0.267 0.995 -1.820 0 0 0 50 18 Lettuce -2.135 0.601 -1.763 0 0 0 80 19 Lettuce 1.724 1.002 0.292 0 0 0 65 20 Apple -2.135 1.559 -1.763 0 0 0 80 21 Bread 1.299 0.978 -1.532 0 0 0 50 22 Knife -2.065 0.977 0.255 0 90 0 83 23 Fork -0.971 0.774 -1.505 0 0 0 63 24 Bowl -0.586 0.110 -1.545 0 0 0 64 25 Kettle -0.096 0.111 -1.545 0 0 0 59 26 Cup -2.397 1.491 -1.677 0 0 0 80 27 Tomato -0.394 0.119 0.612 0 90 0 79 28 SoapBottle 0.271 0.107 -1.509 0 180 0 47 29 Plate -2.477 0.953 0.345 0 90 0 83 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 0.856 0.934 -1.516 0 270 0 48 32 PaperTowelRoll -0.329 0.174 0.439 0 90 0 79 33 Egg -1.928 0.987 0.614 0 90 0 83 34 Lettuce -0.096 1.002 0.375 0 0 0 49 35 SaltShaker 1.781 0.908 -1.571 0 0 0 50 36 PepperShaker 1.846 0.908 0.292 0 0 0 65 37 Apple -1.928 1.019 0.704 0 90 0 83 38 ButterKnife 1.658 0.912 -1.737 0 0 0 50 39 Potato -1.959 1.522 -1.677 0 0 0 80 40 Pan 1.361 0.962 0.294 0 180 0 45 41 DishSponge 1.663 0.911 0.623 0 0 0 65 42 Spoon -0.451 0.913 -1.406 0 0 0 50 43 Mug 0.618 0.945 0.469 0 180 0 74 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn to the right, go to the table where the bread is. | STEP 2: Pick up the yellow handled knife that is underneath the bread on the table. | STEP 3: Cut the bread into slices. | STEP 4: Move to the left side of the table. | STEP 5: Put the knife down on the table in front of the blue plate. | STEP 6: Move to the right side of the table where the bread is. | STEP 7: Pick up a slice of bread from the table. | STEP 8: Turn to the right, go to the door, hang a left and go to the fridge. | STEP 9: Put the bread inside the fridge on the shelf above the lettuce. | STEP 10: Turn around, go to the table where the knife is. | STEP 11: Pick up the yellow handled knife that is on the table. | STEP 12: Turn to the right, go to the counter, hang a right, go to the counter where the bread is. | STEP 13: Cut the bread into slices. | STEP 14: Turn to the right, go to the microwave that is on the left. | STEP 15: Put the knife inside the microwave. | STEP 16: Turn to the left, go back to the sliced bread on the counter. | STEP 17: Pick up a slice of bread from the counter. | STEP 18: Hang a right and go to the fridge that is on the left. | STEP 19: Put the slice of bread on the top shelf inside the fridge. | END" ]
[ [ "STEP 1: Turn to the right, go to the table where the bread is. ", " STEP 2: Pick up the yellow handled knife that is underneath the bread on the table. ", " STEP 3: Cut the bread into slices. ", " STEP 4: Move to the left side of the table. ", " STEP 5: Put the knife down on the table in front of the blue plate. ", " STEP 6: Move to the right side of the table where the bread is. ", " STEP 7: Pick up a slice of bread from the table. ", " STEP 8: Turn to the right, go to the door, hang a left and go to the fridge. ", " STEP 9: Put the bread inside the fridge on the shelf above the lettuce. ", " STEP 10: Turn around, go to the table where the knife is. ", " STEP 11: Pick up the yellow handled knife that is on the table. ", " STEP 12: Turn to the right, go to the counter, hang a right, go to the counter where the bread is. ", " STEP 13: Cut the bread into slices. ", " STEP 14: Turn to the right, go to the microwave that is on the left. ", " STEP 15: Put the knife inside the microwave. ", " STEP 16: Turn to the left, go back to the sliced bread on the counter. ", " STEP 17: Pick up a slice of bread from the counter. ", " STEP 18: Hang a right and go to the fridge that is on the left. ", " STEP 19: Put the slice of bread on the top shelf inside the fridge. ", " END" ] ]
seen
trial_T20190908_132230_515563-2
Put two slices of bread in the fridge and a knife in the microwave
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 -0.75 0 270 0 1 DishSponge 0.908 0.919 -1.848 0 270 0 48 2 ButterKnife -2.477 0.952 0.704 0 180 0 83 3 Fork 1.412 0.912 -1.571 0 90 0 50 4 Spoon 1.412 0.913 -1.737 0 0 0 50 5 Spatula -2.065 0.967 0.435 0 90 0 83 6 Spatula 1.785 0.927 0.706 0 270 0 65 7 Egg -0.394 0.105 0.525 0 90 0 79 8 Egg 1.601 0.947 0.706 0 0 0 65 9 Cup -1.791 0.950 0.524 0 90 0 83 10 Knife 0.649 0.944 -1.582 0 270 0 48 11 Bowl 0.562 0.109 0.308 0 0 0 61 12 Bowl 1.681 1.328 -1.846 0 180 0 66 13 SaltShaker -2.065 0.948 0.345 0 90 0 83 14 SaltShaker -2.203 0.948 0.614 0 90 0 83 15 PepperShaker -2.340 0.948 0.165 0 90 0 83 16 Bread -2.065 1.035 0.165 0 90 0 83 17 Bread -0.267 0.995 -1.820 0 0 0 50 18 Lettuce -2.135 0.601 -1.763 0 0 0 80 19 Lettuce 1.724 1.002 0.292 0 0 0 65 20 Apple -2.135 1.559 -1.763 0 0 0 80 21 Bread 1.299 0.978 -1.532 0 0 0 50 22 Knife -2.065 0.977 0.255 0 90 0 83 23 Fork -0.971 0.774 -1.505 0 0 0 63 24 Bowl -0.586 0.110 -1.545 0 0 0 64 25 Kettle -0.096 0.111 -1.545 0 0 0 59 26 Cup -2.397 1.491 -1.677 0 0 0 80 27 Tomato -0.394 0.119 0.612 0 90 0 79 28 SoapBottle 0.271 0.107 -1.509 0 180 0 47 29 Plate -2.477 0.953 0.345 0 90 0 83 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 0.856 0.934 -1.516 0 270 0 48 32 PaperTowelRoll -0.329 0.174 0.439 0 90 0 79 33 Egg -1.928 0.987 0.614 0 90 0 83 34 Lettuce -0.096 1.002 0.375 0 0 0 49 35 SaltShaker 1.781 0.908 -1.571 0 0 0 50 36 PepperShaker 1.846 0.908 0.292 0 0 0 65 37 Apple -1.928 1.019 0.704 0 90 0 83 38 ButterKnife 1.658 0.912 -1.737 0 0 0 50 39 Potato -1.959 1.522 -1.677 0 0 0 80 40 Pan 1.361 0.962 0.294 0 180 0 45 41 DishSponge 1.663 0.911 0.623 0 0 0 65 42 Spoon -0.451 0.913 -1.406 0 0 0 50 43 Mug 0.618 0.945 0.469 0 180 0 74 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Go to the white table | STEP 2: Pick up the knife | STEP 3: Cut the bread | STEP 4: Look back at the table | STEP 5: Put the knife down on the table | STEP 6: Go to the bread | STEP 7: Pick up a slice of bread | STEP 8: Go to the fridge | STEP 9: Put the bread in the fridge | STEP 10: Go back to the white table | STEP 11: Pick up the knife | STEP 12: Go to the counter to the right of the sink | STEP 13: Cut the bread | STEP 14: Go to the microwave | STEP 15: Put the knife in the microwave | STEP 16: Go back to the second cut loaf of bread | STEP 17: Take a slice of bread | STEP 18: Go to the fridge | STEP 19: Put the bread in the fridge | END" ]
[ [ "STEP 1: Go to the white table ", " STEP 2: Pick up the knife ", " STEP 3: Cut the bread ", " STEP 4: Look back at the table ", " STEP 5: Put the knife down on the table ", " STEP 6: Go to the bread ", " STEP 7: Pick up a slice of bread ", " STEP 8: Go to the fridge ", " STEP 9: Put the bread in the fridge ", " STEP 10: Go back to the white table ", " STEP 11: Pick up the knife ", " STEP 12: Go to the counter to the right of the sink ", " STEP 13: Cut the bread ", " STEP 14: Go to the microwave ", " STEP 15: Put the knife in the microwave ", " STEP 16: Go back to the second cut loaf of bread ", " STEP 17: Take a slice of bread ", " STEP 18: Go to the fridge ", " STEP 19: Put the bread in the fridge ", " END" ] ]
seen
trial_T20190908_060142_644573-0
Take two bottles from the sink and the bath tub, place them on the toilet tank.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.909 0.5 0 90 0 1 Cloth -1.591 0.059 3.223 0 0 0 26 2 Cloth -2.915 0.603 1.467 0 0 0 38 3 SoapBar -0.759 0.969 3.049 0 180 0 22 4 SprayBottle -0.691 1.072 0.332 0 0 0 43 5 DishSponge -1.704 0.056 3.021 0 0 0 26 6 SoapBottle -0.355 1.106 2.983 0 0 0 24 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -1.464 0.599 1.072 0 0 0 27 10 ToiletPaper -0.070 0.871 0.377 0 0 90 42 11 SoapBottle -1.964 0.601 1.072 0 0 0 27 12 ToiletPaper -0.138 0.058 3.297 0 0 0 39 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -0.418 1.210 3.292 0 0 0 24 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -3.120 0.603 1.426 0 0 0 38 17 Candle -1.287 0.053 3.358 0 0 0 29 18 DishSponge -0.822 1.072 0.333 0 0 0 43 19 SprayBottle -0.418 1.105 3.369 0 0 0 24 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn left and go to the sink across from the toilet. | STEP 2: Pick up the bottle from the right side of the sink. | STEP 3: Turn around and take the bottle to the toilet. | STEP 4: Put the bottle on the top of the toilet tank on the left. | STEP 5: Go across the room and face the side of the bath tub. | STEP 6: Pick of the bottle from the edge of the bath tub. | STEP 7: Turn left and take the bottle to the toilet. | STEP 8: Place the bottle on the top of the toilet tank between the first bottle and the wall. | END" ]
[ [ "STEP 1: Turn left and go to the sink across from the toilet. ", " STEP 2: Pick up the bottle from the right side of the sink. ", " STEP 3: Turn around and take the bottle to the toilet. ", " STEP 4: Put the bottle on the top of the toilet tank on the left. ", " STEP 5: Go across the room and face the side of the bath tub. ", " STEP 6: Pick of the bottle from the edge of the bath tub. ", " STEP 7: Turn left and take the bottle to the toilet. ", " STEP 8: Place the bottle on the top of the toilet tank between the first bottle and the wall. ", " END" ] ]
seen
trial_T20190908_060142_644573-1
Put two dispensers on the toilet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.909 0.5 0 90 0 1 Cloth -1.591 0.059 3.223 0 0 0 26 2 Cloth -2.915 0.603 1.467 0 0 0 38 3 SoapBar -0.759 0.969 3.049 0 180 0 22 4 SprayBottle -0.691 1.072 0.332 0 0 0 43 5 DishSponge -1.704 0.056 3.021 0 0 0 26 6 SoapBottle -0.355 1.106 2.983 0 0 0 24 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -1.464 0.599 1.072 0 0 0 27 10 ToiletPaper -0.070 0.871 0.377 0 0 90 42 11 SoapBottle -1.964 0.601 1.072 0 0 0 27 12 ToiletPaper -0.138 0.058 3.297 0 0 0 39 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -0.418 1.210 3.292 0 0 0 24 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -3.120 0.603 1.426 0 0 0 38 17 Candle -1.287 0.053 3.358 0 0 0 29 18 DishSponge -0.822 1.072 0.333 0 0 0 43 19 SprayBottle -0.418 1.105 3.369 0 0 0 24 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: move to the counter to the right of the sink | STEP 2: pick up a dispenser from the counter | STEP 3: move to the toilet to the left of the tub | STEP 4: put the dispenser on the toilet | STEP 5: move to the tub to the right of the toilet | STEP 6: pick up a dispenser from the tub | STEP 7: move to the toilet to the left of the tub | STEP 8: put the dispenser on the toilet | END" ]
[ [ "STEP 1: move to the counter to the right of the sink ", " STEP 2: pick up a dispenser from the counter ", " STEP 3: move to the toilet to the left of the tub ", " STEP 4: put the dispenser on the toilet ", " STEP 5: move to the tub to the right of the toilet ", " STEP 6: pick up a dispenser from the tub ", " STEP 7: move to the toilet to the left of the tub ", " STEP 8: put the dispenser on the toilet ", " END" ] ]
seen
trial_T20190908_060142_644573-2
place two spray containers on the water closet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.909 0.5 0 90 0 1 Cloth -1.591 0.059 3.223 0 0 0 26 2 Cloth -2.915 0.603 1.467 0 0 0 38 3 SoapBar -0.759 0.969 3.049 0 180 0 22 4 SprayBottle -0.691 1.072 0.332 0 0 0 43 5 DishSponge -1.704 0.056 3.021 0 0 0 26 6 SoapBottle -0.355 1.106 2.983 0 0 0 24 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -1.464 0.599 1.072 0 0 0 27 10 ToiletPaper -0.070 0.871 0.377 0 0 90 42 11 SoapBottle -1.964 0.601 1.072 0 0 0 27 12 ToiletPaper -0.138 0.058 3.297 0 0 0 39 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -0.418 1.210 3.292 0 0 0 24 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -3.120 0.603 1.426 0 0 0 38 17 Candle -1.287 0.053 3.358 0 0 0 29 18 DishSponge -0.822 1.072 0.333 0 0 0 43 19 SprayBottle -0.418 1.105 3.369 0 0 0 24 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: move around to the sink | STEP 2: pick up the spray container by the sink | STEP 3: turn around and head to the toilet | STEP 4: drop it on the toilet | STEP 5: head straight to the bath tub | STEP 6: pick up a spray container from the bath tub | STEP 7: head left to the toilet | STEP 8: place the container on the toilet | END" ]
[ [ "STEP 1: move around to the sink ", " STEP 2: pick up the spray container by the sink ", " STEP 3: turn around and head to the toilet ", " STEP 4: drop it on the toilet ", " STEP 5: head straight to the bath tub ", " STEP 6: pick up a spray container from the bath tub ", " STEP 7: head left to the toilet ", " STEP 8: place the container on the toilet ", " END" ] ]
seen
trial_T20190919_083951_022269-0
Slice tomato to be placed in a pan with a knife to be moved to the counter by the stove.
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47" ], [ "11", " Spatula", " -2.761", " 0.909", " -0.290", " 0", " 270", " 0", " 84" ], [ "12", " Egg", " -3.699", " 0.801", " -3.016", " 0", " 334.125", " 0", " 83" ], [ "13", " Egg", " -0.234", " 1.620", " -1.831", " 0", " 270", " 0", " 79" ], [ "14", " Cup", " -0.214", " 1.938", " -1.162", " 0", " 0", " 0", " 55" ], [ "15", " Cup", " -4.122", " 0.691", " -0.430", " 0", " 0", " 0", " 82" ], [ "16", " Knife", " -2.962", " 0.920", " -0.462", " 0", " 270", " 0", " 84" ], [ "17", " Knife", " -2.359", " 0.920", " -0.462", " 0", " 0", " 0", " 84" ], [ "18", " Tomato", " -0.293", " 1.337", " -0.413", " 0", " 270", " 0", " 77" ], [ "19", " Tomato", " -3.882", " 0.741", " -0.430", " 0", " 0", " 0", " 82" ], [ "20", " Bread", " -3.460", " 0.841", " -3.048", " 0", " 199.125", " 0", " 83" ], [ "21", " Bread", " -2.560", " 0.976", " -0.548", " 0", " 270", " 0", " 84" ], [ "22", " Lettuce", " -4.062", " 0.782", " -0.187", " 0", " 0", " 0", " 82" ], [ "23", " Mug", " -0.252", " 1.281", " -0.762", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.25 0 180 0 1 Pan -3.565 0.892 -0.204 0 0 0 84 2 Potato -3.898 0.792 -3.455 0 244.125 0 83 3 DishSponge -0.202 1.938 -1.739 0 0 0 56 4 ButterKnife -3.175 0.760 -3.174 0 244.125 0 83 5 ButterKnife -0.473 0.942 -2.670 0 0 0 47 6 Fork -3.364 0.895 -0.376 0 270 0 84 7 Fork -0.285 0.942 -2.853 0 315 0 47 8 Spoon -4.182 0.692 -0.248 0 90 0 82 9 Spoon -0.577 0.752 -2.685 0 90 0 52 10 Spatula -0.168 0.957 -2.729 0 0 0 47 11 Spatula -2.761 0.909 -0.290 0 270 0 84 12 Egg -3.699 0.801 -3.016 0 334.125 0 83 13 Egg -0.234 1.620 -1.831 0 270 0 79 14 Cup -0.214 1.938 -1.162 0 0 0 55 15 Cup -4.122 0.691 -0.430 0 0 0 82 16 Knife -2.962 0.920 -0.462 0 270 0 84 17 Knife -2.359 0.920 -0.462 0 0 0 84 18 Tomato -0.293 1.337 -0.413 0 270 0 77 19 Tomato -3.882 0.741 -0.430 0 0 0 82 20 Bread -3.460 0.841 -3.048 0 199.125 0 83 21 Bread -2.560 0.976 -0.548 0 270 0 84 22 Lettuce -4.062 0.782 -0.187 0 0 0 82 23 Mug -0.252 1.281 -0.762 0 270 0 77 24 Apple -3.496 0.821 -3.433 0 334.125 0 83 25 Apple -0.283 1.550 -0.297 0 270 0 77 26 SoapBottle -3.350 0.758 -3.480 0 109.125 0 83 27 Pot -0.222 0.961 -1.845 0 180 0 49 28 Fork -4.002 0.691 -0.430 0 0 0 82 29 Cup -0.417 1.287 -0.529 0 270 0 77 30 Tomato -0.321 1.539 -0.646 0 270 0 77 31 Pan -3.163 0.892 -0.376 0 180 0 84 32 Plate -0.164 1.953 -2.285 0 0 0 57 33 Bread -3.565 0.976 -0.633 0 270 0 84 34 Spatula -2.359 0.909 -0.290 0 270 0 84 35 Knife -3.766 0.785 -2.877 0 334.125 0 83 36 SaltShaker -0.440 0.747 -2.792 0 0 0 52 37 PepperShaker -3.952 0.756 -3.342 0 244.125 0 83 38 ButterKnife -0.244 0.942 -2.611 0 0 0 47 39 Apple -0.397 1.550 -0.762 0 270 0 77 40 DishSponge -3.163 0.894 -0.633 0 270 0 84 41 Potato -0.134 1.611 -2.043 0 270 0 79 42 Egg -4.242 0.732 -0.308 0 0 0 82 43 Spoon -4.002 0.691 -0.248 0 180 0 82 44 Lettuce -3.662 0.851 -3.632 0 199.125 0 83 45 Mug -2.514 0.972 -3.649 0 0 0 73 46 Bowl -3.893 0.758 -3.160 0 109.125 0 83 47 CounterTop -1.937 0.977 -3.673 0 0 0 48 StoveBurner -0.437 0.924 -1.845 0 180 0 49 StoveBurner -0.222 0.924 -1.845 0 180 0 50 StoveBurner -0.437 0.924 -2.243 0 0 0 51 Drawer -0.500 0.779 -1.450 0 0 0 52 Drawer -0.481 0.777 -2.739 0 0 0 53 Drawer -1.154 0.782 -3.499 0 0 0 54 Cabinet -0.337 2.110 -0.390 0 0 0 55 Cabinet -0.337 2.110 -1.272 0 0 0 56 Cabinet -0.337 2.110 -1.631 0 0 0 57 Cabinet -0.337 2.110 -2.497 0 0 0 58 Cabinet -0.337 1.891 -1.286 0 0 0 59 Cabinet -0.346 1.891 -3.293 0 0 0 60 Cabinet -0.629 0.388 -2.513 0 0 0 61 Cabinet -0.633 0.388 -3.008 0 0 0 62 Cabinet -1.010 0.388 -3.368 0 0 0 63 Cabinet -0.629 0.388 -1.614 0 0 0 64 Cabinet -0.327 1.886 -2.513 0 0 0 65 CounterTop -0.326 0.976 -1.450 0 0 0 66 StoveBurner -0.222 0.924 -2.243 0 0 0 67 Sink -0.600 0.929 -3.388 0 0 0 68 StoveKnob -0.617 0.899 -1.833 315 90 180 69 StoveKnob -0.617 0.899 -2.129 315 90 180 70 StoveKnob -0.617 0.899 -2.289 315 90 180 71 StoveKnob -0.617 0.899 -1.975 315 90 180 72 GarbageCan -2.418 -0.032 -3.541 0 0 0 73 CoffeeMachine -2.513 0.930 -3.797 0 0 0 74 Window -1.389 1.610 -4.113 90 0 0 75 LightSwitch -4.372 1.493 -1.031 0 90 0 76 SinkBasin -0.614 0.802 -3.384 0 315 0 77 Fridge -0.314 0.0 -0.646 0 0 0 78 Toaster -1.970 0.930 -3.763 0 0 0 79 Microwave -0.216 1.470 -2.054 0 270 0 80 Blinds -1.373 2.205 -3.961 0 0 0 81 Faucet -0.393 0.930 -3.614 270 225 0 82 SideTable -4.030 0.002 -0.301 0 185.034 0 83 DiningTable -3.586 0.000 -3.258 0 0 0 84 DiningTable -3.224 -0.003 -0.453 0 0 0 85 Shelf -4.030 0.259 -0.301 0 185.034 0 86 Shelf -4.030 0.489 -0.301 0 185.034 0 87 EastWall 88 EastWall 89 SouthWall
[ "STEP 1: Move across the room to the small, black stand with 3 shelves. | STEP 2: Pick up the tomato off of the stand. | STEP 3: Turn right and move to the long white rectangular table until you see two square pans on it. | STEP 4: Place the tomato in the pan that is on the right behind the green sponge. | STEP 5: Turn right and move to the end of the white table near the loaf of bread. | STEP 6: Pick up the large knife that is behind the loaf of bread. | STEP 7: Turn to the left and move back to the square pan with the tomato that is on the table. | STEP 8: Slice the tomato that is in the pan. | STEP 9: Put the knife in the same square pan with the tomato. | STEP 10: Pick up the pan with the tomato and knife in it. | STEP 11: Move to the counter that is to the left of the stove. | STEP 12: Place the pan with the tomato and knife in it on the counter on the left of the stove. | END" ]
[ [ "STEP 1: Move across the room to the small, black stand with 3 shelves. ", " STEP 2: Pick up the tomato off of the stand. ", " STEP 3: Turn right and move to the long white rectangular table until you see two square pans on it. ", " STEP 4: Place the tomato in the pan that is on the right behind the green sponge. ", " STEP 5: Turn right and move to the end of the white table near the loaf of bread. ", " STEP 6: Pick up the large knife that is behind the loaf of bread. ", " STEP 7: Turn to the left and move back to the square pan with the tomato that is on the table. ", " STEP 8: Slice the tomato that is in the pan. ", " STEP 9: Put the knife in the same square pan with the tomato. ", " STEP 10: Pick up the pan with the tomato and knife in it. ", " STEP 11: Move to the counter that is to the left of the stove. ", " STEP 12: Place the pan with the tomato and knife in it on the counter on the left of the stove. ", " END" ] ]
seen
trial_T20190919_083951_022269-1
Putting a pan with a knife and sliced tomato on a counter
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.25 0 180 0 1 Pan -3.565 0.892 -0.204 0 0 0 84 2 Potato -3.898 0.792 -3.455 0 244.125 0 83 3 DishSponge -0.202 1.938 -1.739 0 0 0 56 4 ButterKnife -3.175 0.760 -3.174 0 244.125 0 83 5 ButterKnife -0.473 0.942 -2.670 0 0 0 47 6 Fork -3.364 0.895 -0.376 0 270 0 84 7 Fork -0.285 0.942 -2.853 0 315 0 47 8 Spoon -4.182 0.692 -0.248 0 90 0 82 9 Spoon -0.577 0.752 -2.685 0 90 0 52 10 Spatula -0.168 0.957 -2.729 0 0 0 47 11 Spatula -2.761 0.909 -0.290 0 270 0 84 12 Egg -3.699 0.801 -3.016 0 334.125 0 83 13 Egg -0.234 1.620 -1.831 0 270 0 79 14 Cup -0.214 1.938 -1.162 0 0 0 55 15 Cup -4.122 0.691 -0.430 0 0 0 82 16 Knife -2.962 0.920 -0.462 0 270 0 84 17 Knife -2.359 0.920 -0.462 0 0 0 84 18 Tomato -0.293 1.337 -0.413 0 270 0 77 19 Tomato -3.882 0.741 -0.430 0 0 0 82 20 Bread -3.460 0.841 -3.048 0 199.125 0 83 21 Bread -2.560 0.976 -0.548 0 270 0 84 22 Lettuce -4.062 0.782 -0.187 0 0 0 82 23 Mug -0.252 1.281 -0.762 0 270 0 77 24 Apple -3.496 0.821 -3.433 0 334.125 0 83 25 Apple -0.283 1.550 -0.297 0 270 0 77 26 SoapBottle -3.350 0.758 -3.480 0 109.125 0 83 27 Pot -0.222 0.961 -1.845 0 180 0 49 28 Fork -4.002 0.691 -0.430 0 0 0 82 29 Cup -0.417 1.287 -0.529 0 270 0 77 30 Tomato -0.321 1.539 -0.646 0 270 0 77 31 Pan -3.163 0.892 -0.376 0 180 0 84 32 Plate -0.164 1.953 -2.285 0 0 0 57 33 Bread -3.565 0.976 -0.633 0 270 0 84 34 Spatula -2.359 0.909 -0.290 0 270 0 84 35 Knife -3.766 0.785 -2.877 0 334.125 0 83 36 SaltShaker -0.440 0.747 -2.792 0 0 0 52 37 PepperShaker -3.952 0.756 -3.342 0 244.125 0 83 38 ButterKnife -0.244 0.942 -2.611 0 0 0 47 39 Apple -0.397 1.550 -0.762 0 270 0 77 40 DishSponge -3.163 0.894 -0.633 0 270 0 84 41 Potato -0.134 1.611 -2.043 0 270 0 79 42 Egg -4.242 0.732 -0.308 0 0 0 82 43 Spoon -4.002 0.691 -0.248 0 180 0 82 44 Lettuce -3.662 0.851 -3.632 0 199.125 0 83 45 Mug -2.514 0.972 -3.649 0 0 0 73 46 Bowl -3.893 0.758 -3.160 0 109.125 0 83 47 CounterTop -1.937 0.977 -3.673 0 0 0 48 StoveBurner -0.437 0.924 -1.845 0 180 0 49 StoveBurner -0.222 0.924 -1.845 0 180 0 50 StoveBurner -0.437 0.924 -2.243 0 0 0 51 Drawer -0.500 0.779 -1.450 0 0 0 52 Drawer -0.481 0.777 -2.739 0 0 0 53 Drawer -1.154 0.782 -3.499 0 0 0 54 Cabinet -0.337 2.110 -0.390 0 0 0 55 Cabinet -0.337 2.110 -1.272 0 0 0 56 Cabinet -0.337 2.110 -1.631 0 0 0 57 Cabinet -0.337 2.110 -2.497 0 0 0 58 Cabinet -0.337 1.891 -1.286 0 0 0 59 Cabinet -0.346 1.891 -3.293 0 0 0 60 Cabinet -0.629 0.388 -2.513 0 0 0 61 Cabinet -0.633 0.388 -3.008 0 0 0 62 Cabinet -1.010 0.388 -3.368 0 0 0 63 Cabinet -0.629 0.388 -1.614 0 0 0 64 Cabinet -0.327 1.886 -2.513 0 0 0 65 CounterTop -0.326 0.976 -1.450 0 0 0 66 StoveBurner -0.222 0.924 -2.243 0 0 0 67 Sink -0.600 0.929 -3.388 0 0 0 68 StoveKnob -0.617 0.899 -1.833 315 90 180 69 StoveKnob -0.617 0.899 -2.129 315 90 180 70 StoveKnob -0.617 0.899 -2.289 315 90 180 71 StoveKnob -0.617 0.899 -1.975 315 90 180 72 GarbageCan -2.418 -0.032 -3.541 0 0 0 73 CoffeeMachine -2.513 0.930 -3.797 0 0 0 74 Window -1.389 1.610 -4.113 90 0 0 75 LightSwitch -4.372 1.493 -1.031 0 90 0 76 SinkBasin -0.614 0.802 -3.384 0 315 0 77 Fridge -0.314 0.0 -0.646 0 0 0 78 Toaster -1.970 0.930 -3.763 0 0 0 79 Microwave -0.216 1.470 -2.054 0 270 0 80 Blinds -1.373 2.205 -3.961 0 0 0 81 Faucet -0.393 0.930 -3.614 270 225 0 82 SideTable -4.030 0.002 -0.301 0 185.034 0 83 DiningTable -3.586 0.000 -3.258 0 0 0 84 DiningTable -3.224 -0.003 -0.453 0 0 0 85 Shelf -4.030 0.259 -0.301 0 185.034 0 86 Shelf -4.030 0.489 -0.301 0 185.034 0 87 EastWall 88 EastWall 89 SouthWall
[ "STEP 1: Turn right and go to the small black table | STEP 2: Grab the tomato off of the table | STEP 3: Turn right and stop at the left of the white table | STEP 4: Put the tomato on the pan on the table | STEP 5: Turn right and stop at the right of the white table | STEP 6: Grab the large knife off of the table | STEP 7: Move slightly to the left | STEP 8: Cut the tomato in the pan into slices | STEP 9: Put the knife in the pan | STEP 10: Grab the pan off of the table | STEP 11: Turn right and go to the counter to the left of the oven | STEP 12: Put the pan on the counter | END" ]
[ [ "STEP 1: Turn right and go to the small black table ", " STEP 2: Grab the tomato off of the table ", " STEP 3: Turn right and stop at the left of the white table ", " STEP 4: Put the tomato on the pan on the table ", " STEP 5: Turn right and stop at the right of the white table ", " STEP 6: Grab the large knife off of the table ", " STEP 7: Move slightly to the left ", " STEP 8: Cut the tomato in the pan into slices ", " STEP 9: Put the knife in the pan ", " STEP 10: Grab the pan off of the table ", " STEP 11: Turn right and go to the counter to the left of the oven ", " STEP 12: Put the pan on the counter ", " END" ] ]
seen
trial_T20190919_083951_022269-2
Place a pan with cut tomato on it and a knife on it on a counter.
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47" ], [ "11", " Spatula", " -2.761", " 0.909", " -0.290", " 0", " 270", " 0", " 84" ], [ "12", " Egg", " -3.699", " 0.801", " -3.016", " 0", " 334.125", " 0", " 83" ], [ "13", " Egg", " -0.234", " 1.620", " -1.831", " 0", " 270", " 0", " 79" ], [ "14", " Cup", " -0.214", " 1.938", " -1.162", " 0", " 0", " 0", " 55" ], [ "15", " Cup", " -4.122", " 0.691", " -0.430", " 0", " 0", " 0", " 82" ], [ "16", " Knife", " -2.962", " 0.920", " -0.462", " 0", " 270", " 0", " 84" ], [ "17", " Knife", " -2.359", " 0.920", " -0.462", " 0", " 0", " 0", " 84" ], [ "18", " Tomato", " -0.293", " 1.337", " -0.413", " 0", " 270", " 0", " 77" ], [ "19", " Tomato", " -3.882", " 0.741", " -0.430", " 0", " 0", " 0", " 82" ], [ "20", " Bread", " -3.460", " 0.841", " -3.048", " 0", " 199.125", " 0", " 83" ], [ "21", " Bread", " -2.560", " 0.976", " -0.548", " 0", " 270", " 0", " 84" ], [ "22", " Lettuce", " -4.062", " 0.782", " -0.187", " 0", " 0", " 0", " 82" ], [ "23", " Mug", " -0.252", " 1.281", " -0.762", " 0", " 270", " 0", " 77" ], [ "24", " Apple", " -3.496", " 0.821", " -3.433", " 0", " 334.125", " 0", " 83" ], [ "25", " Apple", " -0.283", " 1.550", " -0.297", " 0", " 270", " 0", " 77" ], [ "26", " SoapBottle", " -3.350", " 0.758", " -3.480", " 0", " 109.125", " 0", " 83" ], [ "27", " Pot", " -0.222", " 0.961", " -1.845", " 0", " 180", " 0", " 49" ], [ "28", " Fork", " -4.002", " 0.691", " -0.430", " 0", " 0", " 0", " 82" ], [ "29", " Cup", " -0.417", " 1.287", " -0.529", " 0", " 270", " 0", " 77" ], [ "30", " Tomato", " -0.321", " 1.539", " -0.646", " 0", " 270", " 0", " 77" ], [ "31", " Pan", " -3.163", " 0.892", " -0.376", " 0", " 180", " 0", " 84" ], [ "32", " Plate", " -0.164", " 1.953", " -2.285", " 0", " 0", " 0", " 57" ], [ "33", " Bread", " -3.565", " 0.976", " -0.633", " 0", " 270", " 0", " 84" ], [ "34", " Spatula", " -2.359", " 0.909", " -0.290", " 0", " 270", " 0", " 84" ], [ "35", " Knife", " -3.766", " 0.785", " -2.877", " 0", " 334.125", " 0", " 83" ], [ "36", " 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0.924", " -1.845", " 0", " 180", " 0", "" ], [ "49", " StoveBurner", " -0.222", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "50", " StoveBurner", " -0.437", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "52", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "53", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "65", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "66", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "67", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "68", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "69", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "70", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "71", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "72", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "73", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "74", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "75", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "76", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "77", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "78", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "79", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "80", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "81", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "82", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "83", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "84", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "85", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "86", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "87", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "89", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.25 0 180 0 1 Pan -3.565 0.892 -0.204 0 0 0 84 2 Potato -3.898 0.792 -3.455 0 244.125 0 83 3 DishSponge -0.202 1.938 -1.739 0 0 0 56 4 ButterKnife -3.175 0.760 -3.174 0 244.125 0 83 5 ButterKnife -0.473 0.942 -2.670 0 0 0 47 6 Fork -3.364 0.895 -0.376 0 270 0 84 7 Fork -0.285 0.942 -2.853 0 315 0 47 8 Spoon -4.182 0.692 -0.248 0 90 0 82 9 Spoon -0.577 0.752 -2.685 0 90 0 52 10 Spatula -0.168 0.957 -2.729 0 0 0 47 11 Spatula -2.761 0.909 -0.290 0 270 0 84 12 Egg -3.699 0.801 -3.016 0 334.125 0 83 13 Egg -0.234 1.620 -1.831 0 270 0 79 14 Cup -0.214 1.938 -1.162 0 0 0 55 15 Cup -4.122 0.691 -0.430 0 0 0 82 16 Knife -2.962 0.920 -0.462 0 270 0 84 17 Knife -2.359 0.920 -0.462 0 0 0 84 18 Tomato -0.293 1.337 -0.413 0 270 0 77 19 Tomato -3.882 0.741 -0.430 0 0 0 82 20 Bread -3.460 0.841 -3.048 0 199.125 0 83 21 Bread -2.560 0.976 -0.548 0 270 0 84 22 Lettuce -4.062 0.782 -0.187 0 0 0 82 23 Mug -0.252 1.281 -0.762 0 270 0 77 24 Apple -3.496 0.821 -3.433 0 334.125 0 83 25 Apple -0.283 1.550 -0.297 0 270 0 77 26 SoapBottle -3.350 0.758 -3.480 0 109.125 0 83 27 Pot -0.222 0.961 -1.845 0 180 0 49 28 Fork -4.002 0.691 -0.430 0 0 0 82 29 Cup -0.417 1.287 -0.529 0 270 0 77 30 Tomato -0.321 1.539 -0.646 0 270 0 77 31 Pan -3.163 0.892 -0.376 0 180 0 84 32 Plate -0.164 1.953 -2.285 0 0 0 57 33 Bread -3.565 0.976 -0.633 0 270 0 84 34 Spatula -2.359 0.909 -0.290 0 270 0 84 35 Knife -3.766 0.785 -2.877 0 334.125 0 83 36 SaltShaker -0.440 0.747 -2.792 0 0 0 52 37 PepperShaker -3.952 0.756 -3.342 0 244.125 0 83 38 ButterKnife -0.244 0.942 -2.611 0 0 0 47 39 Apple -0.397 1.550 -0.762 0 270 0 77 40 DishSponge -3.163 0.894 -0.633 0 270 0 84 41 Potato -0.134 1.611 -2.043 0 270 0 79 42 Egg -4.242 0.732 -0.308 0 0 0 82 43 Spoon -4.002 0.691 -0.248 0 180 0 82 44 Lettuce -3.662 0.851 -3.632 0 199.125 0 83 45 Mug -2.514 0.972 -3.649 0 0 0 73 46 Bowl -3.893 0.758 -3.160 0 109.125 0 83 47 CounterTop -1.937 0.977 -3.673 0 0 0 48 StoveBurner -0.437 0.924 -1.845 0 180 0 49 StoveBurner -0.222 0.924 -1.845 0 180 0 50 StoveBurner -0.437 0.924 -2.243 0 0 0 51 Drawer -0.500 0.779 -1.450 0 0 0 52 Drawer -0.481 0.777 -2.739 0 0 0 53 Drawer -1.154 0.782 -3.499 0 0 0 54 Cabinet -0.337 2.110 -0.390 0 0 0 55 Cabinet -0.337 2.110 -1.272 0 0 0 56 Cabinet -0.337 2.110 -1.631 0 0 0 57 Cabinet -0.337 2.110 -2.497 0 0 0 58 Cabinet -0.337 1.891 -1.286 0 0 0 59 Cabinet -0.346 1.891 -3.293 0 0 0 60 Cabinet -0.629 0.388 -2.513 0 0 0 61 Cabinet -0.633 0.388 -3.008 0 0 0 62 Cabinet -1.010 0.388 -3.368 0 0 0 63 Cabinet -0.629 0.388 -1.614 0 0 0 64 Cabinet -0.327 1.886 -2.513 0 0 0 65 CounterTop -0.326 0.976 -1.450 0 0 0 66 StoveBurner -0.222 0.924 -2.243 0 0 0 67 Sink -0.600 0.929 -3.388 0 0 0 68 StoveKnob -0.617 0.899 -1.833 315 90 180 69 StoveKnob -0.617 0.899 -2.129 315 90 180 70 StoveKnob -0.617 0.899 -2.289 315 90 180 71 StoveKnob -0.617 0.899 -1.975 315 90 180 72 GarbageCan -2.418 -0.032 -3.541 0 0 0 73 CoffeeMachine -2.513 0.930 -3.797 0 0 0 74 Window -1.389 1.610 -4.113 90 0 0 75 LightSwitch -4.372 1.493 -1.031 0 90 0 76 SinkBasin -0.614 0.802 -3.384 0 315 0 77 Fridge -0.314 0.0 -0.646 0 0 0 78 Toaster -1.970 0.930 -3.763 0 0 0 79 Microwave -0.216 1.470 -2.054 0 270 0 80 Blinds -1.373 2.205 -3.961 0 0 0 81 Faucet -0.393 0.930 -3.614 270 225 0 82 SideTable -4.030 0.002 -0.301 0 185.034 0 83 DiningTable -3.586 0.000 -3.258 0 0 0 84 DiningTable -3.224 -0.003 -0.453 0 0 0 85 Shelf -4.030 0.259 -0.301 0 185.034 0 86 Shelf -4.030 0.489 -0.301 0 185.034 0 87 EastWall 88 EastWall 89 SouthWall
[ "STEP 1: Look down, turn right, walk to door, turn right when you reach the door, walk straight to the small table. | STEP 2: Pick up the tomato on the table. | STEP 3: Look slightly up, turn right, walk straight to fridge and turn left to face the table with the knife on it. | STEP 4: Place the tomato on the pan on the table. | STEP 5: Turn right, walk straight, turn left to face the bread on the table and look down. | STEP 6: Pick up the small knife next to the bread on the table. | STEP 7: Look up slightly, turn left, walk straight, then turn right to face the tomato on the pan on the table. | STEP 8: Cut the tomato with the knife. | STEP 9: Place the knife on the pan next to the cut tomato. | STEP 10: Pick up the pan with the knife and tomato on it. | STEP 11: Turn around to face the table, then turn left to face the stove and walk straight to it. | STEP 12: Place the pan with the cut tomato and knife on it next to the counter next to the stove. | END" ]
[ [ "STEP 1: Look down, turn right, walk to door, turn right when you reach the door, walk straight to the small table. ", " STEP 2: Pick up the tomato on the table. ", " STEP 3: Look slightly up, turn right, walk straight to fridge and turn left to face the table with the knife on it. ", " STEP 4: Place the tomato on the pan on the table. ", " STEP 5: Turn right, walk straight, turn left to face the bread on the table and look down. ", " STEP 6: Pick up the small knife next to the bread on the table. ", " STEP 7: Look up slightly, turn left, walk straight, then turn right to face the tomato on the pan on the table. ", " STEP 8: Cut the tomato with the knife. ", " STEP 9: Place the knife on the pan next to the cut tomato. ", " STEP 10: Pick up the pan with the knife and tomato on it. ", " STEP 11: Turn around to face the table, then turn left to face the stove and walk straight to it. ", " STEP 12: Place the pan with the cut tomato and knife on it next to the counter next to the stove. ", " END" ] ]
seen
trial_T20190907_190049_373812-0
Place the pot with the spoon on top of the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.908 1.5 0 180 0 1 SprayBottle 1.245 0.085 1.409 0 0 0 87 2 DishSponge 0.041 0.758 -0.533 0 0 0 93 3 WineBottle 0.951 0.887 2.153 0 0 0 98 4 Kettle 0.502 0.939 -0.740 0 90 0 73 5 Spoon -1.197 0.750 3.015 0 0 0 47 6 Spoon -1.437 0.913 -0.477 0 0 0 72 7 Spoon -1.042 0.777 0.174 0 90 0 68 8 Fork -1.197 0.749 2.087 0 180 0 47 9 Fork -0.082 0.759 -0.651 0 90 0 93 10 Egg -1.092 0.785 1.092 0 90 0 86 11 Egg -1.263 1.049 -0.005 0 90 0 92 12 Cup -1.263 1.636 0.883 0 90 0 86 13 Tomato -1.320 0.800 1.302 0 90 0 86 14 SoapBottle -0.919 0.750 3.015 0 0 0 47 15 SoapBottle -1.197 0.750 2.273 0 0 0 47 16 Bread -1.290 0.812 2.644 0 0 0 47 17 SaltShaker -1.105 0.745 2.459 0 0 0 47 18 PepperShaker 0.951 0.882 2.261 0 0 0 98 19 PepperShaker -1.012 0.745 2.087 0 0 0 47 20 Apple 1.450 0.946 2.584 0 0 0 98 21 Bread 1.284 0.949 2.261 0 0 0 98 22 Glassbottle -0.919 0.750 2.644 0 0 0 47 23 Fork -1.383 0.750 2.459 0 0 0 47 24 Kettle -1.325 1.656 -0.481 0 0 0 53 25 Tomato 1.450 0.936 2.369 0 0 0 98 26 Plate 0.127 0.117 -0.533 0 0 0 61 27 CellPhone 1.117 0.884 2.800 0 0 0 98 28 Lettuce 1.238 0.969 -0.16 0 0 0 66 29 Pot 0.802 0.939 -0.473 0 0 0 74 30 SoapBottle -1.105 0.750 2.644 0 0 0 47 31 WineBottle -0.919 0.750 2.273 0 0 0 47 32 Spatula 1.117 0.901 2.153 0 0 0 98 33 Bowl -1.325 2.151 0.706 0 0 0 64 34 Apple -1.296 1.075 -0.109 0 90 0 92 35 Cup -0.658 0.911 -0.907 0 0 0 72 36 Knife 1.117 0.908 2.692 0 0 0 98 37 Egg -1.206 1.455 0.883 0 90 0 86 38 SaltShaker -1.197 0.745 2.459 0 0 0 47 39 PepperShaker -1.475 0.745 2.459 0 0 0 47 40 Potato 0.041 0.803 -0.691 0 0 0 93 41 ButterKnife 1.034 0.886 2.369 0 0 0 98 42 DishSponge -0.919 0.749 2.830 0 0 0 47 43 Pan -1.332 0.9 -0.699 0 345.0 0 72 44 Spoon 1.117 0.887 2.584 0 270 0 98 45 SprayBottle -0.252 0.116 -0.446 0 0 0 61 46 Mug -1.329 1.010 0.098 0 90 0 92 47 DiningTable -1.182 0.006 2.414 0 90 0 48 Cabinet 1.184 2.059 0.375 0 0 0 49 Cabinet 1.184 2.059 -0.635 0 0 0 50 Cabinet 0.591 2.309 -0.645 0 0 0 51 Cabinet -0.574 2.059 -0.644 0 0 0 52 Cabinet -1.103 2.059 -0.644 0 0 0 53 Cabinet -1.185 2.059 -0.331 0 0 0 54 Cabinet -1.185 2.059 -0.281 0 0 0 55 Cabinet -1.185 2.059 0.375 0 0 0 56 Cabinet 1.184 2.309 1.174 0 0 0 57 Cabinet 1.184 2.309 0.424 0 0 0 58 Cabinet 0.988 0.402 0.581 0 0 0 59 Cabinet 0.988 0.402 0.531 0 0 0 60 Cabinet 0.988 0.402 -0.178 0 0 0 61 Cabinet 0.335 0.402 -0.348 0 0 0 62 Cabinet -0.374 0.402 -0.348 0 0 0 63 Cabinet 0.988 0.402 1.231 0 0 0 64 Cabinet -1.185 2.309 1.374 0 0 0 65 Cabinet -1.185 2.309 0.424 0 0 0 66 CounterTop 1.274 0.947 0.064 0 0 0 67 Drawer 1.116 0.792 -0.015 0 0 0 68 Drawer -1.116 0.792 0.210 0 180 0 69 Cabinet -0.990 0.402 0.374 0 180 0 70 Drawer -1.116 0.792 -0.170 0 180 0 71 Cabinet -0.990 0.402 -0.335 0 180 0 72 CounterTop -1.001 0.947 -0.669 0 0 0 73 StoveBurner 0.502 0.932 -0.740 0 90 0 74 StoveBurner 0.801 0.932 -0.473 0 0 0 75 StoveBurner 0.801 0.932 -0.740 0 90 0 76 Drawer 1.116 0.792 1.081 0 0 0 77 Sink -0.013 0.912 -0.615 0 0 0 78 Drawer 1.116 0.792 0.732 0 0 0 79 StoveBurner 0.502 0.932 -0.469 0 0 0 80 Drawer 1.116 0.792 0.367 0 0 0 81 StoveKnob 0.550 1.085 -0.912 287.970 180 0 82 StoveKnob 0.884 1.085 -0.912 287.970 180 0 83 StoveKnob 0.432 1.085 -0.912 287.970 180 0 84 StoveKnob 0.777 1.085 -0.912 287.970 180 0 85 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 86 Fridge -1.300 0.008 0.987 0 90 0 87 GarbageCan 1.296 -0.024 1.465 0 0 0 88 Window -0.012 1.641 -0.972 90 0 0 89 Window 1.598 1.646 2.489 90 270 0 90 Toaster 1.356 0.900 1.044 0 270 0 91 LightSwitch 0.118 1.353 3.799 0 180 0 92 Microwave -1.343 0.900 0.053 0 90 0 93 SinkBasin -0.029 0.748 -0.612 0 0 0 94 Faucet -0.026 0.927 -0.808 0 0 0 95 Shelf -1.182 0.127 2.414 0 90 0 96 Stool 1.140 0.007 3.262 1.206 20.753 0 97 Shelf -1.182 0.435 2.414 0 90 0 98 DiningTable 1.169 0.014 2.569 0 0 1.896 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Move to the right to face the microwave next to the refrigerator. | STEP 2: Pick the spoon up from off of the counter. | STEP 3: Move to the left to face the stovetop. | STEP 4: Place the spoon in the pot on the stovetop. | STEP 5: Pick up the pot from off of the stovetop. | STEP 6: Move to the left to face the empty counter next to the toaster. | STEP 7: Place the pot on the counter top. | END" ]
[ [ "STEP 1: Move to the right to face the microwave next to the refrigerator. ", " STEP 2: Pick the spoon up from off of the counter. ", " STEP 3: Move to the left to face the stovetop. ", " STEP 4: Place the spoon in the pot on the stovetop. ", " STEP 5: Pick up the pot from off of the stovetop. ", " STEP 6: Move to the left to face the empty counter next to the toaster. ", " STEP 7: Place the pot on the counter top. ", " END" ] ]
seen
trial_T20190907_190049_373812-1
Put a pot with a spoon in it on the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.908 1.5 0 180 0 1 SprayBottle 1.245 0.085 1.409 0 0 0 87 2 DishSponge 0.041 0.758 -0.533 0 0 0 93 3 WineBottle 0.951 0.887 2.153 0 0 0 98 4 Kettle 0.502 0.939 -0.740 0 90 0 73 5 Spoon -1.197 0.750 3.015 0 0 0 47 6 Spoon -1.437 0.913 -0.477 0 0 0 72 7 Spoon -1.042 0.777 0.174 0 90 0 68 8 Fork -1.197 0.749 2.087 0 180 0 47 9 Fork -0.082 0.759 -0.651 0 90 0 93 10 Egg -1.092 0.785 1.092 0 90 0 86 11 Egg -1.263 1.049 -0.005 0 90 0 92 12 Cup -1.263 1.636 0.883 0 90 0 86 13 Tomato -1.320 0.800 1.302 0 90 0 86 14 SoapBottle -0.919 0.750 3.015 0 0 0 47 15 SoapBottle -1.197 0.750 2.273 0 0 0 47 16 Bread -1.290 0.812 2.644 0 0 0 47 17 SaltShaker -1.105 0.745 2.459 0 0 0 47 18 PepperShaker 0.951 0.882 2.261 0 0 0 98 19 PepperShaker -1.012 0.745 2.087 0 0 0 47 20 Apple 1.450 0.946 2.584 0 0 0 98 21 Bread 1.284 0.949 2.261 0 0 0 98 22 Glassbottle -0.919 0.750 2.644 0 0 0 47 23 Fork -1.383 0.750 2.459 0 0 0 47 24 Kettle -1.325 1.656 -0.481 0 0 0 53 25 Tomato 1.450 0.936 2.369 0 0 0 98 26 Plate 0.127 0.117 -0.533 0 0 0 61 27 CellPhone 1.117 0.884 2.800 0 0 0 98 28 Lettuce 1.238 0.969 -0.16 0 0 0 66 29 Pot 0.802 0.939 -0.473 0 0 0 74 30 SoapBottle -1.105 0.750 2.644 0 0 0 47 31 WineBottle -0.919 0.750 2.273 0 0 0 47 32 Spatula 1.117 0.901 2.153 0 0 0 98 33 Bowl -1.325 2.151 0.706 0 0 0 64 34 Apple -1.296 1.075 -0.109 0 90 0 92 35 Cup -0.658 0.911 -0.907 0 0 0 72 36 Knife 1.117 0.908 2.692 0 0 0 98 37 Egg -1.206 1.455 0.883 0 90 0 86 38 SaltShaker -1.197 0.745 2.459 0 0 0 47 39 PepperShaker -1.475 0.745 2.459 0 0 0 47 40 Potato 0.041 0.803 -0.691 0 0 0 93 41 ButterKnife 1.034 0.886 2.369 0 0 0 98 42 DishSponge -0.919 0.749 2.830 0 0 0 47 43 Pan -1.332 0.9 -0.699 0 345.0 0 72 44 Spoon 1.117 0.887 2.584 0 270 0 98 45 SprayBottle -0.252 0.116 -0.446 0 0 0 61 46 Mug -1.329 1.010 0.098 0 90 0 92 47 DiningTable -1.182 0.006 2.414 0 90 0 48 Cabinet 1.184 2.059 0.375 0 0 0 49 Cabinet 1.184 2.059 -0.635 0 0 0 50 Cabinet 0.591 2.309 -0.645 0 0 0 51 Cabinet -0.574 2.059 -0.644 0 0 0 52 Cabinet -1.103 2.059 -0.644 0 0 0 53 Cabinet -1.185 2.059 -0.331 0 0 0 54 Cabinet -1.185 2.059 -0.281 0 0 0 55 Cabinet -1.185 2.059 0.375 0 0 0 56 Cabinet 1.184 2.309 1.174 0 0 0 57 Cabinet 1.184 2.309 0.424 0 0 0 58 Cabinet 0.988 0.402 0.581 0 0 0 59 Cabinet 0.988 0.402 0.531 0 0 0 60 Cabinet 0.988 0.402 -0.178 0 0 0 61 Cabinet 0.335 0.402 -0.348 0 0 0 62 Cabinet -0.374 0.402 -0.348 0 0 0 63 Cabinet 0.988 0.402 1.231 0 0 0 64 Cabinet -1.185 2.309 1.374 0 0 0 65 Cabinet -1.185 2.309 0.424 0 0 0 66 CounterTop 1.274 0.947 0.064 0 0 0 67 Drawer 1.116 0.792 -0.015 0 0 0 68 Drawer -1.116 0.792 0.210 0 180 0 69 Cabinet -0.990 0.402 0.374 0 180 0 70 Drawer -1.116 0.792 -0.170 0 180 0 71 Cabinet -0.990 0.402 -0.335 0 180 0 72 CounterTop -1.001 0.947 -0.669 0 0 0 73 StoveBurner 0.502 0.932 -0.740 0 90 0 74 StoveBurner 0.801 0.932 -0.473 0 0 0 75 StoveBurner 0.801 0.932 -0.740 0 90 0 76 Drawer 1.116 0.792 1.081 0 0 0 77 Sink -0.013 0.912 -0.615 0 0 0 78 Drawer 1.116 0.792 0.732 0 0 0 79 StoveBurner 0.502 0.932 -0.469 0 0 0 80 Drawer 1.116 0.792 0.367 0 0 0 81 StoveKnob 0.550 1.085 -0.912 287.970 180 0 82 StoveKnob 0.884 1.085 -0.912 287.970 180 0 83 StoveKnob 0.432 1.085 -0.912 287.970 180 0 84 StoveKnob 0.777 1.085 -0.912 287.970 180 0 85 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 86 Fridge -1.300 0.008 0.987 0 90 0 87 GarbageCan 1.296 -0.024 1.465 0 0 0 88 Window -0.012 1.641 -0.972 90 0 0 89 Window 1.598 1.646 2.489 90 270 0 90 Toaster 1.356 0.900 1.044 0 270 0 91 LightSwitch 0.118 1.353 3.799 0 180 0 92 Microwave -1.343 0.900 0.053 0 90 0 93 SinkBasin -0.029 0.748 -0.612 0 0 0 94 Faucet -0.026 0.927 -0.808 0 0 0 95 Shelf -1.182 0.127 2.414 0 90 0 96 Stool 1.140 0.007 3.262 1.206 20.753 0 97 Shelf -1.182 0.435 2.414 0 90 0 98 DiningTable 1.169 0.014 2.569 0 0 1.896 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Go forward toward the dishwasher, then turn right to face the microwave. | STEP 2: Pick up the spoon on the counter, to the left of the microwave. | STEP 3: Turn around, go forward, then turn right to face the stove. | STEP 4: Put the spoon in the pot on the left corner of the stove. | STEP 5: Pick up the pot with the spoon in it. | STEP 6: Turn around, and go to the counter with the toaster on it. | STEP 7: Put the pot on the counter, to the right of the toaster. | END" ]
[ [ "STEP 1: Go forward toward the dishwasher, then turn right to face the microwave. ", " STEP 2: Pick up the spoon on the counter, to the left of the microwave. ", " STEP 3: Turn around, go forward, then turn right to face the stove. ", " STEP 4: Put the spoon in the pot on the left corner of the stove. ", " STEP 5: Pick up the pot with the spoon in it. ", " STEP 6: Turn around, and go to the counter with the toaster on it. ", " STEP 7: Put the pot on the counter, to the right of the toaster. ", " END" ] ]
seen
trial_T20190907_190049_373812-2
Put a pot with a spoon next to the toaster.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.908 1.5 0 180 0 1 SprayBottle 1.245 0.085 1.409 0 0 0 87 2 DishSponge 0.041 0.758 -0.533 0 0 0 93 3 WineBottle 0.951 0.887 2.153 0 0 0 98 4 Kettle 0.502 0.939 -0.740 0 90 0 73 5 Spoon -1.197 0.750 3.015 0 0 0 47 6 Spoon -1.437 0.913 -0.477 0 0 0 72 7 Spoon -1.042 0.777 0.174 0 90 0 68 8 Fork -1.197 0.749 2.087 0 180 0 47 9 Fork -0.082 0.759 -0.651 0 90 0 93 10 Egg -1.092 0.785 1.092 0 90 0 86 11 Egg -1.263 1.049 -0.005 0 90 0 92 12 Cup -1.263 1.636 0.883 0 90 0 86 13 Tomato -1.320 0.800 1.302 0 90 0 86 14 SoapBottle -0.919 0.750 3.015 0 0 0 47 15 SoapBottle -1.197 0.750 2.273 0 0 0 47 16 Bread -1.290 0.812 2.644 0 0 0 47 17 SaltShaker -1.105 0.745 2.459 0 0 0 47 18 PepperShaker 0.951 0.882 2.261 0 0 0 98 19 PepperShaker -1.012 0.745 2.087 0 0 0 47 20 Apple 1.450 0.946 2.584 0 0 0 98 21 Bread 1.284 0.949 2.261 0 0 0 98 22 Glassbottle -0.919 0.750 2.644 0 0 0 47 23 Fork -1.383 0.750 2.459 0 0 0 47 24 Kettle -1.325 1.656 -0.481 0 0 0 53 25 Tomato 1.450 0.936 2.369 0 0 0 98 26 Plate 0.127 0.117 -0.533 0 0 0 61 27 CellPhone 1.117 0.884 2.800 0 0 0 98 28 Lettuce 1.238 0.969 -0.16 0 0 0 66 29 Pot 0.802 0.939 -0.473 0 0 0 74 30 SoapBottle -1.105 0.750 2.644 0 0 0 47 31 WineBottle -0.919 0.750 2.273 0 0 0 47 32 Spatula 1.117 0.901 2.153 0 0 0 98 33 Bowl -1.325 2.151 0.706 0 0 0 64 34 Apple -1.296 1.075 -0.109 0 90 0 92 35 Cup -0.658 0.911 -0.907 0 0 0 72 36 Knife 1.117 0.908 2.692 0 0 0 98 37 Egg -1.206 1.455 0.883 0 90 0 86 38 SaltShaker -1.197 0.745 2.459 0 0 0 47 39 PepperShaker -1.475 0.745 2.459 0 0 0 47 40 Potato 0.041 0.803 -0.691 0 0 0 93 41 ButterKnife 1.034 0.886 2.369 0 0 0 98 42 DishSponge -0.919 0.749 2.830 0 0 0 47 43 Pan -1.332 0.9 -0.699 0 345.0 0 72 44 Spoon 1.117 0.887 2.584 0 270 0 98 45 SprayBottle -0.252 0.116 -0.446 0 0 0 61 46 Mug -1.329 1.010 0.098 0 90 0 92 47 DiningTable -1.182 0.006 2.414 0 90 0 48 Cabinet 1.184 2.059 0.375 0 0 0 49 Cabinet 1.184 2.059 -0.635 0 0 0 50 Cabinet 0.591 2.309 -0.645 0 0 0 51 Cabinet -0.574 2.059 -0.644 0 0 0 52 Cabinet -1.103 2.059 -0.644 0 0 0 53 Cabinet -1.185 2.059 -0.331 0 0 0 54 Cabinet -1.185 2.059 -0.281 0 0 0 55 Cabinet -1.185 2.059 0.375 0 0 0 56 Cabinet 1.184 2.309 1.174 0 0 0 57 Cabinet 1.184 2.309 0.424 0 0 0 58 Cabinet 0.988 0.402 0.581 0 0 0 59 Cabinet 0.988 0.402 0.531 0 0 0 60 Cabinet 0.988 0.402 -0.178 0 0 0 61 Cabinet 0.335 0.402 -0.348 0 0 0 62 Cabinet -0.374 0.402 -0.348 0 0 0 63 Cabinet 0.988 0.402 1.231 0 0 0 64 Cabinet -1.185 2.309 1.374 0 0 0 65 Cabinet -1.185 2.309 0.424 0 0 0 66 CounterTop 1.274 0.947 0.064 0 0 0 67 Drawer 1.116 0.792 -0.015 0 0 0 68 Drawer -1.116 0.792 0.210 0 180 0 69 Cabinet -0.990 0.402 0.374 0 180 0 70 Drawer -1.116 0.792 -0.170 0 180 0 71 Cabinet -0.990 0.402 -0.335 0 180 0 72 CounterTop -1.001 0.947 -0.669 0 0 0 73 StoveBurner 0.502 0.932 -0.740 0 90 0 74 StoveBurner 0.801 0.932 -0.473 0 0 0 75 StoveBurner 0.801 0.932 -0.740 0 90 0 76 Drawer 1.116 0.792 1.081 0 0 0 77 Sink -0.013 0.912 -0.615 0 0 0 78 Drawer 1.116 0.792 0.732 0 0 0 79 StoveBurner 0.502 0.932 -0.469 0 0 0 80 Drawer 1.116 0.792 0.367 0 0 0 81 StoveKnob 0.550 1.085 -0.912 287.970 180 0 82 StoveKnob 0.884 1.085 -0.912 287.970 180 0 83 StoveKnob 0.432 1.085 -0.912 287.970 180 0 84 StoveKnob 0.777 1.085 -0.912 287.970 180 0 85 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 86 Fridge -1.300 0.008 0.987 0 90 0 87 GarbageCan 1.296 -0.024 1.465 0 0 0 88 Window -0.012 1.641 -0.972 90 0 0 89 Window 1.598 1.646 2.489 90 270 0 90 Toaster 1.356 0.900 1.044 0 270 0 91 LightSwitch 0.118 1.353 3.799 0 180 0 92 Microwave -1.343 0.900 0.053 0 90 0 93 SinkBasin -0.029 0.748 -0.612 0 0 0 94 Faucet -0.026 0.927 -0.808 0 0 0 95 Shelf -1.182 0.127 2.414 0 90 0 96 Stool 1.140 0.007 3.262 1.206 20.753 0 97 Shelf -1.182 0.435 2.414 0 90 0 98 DiningTable 1.169 0.014 2.569 0 0 1.896 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Move to the counter to the right of the sink to the left of the fridge | STEP 2: Pick up a spoon from the counter | STEP 3: Move to the stove to the left of the sink | STEP 4: Place the spoon in a pot on the stove | STEP 5: Pick up the pot with the spoon from the stove | STEP 6: Move to the counter to the right of the toaster | STEP 7: Place the pot on the counter | END" ]
[ [ "STEP 1: Move to the counter to the right of the sink to the left of the fridge ", " STEP 2: Pick up a spoon from the counter ", " STEP 3: Move to the stove to the left of the sink ", " STEP 4: Place the spoon in a pot on the stove ", " STEP 5: Pick up the pot with the spoon from the stove ", " STEP 6: Move to the counter to the right of the toaster ", " STEP 7: Place the pot on the counter ", " END" ] ]
seen
trial_T20190906_213509_343623-0
Place a cup with a fork in it on the counter.
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[ "STEP 1: Turn around and walk until you are in the middle of the white counter and then turn right to face the wall and counter. | STEP 2: Pick up the fork on the counter that's holding the knife upright. | STEP 3: Turn right and walk to the fridge so you are facing it. | STEP 4: Open the fridge and put the fork in the glass that's behind the tomato. | STEP 5: Pick up the glass with the fork in it and close the fridge. | STEP 6: Turn left and walk a few steps and turn right and face the counter so you are in front of the loaf of bread. | STEP 7: Put the cup with the fork in it on the counter near the edge directly in line with the loaf of bread. | END" ]
[ [ "STEP 1: Turn around and walk until you are in the middle of the white counter and then turn right to face the wall and counter. ", " STEP 2: Pick up the fork on the counter that's holding the knife upright. ", " STEP 3: Turn right and walk to the fridge so you are facing it. ", " STEP 4: Open the fridge and put the fork in the glass that's behind the tomato. ", " STEP 5: Pick up the glass with the fork in it and close the fridge. ", " STEP 6: Turn left and walk a few steps and turn right and face the counter so you are in front of the loaf of bread. ", " STEP 7: Put the cup with the fork in it on the counter near the edge directly in line with the loaf of bread. ", " END" ] ]
seen
trial_T20190906_213509_343623-1
Put a cup with a fork in it on the counter in front of the bread.
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[ "STEP 1: Turn around to face the opposite wall and walk forward, then turn to face the counter on your right. | STEP 2: Pick up the fork next to the photograph. | STEP 3: Turn to your right and walk forward, then turn to face the black refrigerator on your left. | STEP 4: Open the refrigerator and place the fork in the black cup behind the tomato. | STEP 5: Take the cup with the fork in it out of the refrigerator and shut the door. | STEP 6: Turn left and walk forward, then turn right to face the counter with the photographs and bread on it. | STEP 7: Place the cup and fork on the edge of the counter in front of the bread. | END" ]
[ [ "STEP 1: Turn around to face the opposite wall and walk forward, then turn to face the counter on your right. ", " STEP 2: Pick up the fork next to the photograph. ", " STEP 3: Turn to your right and walk forward, then turn to face the black refrigerator on your left. ", " STEP 4: Open the refrigerator and place the fork in the black cup behind the tomato. ", " STEP 5: Take the cup with the fork in it out of the refrigerator and shut the door. ", " STEP 6: Turn left and walk forward, then turn right to face the counter with the photographs and bread on it. ", " STEP 7: Place the cup and fork on the edge of the counter in front of the bread. ", " END" ] ]
seen
trial_T20190906_213509_343623-2
Place the fork in a cup from the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.899 3.25 0 180 0 1 Pencil -0.473 0.746 6.333 0 270 0 96 2 Pencil -1.860 0.923 1.8 0 0 0 74 3 Potato -1.777 0.956 1.951 0 0 0 58 4 Potato -2.026 0.956 1.724 0 0 0 58 5 DishSponge -0.473 0.745 6.722 0 270 0 96 6 DishSponge -3.472 0.744 1.927 0 0 0 82 7 WineBottle -1.860 0.924 1.648 0 0 0 58 8 WineBottle -3.539 0.083 5.268 0 90 0 94 9 Pot -2.924 0.930 1.712 0 180 0 73 10 Fork -4.159 0.791 3.097 0 0 0 108 11 Spoon -1.610 0.924 1.875 0 90 0 58 12 Cup -0.383 1.579 3.349 0 270 0 109 13 Cup -0.295 1.069 3.726 0 270 0 109 14 Cup -0.401 1.069 3.231 0 270 0 109 15 Plate -2.688 1.547 1.666 0 0 0 106 16 Plate -0.181 0.925 5.273 0 0 0 61 17 SoapBottle -4.028 1.455 1.735 0 45 0 77 18 Tomato -0.104 0.982 4.615 0 0 0 61 19 Bowl -4.233 0.787 3.347 0 270 0 108 20 PepperShaker -2.109 0.919 1.8 0 0 0 58 21 PepperShaker -0.503 0.742 4.616 0 270 0 66 22 Lettuce -4.335 1.018 4.122 0 90 0 76 23 Lettuce -0.348 1.165 3.479 0 270 0 109 24 Bread -1.943 1.003 1.951 0 0 0 58 25 Bread -0.181 1.004 4.944 0 0 0 61 26 Egg -3.748 0.104 6.251 0 270 0 102 27 Apple -0.411 0.978 5.932 0 0 0 110 28 Knife -0.181 0.954 5.603 0 0 0 61 29 Potato -0.258 0.958 5.932 0 0 0 61 30 Fork -0.411 0.925 5.603 0 0 0 61 31 Bowl -4.411 0.920 5.159 0 90 0 76 32 Plate -4.184 0.924 4.381 0 90 0 76 33 Lettuce -3.712 0.164 6.375 0 270 0 102 34 Bread -1.693 1.003 1.648 0 0 0 58 35 Tomato -0.454 1.127 3.726 0 270 0 109 36 WineBottle -4.486 0.924 3.863 0 90 0 76 37 Spatula -4.451 0.938 2.300 0 90 0 76 38 PaperTowelRoll -0.411 1.029 4.615 0 0 0 61 39 Cup -0.383 1.684 3.975 0 270 0 109 40 Pencil -0.503 0.747 4.460 0 270 0 66 41 Pan -2.454 0.933 2.023 0 240.000 0 64 42 Pot -2.924 0.930 2.012 0 0 0 59 43 SaltShaker -3.125 0.075 5.310 0 90 0 54 44 SoapBottle -4.205 0.077 4.584 0 0 0 69 45 PepperShaker -2.026 0.919 1.648 0 0 0 58 46 ButterKnife -0.334 0.925 4.944 0 0 0 61 47 DishSponge -3.494 0.923 5.182 0 90 0 76 48 Spoon -0.503 0.747 5.919 0 270 0 87 49 Mug -3.251 0.077 1.927 0 0 0 51 50 Cabinet -3.203 1.931 1.777 0 0 0 51 Cabinet -3.187 0.390 2.089 0 0 0 52 Cabinet -0.637 0.387 6.882 0 180 0 53 Drawer -3.797 0.781 1.961 0 0 0 54 Cabinet -3.036 0.387 5.029 0 90 0 55 Drawer -0.509 0.775 5.268 0 270 0 56 Drawer -4.125 0.798 2.499 0 0 0 57 Cabinet -0.331 2.249 4.308 0 180 0 58 CounterTop -1.872 0.958 1.799 0 0 0 59 StoveBurner -2.924 0.924 2.012 0 0 0 60 Cabinet -0.331 2.249 6.806 0 180 0 61 CounterTop -0.345 0.960 5.603 0 0 0 62 Cabinet -3.039 1.935 5.321 0 90 0 63 Cabinet -3.922 0.397 2.088 0 0 0 64 StoveBurner -2.467 0.924 2.012 0 0 0 65 Cabinet -0.331 2.249 5.505 0 180 0 66 Drawer -0.509 0.775 4.617 0 270 0 67 Drawer -3.509 0.777 5.157 0 180 0 68 Cabinet -3.961 0.388 2.878 0 0 0 69 Cabinet -3.961 0.388 4.342 0 0 0 70 Cabinet -0.637 0.387 5.582 0 180 0 71 Cabinet -0.637 0.388 4.299 0 180 0 72 Cabinet -0.637 0.388 5.599 0 180 0 73 StoveBurner -2.924 0.924 1.712 0 180 0 74 Drawer -1.859 0.775 1.961 0 0 0 75 Cabinet -0.331 2.249 5.609 0 180 0 76 CounterTop -4.260 0.958 4.943 0 90 0 77 Cabinet -4.284 1.931 2.226 0 0 0 78 Cabinet -0.331 2.249 3.010 0 180 0 79 Drawer -3.801 0.777 5.157 0 180 0 80 Cabinet -4.112 1.935 5.321 0 90 0 81 Cabinet -3.968 0.388 3.662 0 0 0 82 Drawer -3.418 0.777 1.961 0 0 0 83 Drawer -4.090 0.777 4.661 0 90 0 84 Faucet -4.441 0.909 3.288 270 0 0 85 Cabinet -0.331 2.249 4.207 0 180 0 86 Cabinet -3.961 0.388 2.119 0 0 0 87 Drawer -0.509 0.775 5.920 0 270 0 88 Drawer -3.193 0.777 5.157 0 180 0 89 Cabinet -3.968 0.388 2.894 0 0 0 90 Cabinet -3.667 0.387 5.029 0 90 0 91 StoveBurner -2.469 0.924 1.712 0 270 0 92 Cabinet -1.539 0.388 2.090 0 0 0 93 Sink -4.190 0.921 3.279 0 0 0 94 Cabinet -3.641 0.387 5.029 0 90 0 95 Cabinet -1.583 1.931 1.777 0 0 0 96 Drawer -0.509 0.775 6.568 0 270 0 97 CoffeeMachine -0.279 0.912 6.556 0 270 0 98 StoveKnob -2.347 1.095 1.560 288.012 180 180 99 StoveKnob -2.788 1.095 1.560 288.012 180 180 100 StoveKnob -2.965 1.095 1.560 288.012 180 180 101 StoveKnob -2.512 1.095 1.560 288.012 180 180 102 GarbageCan -3.711 -0.030 6.376 0 270 0 103 Toaster -3.578 0.912 1.763 0 0 0 104 Curtains -4.522 2.252 3.391 90 90 0 105 Window -4.868 1.629 3.309 90 270 0 106 Microwave -2.693 1.430 1.689 0 0 0 107 LightSwitch -1.588 1.169 1.506 0 0 0 108 SinkBasin -4.196 0.780 3.276 0 270 0 109 Fridge -0.324 -0.001 3.602 0 0 0 110 111 NorthWall 112 EastWall 113 SouthWall 114 WestWall
[ "STEP 1: Turn around, walk passed the fridge, and then turn right to find the fork on the counter. | STEP 2: Pick up the fork on the counter. | STEP 3: Turn right and turn into the fridge on your left. | STEP 4: Open the fridge and place it in the cup behind the tomato. | STEP 5: Take the cup out of the fridge and close it. | STEP 6: Turn left, walk passed the fridge, and turn right to find the bread on the counter. | STEP 7: Place the cup in front of the bread. | END" ]
[ [ "STEP 1: Turn around, walk passed the fridge, and then turn right to find the fork on the counter. ", " STEP 2: Pick up the fork on the counter. ", " STEP 3: Turn right and turn into the fridge on your left. ", " STEP 4: Open the fridge and place it in the cup behind the tomato. ", " STEP 5: Take the cup out of the fridge and close it. ", " STEP 6: Turn left, walk passed the fridge, and turn right to find the bread on the counter. ", " STEP 7: Place the cup in front of the bread. ", " END" ] ]
seen
trial_T20190907_225306_342000-0
Put two newspaper's in the garbage can.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.900", " 1.5", " 0", " 90", " 0", "" ], [ "1", " Newspaper", " -3.311", " 0.550", " 1.909", " 0", " 0", " 0", " 30" ], [ "2", " KeyChain", " -1.986", " 0.310", " 2.555", " 0", " 309.022", " 0", " 33" ], [ "3", " KeyChain", " 0.684", " 0.538", " 3.323", " 0", " 90", " 0", " 44" ], [ "4", " CellPhone", " -2.477", " 0.526", " 2.976", " 0", " 38.001", " 0", " 42" ], [ "5", " RemoteControl", " -1.976", " 0.310", " 2.381", " 0", " 39.022", " 0", " 33" ], [ "6", " RemoteControl", " -5.639", " 0.783", " 4.910", " 0", " 0", " 0", " 34" ], [ "7", " Laptop", " -1.299", " 0.311", " 2.659", " 0", " 39.022", " 0", " 33" ], [ "8", " Box", " -1.591", " 0.498", " 2.277", " 0", " 26.831", " 0", " 33" ], [ "9", " CellPhone", " -1.905", " 0.316", " 2.655", " 0", " 39.022", " 0", " 33" ], [ "10", " WateringCan", " 0.829", " -0.001", " 2.339", " 0", " 45", " 0", " Floor|-03.10|" ], [ "11", " Newspaper", " 0.909", " 0.982", " 3.506", " 0", " 0", " 0", " 46" ], [ "12", " KeyChain", " -2.314", " 0.533", " 2.849", " 0", " 38.001", " 0", " 42" ], [ "13", " Plate", " 0.541", " 0.554", " 6.469", " 0", " 0", " 0", " 31" ], [ "14", " Pillow", " -2.719", " 0.609", " 2.768", " 0", " 320.647", " 0", " 42" ], [ "15", " RemoteControl", " -1.460", " 0.310", " 2.459", " 0", " 39.022", " 0", " 33" ], [ "16", " CreditCard", " -3.692", " 0.550", " 1.909", " 0", " 0", " 0", " 30" ], [ "17", " Laptop", " -5.464", " 0.779", " 5.252", " 0", " 306.871", " 0", " 34" ], [ "18", " Statue", " 0.909", " 0.992", " 4.337", " 0", " 0", " 0", " 46" ], [ "19", " Curtains", " -1.046", " 3.500", " 2.880", " 0", " 0", " 0", "" ], [ "20", " HousePlant", " -3.580", " 0.548", " 1.659", " 0", " 0", " 0", "" ], [ "21", " Television", " 0.852", " 1.460", " 3.726", " 357.954", " 270", " 0", "" ], [ "22", " Painting", " -3.813", " 1.809", " 1.008", " 90", " 90", " 0", "" ], [ "23", " DeskLamp", " 0.890", " 0.545", " 6.822", " 0", " 0", " 0", "" ], [ "24", " GarbageCan", " -7.102", " -0.044", " 2.295", " 0", " 90", " 0", "" ], [ "25", " FloorLamp", " -3.494", " 0.006", " 0.390", " 0", " 0", " 0", "" ], [ "26", " LightSwitch", " -5.234", " 1.391", " 7.031", " 0", " 180", " 0", "" ], [ "27", " Window", " -1.985", " 1.646", " -0.009", " 90", " 180", " 0", "" ], [ "28", " Window", " -4.909", " 0.990", " 2.015", " 90", " 180", " 0", "" ], [ "29", " Window", " -5.796", " 1.072", " 1.871", " 90", " 180", " 0", "" ], [ "30", " SideTable", " -3.407", " 0.005", " 1.656", " 0", " 270", " 0", "" ], [ "31", " SideTable", " 0.732", " 0.005", " 6.634", " 0", " 270", " 0", "" ], [ "32", " Chair", " -0.139", " 0.005", " 6.412", " 0", " 149.999", " 0", "" ], [ "33", " CoffeeTable", " -1.546", " 0.004", " 2.528", " 0", " 39.022", " 0", "" ], [ "34", " DiningTable", " -5.639", " -0.003", " 4.910", " 0", " 270", " 0", "" ], [ "35", " Chair", " -3.159", " 0.005", " 0.869", " 0", " 97.469", " 0", "" ], [ "36", " Chair", " -5.192", " 0.002", " 4.682", " 0", " 281.219", " 0", "" ], [ "37", " Chair", " -5.181", " 0.002", " 5.293", " 0", " 266.218", " 0", "" ], [ "38", " Chair", " -6.046", " 0.002", " 4.560", " 0", " 86.218", " 0", "" ], [ "39", " Chair", " -5.624", " 0.002", " 5.750", " 0", " 180", " 0", "" ], [ "40", " Chair", " -6.036", " 0.002", " 5.235", " 0", " 93.544", " 0", "" ], [ "41", " Chair", " -5.580", " 0.002", " 4.099", " 0", " 357.508", " 0", "" ], [ "42", " Sofa", " -2.465", " 0.004", " 3.281", " 0", " 128.001", " 0", "" ], [ "43", " Drawer", " 0.748", " 0.237", " 3.330", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 0.748", " 0.668", " 3.330", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 0.748", " 0.235", " 4.097", " 0", " 270", " 0", "" ], [ "46", " Dresser", " 0.846", " 0.002", " 3.713", " 0", " 270", " 0", "" ], [ "47", " Drawer", " 0.748", " 0.665", " 4.097", " 0", " 270", " 0", "" ], [ "48", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "50", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 1.5 0 90 0 1 Newspaper -3.311 0.550 1.909 0 0 0 30 2 KeyChain -1.986 0.310 2.555 0 309.022 0 33 3 KeyChain 0.684 0.538 3.323 0 90 0 44 4 CellPhone -2.477 0.526 2.976 0 38.001 0 42 5 RemoteControl -1.976 0.310 2.381 0 39.022 0 33 6 RemoteControl -5.639 0.783 4.910 0 0 0 34 7 Laptop -1.299 0.311 2.659 0 39.022 0 33 8 Box -1.591 0.498 2.277 0 26.831 0 33 9 CellPhone -1.905 0.316 2.655 0 39.022 0 33 10 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 11 Newspaper 0.909 0.982 3.506 0 0 0 46 12 KeyChain -2.314 0.533 2.849 0 38.001 0 42 13 Plate 0.541 0.554 6.469 0 0 0 31 14 Pillow -2.719 0.609 2.768 0 320.647 0 42 15 RemoteControl -1.460 0.310 2.459 0 39.022 0 33 16 CreditCard -3.692 0.550 1.909 0 0 0 30 17 Laptop -5.464 0.779 5.252 0 306.871 0 34 18 Statue 0.909 0.992 4.337 0 0 0 46 19 Curtains -1.046 3.500 2.880 0 0 0 20 HousePlant -3.580 0.548 1.659 0 0 0 21 Television 0.852 1.460 3.726 357.954 270 0 22 Painting -3.813 1.809 1.008 90 90 0 23 DeskLamp 0.890 0.545 6.822 0 0 0 24 GarbageCan -7.102 -0.044 2.295 0 90 0 25 FloorLamp -3.494 0.006 0.390 0 0 0 26 LightSwitch -5.234 1.391 7.031 0 180 0 27 Window -1.985 1.646 -0.009 90 180 0 28 Window -4.909 0.990 2.015 90 180 0 29 Window -5.796 1.072 1.871 90 180 0 30 SideTable -3.407 0.005 1.656 0 270 0 31 SideTable 0.732 0.005 6.634 0 270 0 32 Chair -0.139 0.005 6.412 0 149.999 0 33 CoffeeTable -1.546 0.004 2.528 0 39.022 0 34 DiningTable -5.639 -0.003 4.910 0 270 0 35 Chair -3.159 0.005 0.869 0 97.469 0 36 Chair -5.192 0.002 4.682 0 281.219 0 37 Chair -5.181 0.002 5.293 0 266.218 0 38 Chair -6.046 0.002 4.560 0 86.218 0 39 Chair -5.624 0.002 5.750 0 180 0 40 Chair -6.036 0.002 5.235 0 93.544 0 41 Chair -5.580 0.002 4.099 0 357.508 0 42 Sofa -2.465 0.004 3.281 0 128.001 0 43 Drawer 0.748 0.237 3.330 0 270 0 44 Drawer 0.748 0.668 3.330 0 270 0 45 Drawer 0.748 0.235 4.097 0 270 0 46 Dresser 0.846 0.002 3.713 0 270 0 47 Drawer 0.748 0.665 4.097 0 270 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn around and go to the end table between the window and the couch. | STEP 2: Pick up the newspaper on the right side of the end table. | STEP 3: Turn around and walk past the fireplace and around the furniture, then towards the dining table, make a right at the dining table and walk across the room to the garbage can in the corner. | STEP 4: Put the newspaper in the garbage can. | STEP 5: Turn around and walk back towards the dining table, then make a right at the dining table and go to the dresser the TV in on, to the left of the fireplace. | STEP 6: Pick up the newspaper that is on the right side of the dresser, under the TV. | STEP 7: Turn back around and go towards the table again making a right when you get to the table and back to the garbage can, on the floor, in the corner of the room. | STEP 8: Place the newspaper in the garbage can with the other one. | END" ]
[ [ "STEP 1: Turn around and go to the end table between the window and the couch. ", " STEP 2: Pick up the newspaper on the right side of the end table. ", " STEP 3: Turn around and walk past the fireplace and around the furniture, then towards the dining table, make a right at the dining table and walk across the room to the garbage can in the corner. ", " STEP 4: Put the newspaper in the garbage can. ", " STEP 5: Turn around and walk back towards the dining table, then make a right at the dining table and go to the dresser the TV in on, to the left of the fireplace. ", " STEP 6: Pick up the newspaper that is on the right side of the dresser, under the TV. ", " STEP 7: Turn back around and go towards the table again making a right when you get to the table and back to the garbage can, on the floor, in the corner of the room. ", " STEP 8: Place the newspaper in the garbage can with the other one. ", " END" ] ]
seen
trial_T20190907_225306_342000-1
To gather two newspapers and place them in the trash can.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.900", " 1.5", " 0", " 90", " 0", "" ], [ "1", " Newspaper", " -3.311", " 0.550", " 1.909", " 0", " 0", " 0", " 30" ], [ "2", " KeyChain", " -1.986", " 0.310", " 2.555", " 0", " 309.022", " 0", " 33" ], [ "3", " KeyChain", " 0.684", " 0.538", " 3.323", " 0", " 90", " 0", " 44" ], [ "4", " CellPhone", " -2.477", " 0.526", " 2.976", " 0", " 38.001", " 0", " 42" ], [ "5", " RemoteControl", " -1.976", " 0.310", " 2.381", " 0", " 39.022", " 0", " 33" ], [ "6", " RemoteControl", " -5.639", " 0.783", " 4.910", " 0", " 0", " 0", " 34" ], [ "7", " Laptop", " -1.299", " 0.311", " 2.659", " 0", " 39.022", " 0", " 33" ], [ "8", " Box", " -1.591", " 0.498", " 2.277", " 0", " 26.831", " 0", " 33" ], [ "9", " CellPhone", " -1.905", " 0.316", " 2.655", " 0", " 39.022", " 0", " 33" ], [ "10", " WateringCan", " 0.829", " -0.001", " 2.339", " 0", " 45", " 0", " Floor|-03.10|" ], [ "11", " Newspaper", " 0.909", " 0.982", " 3.506", " 0", " 0", " 0", " 46" ], [ "12", " KeyChain", " -2.314", " 0.533", " 2.849", " 0", " 38.001", " 0", " 42" ], [ "13", " Plate", " 0.541", " 0.554", " 6.469", " 0", " 0", " 0", " 31" ], [ "14", " Pillow", " -2.719", " 0.609", " 2.768", " 0", " 320.647", " 0", " 42" ], [ "15", " RemoteControl", " -1.460", " 0.310", " 2.459", " 0", " 39.022", " 0", " 33" ], [ "16", " CreditCard", " -3.692", " 0.550", " 1.909", " 0", " 0", " 0", " 30" ], [ "17", " Laptop", " -5.464", " 0.779", " 5.252", " 0", " 306.871", " 0", " 34" ], [ "18", " Statue", " 0.909", " 0.992", " 4.337", " 0", " 0", " 0", " 46" ], [ "19", " Curtains", " -1.046", " 3.500", " 2.880", " 0", " 0", " 0", "" ], [ "20", " HousePlant", " -3.580", " 0.548", " 1.659", " 0", " 0", " 0", "" ], [ "21", " Television", " 0.852", " 1.460", " 3.726", " 357.954", " 270", " 0", "" ], [ "22", " Painting", " -3.813", " 1.809", " 1.008", " 90", " 90", " 0", "" ], [ "23", " DeskLamp", " 0.890", " 0.545", " 6.822", " 0", " 0", " 0", "" ], [ "24", " GarbageCan", " -7.102", " -0.044", " 2.295", " 0", " 90", " 0", "" ], [ "25", " FloorLamp", " -3.494", " 0.006", " 0.390", " 0", " 0", " 0", "" ], [ "26", " LightSwitch", " -5.234", " 1.391", " 7.031", " 0", " 180", " 0", "" ], [ "27", " Window", " -1.985", " 1.646", " -0.009", " 90", " 180", " 0", "" ], [ "28", " Window", " -4.909", " 0.990", " 2.015", " 90", " 180", " 0", "" ], [ "29", " Window", " -5.796", " 1.072", " 1.871", " 90", " 180", " 0", "" ], [ "30", " SideTable", " -3.407", " 0.005", " 1.656", " 0", " 270", " 0", "" ], [ "31", " SideTable", " 0.732", " 0.005", " 6.634", " 0", " 270", " 0", "" ], [ "32", " Chair", " -0.139", " 0.005", " 6.412", " 0", " 149.999", " 0", "" ], [ "33", " CoffeeTable", " -1.546", " 0.004", " 2.528", " 0", " 39.022", " 0", "" ], [ "34", " DiningTable", " -5.639", " -0.003", " 4.910", " 0", " 270", " 0", "" ], [ "35", " Chair", " -3.159", " 0.005", " 0.869", " 0", " 97.469", " 0", "" ], [ "36", " Chair", " -5.192", " 0.002", " 4.682", " 0", " 281.219", " 0", "" ], [ "37", " Chair", " -5.181", " 0.002", " 5.293", " 0", " 266.218", " 0", "" ], [ "38", " Chair", " -6.046", " 0.002", " 4.560", " 0", " 86.218", " 0", "" ], [ "39", " Chair", " -5.624", " 0.002", " 5.750", " 0", " 180", " 0", "" ], [ "40", " Chair", " -6.036", " 0.002", " 5.235", " 0", " 93.544", " 0", "" ], [ "41", " Chair", " -5.580", " 0.002", " 4.099", " 0", " 357.508", " 0", "" ], [ "42", " Sofa", " -2.465", " 0.004", " 3.281", " 0", " 128.001", " 0", "" ], [ "43", " Drawer", " 0.748", " 0.237", " 3.330", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 0.748", " 0.668", " 3.330", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 0.748", " 0.235", " 4.097", " 0", " 270", " 0", "" ], [ "46", " Dresser", " 0.846", " 0.002", " 3.713", " 0", " 270", " 0", "" ], [ "47", " Drawer", " 0.748", " 0.665", " 4.097", " 0", " 270", " 0", "" ], [ "48", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "50", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 1.5 0 90 0 1 Newspaper -3.311 0.550 1.909 0 0 0 30 2 KeyChain -1.986 0.310 2.555 0 309.022 0 33 3 KeyChain 0.684 0.538 3.323 0 90 0 44 4 CellPhone -2.477 0.526 2.976 0 38.001 0 42 5 RemoteControl -1.976 0.310 2.381 0 39.022 0 33 6 RemoteControl -5.639 0.783 4.910 0 0 0 34 7 Laptop -1.299 0.311 2.659 0 39.022 0 33 8 Box -1.591 0.498 2.277 0 26.831 0 33 9 CellPhone -1.905 0.316 2.655 0 39.022 0 33 10 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 11 Newspaper 0.909 0.982 3.506 0 0 0 46 12 KeyChain -2.314 0.533 2.849 0 38.001 0 42 13 Plate 0.541 0.554 6.469 0 0 0 31 14 Pillow -2.719 0.609 2.768 0 320.647 0 42 15 RemoteControl -1.460 0.310 2.459 0 39.022 0 33 16 CreditCard -3.692 0.550 1.909 0 0 0 30 17 Laptop -5.464 0.779 5.252 0 306.871 0 34 18 Statue 0.909 0.992 4.337 0 0 0 46 19 Curtains -1.046 3.500 2.880 0 0 0 20 HousePlant -3.580 0.548 1.659 0 0 0 21 Television 0.852 1.460 3.726 357.954 270 0 22 Painting -3.813 1.809 1.008 90 90 0 23 DeskLamp 0.890 0.545 6.822 0 0 0 24 GarbageCan -7.102 -0.044 2.295 0 90 0 25 FloorLamp -3.494 0.006 0.390 0 0 0 26 LightSwitch -5.234 1.391 7.031 0 180 0 27 Window -1.985 1.646 -0.009 90 180 0 28 Window -4.909 0.990 2.015 90 180 0 29 Window -5.796 1.072 1.871 90 180 0 30 SideTable -3.407 0.005 1.656 0 270 0 31 SideTable 0.732 0.005 6.634 0 270 0 32 Chair -0.139 0.005 6.412 0 149.999 0 33 CoffeeTable -1.546 0.004 2.528 0 39.022 0 34 DiningTable -5.639 -0.003 4.910 0 270 0 35 Chair -3.159 0.005 0.869 0 97.469 0 36 Chair -5.192 0.002 4.682 0 281.219 0 37 Chair -5.181 0.002 5.293 0 266.218 0 38 Chair -6.046 0.002 4.560 0 86.218 0 39 Chair -5.624 0.002 5.750 0 180 0 40 Chair -6.036 0.002 5.235 0 93.544 0 41 Chair -5.580 0.002 4.099 0 357.508 0 42 Sofa -2.465 0.004 3.281 0 128.001 0 43 Drawer 0.748 0.237 3.330 0 270 0 44 Drawer 0.748 0.668 3.330 0 270 0 45 Drawer 0.748 0.235 4.097 0 270 0 46 Dresser 0.846 0.002 3.713 0 270 0 47 Drawer 0.748 0.665 4.097 0 270 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn around and walk forward to face the end table between the arm chair and the couch. | STEP 2: Pick up the newspaper on the end table. | STEP 3: Turn around and walk across the room, then turn left and walk across the room to the table, then turn left and walk to the wall, then turn right and face the trash can. | STEP 4: Place the newspaper in the trash can. | STEP 5: Turn around and walk across the room, then turn left and walk across the room, then turn right and walk across the room to face the TV stand. | STEP 6: Pick up the newspaper on the TV stand under the TV. | STEP 7: Turn around and walk across the room, then turn left and walk across the room, then turn right and walk forward to face the trash can. | STEP 8: Place the newspaper in the trash can with the other newspaper. | END" ]
[ [ "STEP 1: Turn around and walk forward to face the end table between the arm chair and the couch. ", " STEP 2: Pick up the newspaper on the end table. ", " STEP 3: Turn around and walk across the room, then turn left and walk across the room to the table, then turn left and walk to the wall, then turn right and face the trash can. ", " STEP 4: Place the newspaper in the trash can. ", " STEP 5: Turn around and walk across the room, then turn left and walk across the room, then turn right and walk across the room to face the TV stand. ", " STEP 6: Pick up the newspaper on the TV stand under the TV. ", " STEP 7: Turn around and walk across the room, then turn left and walk across the room, then turn right and walk forward to face the trash can. ", " STEP 8: Place the newspaper in the trash can with the other newspaper. ", " END" ] ]
seen
trial_T20190907_225306_342000-2
Put two papers in the bin.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 1.5 0 90 0 1 Newspaper -3.311 0.550 1.909 0 0 0 30 2 KeyChain -1.986 0.310 2.555 0 309.022 0 33 3 KeyChain 0.684 0.538 3.323 0 90 0 44 4 CellPhone -2.477 0.526 2.976 0 38.001 0 42 5 RemoteControl -1.976 0.310 2.381 0 39.022 0 33 6 RemoteControl -5.639 0.783 4.910 0 0 0 34 7 Laptop -1.299 0.311 2.659 0 39.022 0 33 8 Box -1.591 0.498 2.277 0 26.831 0 33 9 CellPhone -1.905 0.316 2.655 0 39.022 0 33 10 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 11 Newspaper 0.909 0.982 3.506 0 0 0 46 12 KeyChain -2.314 0.533 2.849 0 38.001 0 42 13 Plate 0.541 0.554 6.469 0 0 0 31 14 Pillow -2.719 0.609 2.768 0 320.647 0 42 15 RemoteControl -1.460 0.310 2.459 0 39.022 0 33 16 CreditCard -3.692 0.550 1.909 0 0 0 30 17 Laptop -5.464 0.779 5.252 0 306.871 0 34 18 Statue 0.909 0.992 4.337 0 0 0 46 19 Curtains -1.046 3.500 2.880 0 0 0 20 HousePlant -3.580 0.548 1.659 0 0 0 21 Television 0.852 1.460 3.726 357.954 270 0 22 Painting -3.813 1.809 1.008 90 90 0 23 DeskLamp 0.890 0.545 6.822 0 0 0 24 GarbageCan -7.102 -0.044 2.295 0 90 0 25 FloorLamp -3.494 0.006 0.390 0 0 0 26 LightSwitch -5.234 1.391 7.031 0 180 0 27 Window -1.985 1.646 -0.009 90 180 0 28 Window -4.909 0.990 2.015 90 180 0 29 Window -5.796 1.072 1.871 90 180 0 30 SideTable -3.407 0.005 1.656 0 270 0 31 SideTable 0.732 0.005 6.634 0 270 0 32 Chair -0.139 0.005 6.412 0 149.999 0 33 CoffeeTable -1.546 0.004 2.528 0 39.022 0 34 DiningTable -5.639 -0.003 4.910 0 270 0 35 Chair -3.159 0.005 0.869 0 97.469 0 36 Chair -5.192 0.002 4.682 0 281.219 0 37 Chair -5.181 0.002 5.293 0 266.218 0 38 Chair -6.046 0.002 4.560 0 86.218 0 39 Chair -5.624 0.002 5.750 0 180 0 40 Chair -6.036 0.002 5.235 0 93.544 0 41 Chair -5.580 0.002 4.099 0 357.508 0 42 Sofa -2.465 0.004 3.281 0 128.001 0 43 Drawer 0.748 0.237 3.330 0 270 0 44 Drawer 0.748 0.668 3.330 0 270 0 45 Drawer 0.748 0.235 4.097 0 270 0 46 Dresser 0.846 0.002 3.713 0 270 0 47 Drawer 0.748 0.665 4.097 0 270 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: move to the end table to the left of the couch | STEP 2: pick up the paper from the table | STEP 3: move to the bin to the left of the dining table | STEP 4: put the paper in the bin | STEP 5: move to the TV stand in front of the coffee table | STEP 6: pick up the paper from the stand | STEP 7: move to the bin to the left of the dining table | STEP 8: put the paper in the bin | END" ]
[ [ "STEP 1: move to the end table to the left of the couch ", " STEP 2: pick up the paper from the table ", " STEP 3: move to the bin to the left of the dining table ", " STEP 4: put the paper in the bin ", " STEP 5: move to the TV stand in front of the coffee table ", " STEP 6: pick up the paper from the stand ", " STEP 7: move to the bin to the left of the dining table ", " STEP 8: put the paper in the bin ", " END" ] ]
seen
trial_T20190908_025529_009980-0
place a washed kettle on a kitchen counter top
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6.653", " 0", " 225", " 0", " 93" ], [ "25", " Knife", " -0.481", " 0.802", " 0.507", " 0", " 0", " 0", " 53" ], [ "26", " Fork", " 1.332", " 0.891", " 1.983", " 0", " 180", " 0", " 80" ], [ "27", " Apple", " 2.051", " 1.590", " 5.501", " 0", " 270", " 0", " 79" ], [ "28", " Kettle", " -0.621", " 0.761", " 6.541", " 0", " 270", " 0", " 93" ], [ "29", " Plate", " 1.403", " 0.993", " 3.231", " 0", " 0", " 0", " 57" ], [ "30", " SaltShaker", " 1.358", " 2.202", " 3.840", " 0", " 0", " 0", " 48" ], [ "31", " Lettuce", " 0.169", " 0.848", " 6.807", " 0", " 225", " 0", " 93" ], [ "32", " SoapBottle", " 0.257", " 0.760", " 6.719", " 0", " 135", " 0", " 93" ], [ "33", " Spatula", " 0.771", " 1.007", " 0.303", " 0", " 0", " 0", " 57" ], [ "34", " PaperTowelRoll", " -0.159", " 0.864", " 6.941", " 0", " 0", " 0", " 93" ], [ "35", " Pot", " 1.559", " 0.988", " 4.294", " 0", " 0", " 0", " 55" ], [ "36", " Potato", " 1.135", " 1.027", " 4.670", " 0", " 0", " 0", " 58" ], [ "37", " ButterKnife", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 1.5 0 180 0 1 DishSponge 0.124 0.143 0.353 0 0 0 66 2 ButterKnife -0.535 0.992 0.670 0 0 0 57 3 Kettle 1.562 0.988 3.848 0 0 0 51 4 Pot 0.745 0.145 0.418 0 0 0 63 5 Spoon -0.687 0.993 0.212 0 0 0 57 6 Fork 0.771 0.993 0.670 0 0 0 57 7 Fork 0.124 0.772 0.507 0 0 0 54 8 Egg -0.467 0.810 6.354 0 270 0 93 9 Egg 2.137 1.565 5.751 0 270 0 79 10 Cup 0.256 0.756 6.240 0 135 0 93 11 Cup -0.621 0.756 6.291 0 270 0 93 12 Knife 0.803 0.802 0.563 0 270 0 49 13 Tomato -0.313 0.809 6.544 0 135 0 93 14 Tomato -0.158 0.809 6.666 0 270 0 93 15 Bowl 1.332 0.895 2.137 0 90 0 80 16 PepperShaker 0.102 0.755 6.305 0 135 0 93 17 Bread -0.459 1.062 0.303 0 0 0 57 18 Lettuce 1.314 1.081 0.213 0 0 0 57 19 Mug -0.284 0.755 6.787 0 0 0 93 20 Apple 2.137 1.590 5.626 0 270 0 79 21 Apple 0.064 1.171 0.213 0 0 0 73 22 Bowl 0.150 0.759 6.479 0 270 0 93 23 Bread 1.099 1.048 0.434 0 0 0 57 24 Egg 0.104 0.810 6.653 0 225 0 93 25 Knife -0.481 0.802 0.507 0 0 0 53 26 Fork 1.332 0.891 1.983 0 180 0 80 27 Apple 2.051 1.590 5.501 0 270 0 79 28 Kettle -0.621 0.761 6.541 0 270 0 93 29 Plate 1.403 0.993 3.231 0 0 0 57 30 SaltShaker 1.358 2.202 3.840 0 0 0 48 31 Lettuce 0.169 0.848 6.807 0 225 0 93 32 SoapBottle 0.257 0.760 6.719 0 135 0 93 33 Spatula 0.771 1.007 0.303 0 0 0 57 34 PaperTowelRoll -0.159 0.864 6.941 0 0 0 93 35 Pot 1.559 0.988 4.294 0 0 0 55 36 Potato 1.135 1.027 4.670 0 0 0 58 37 ButterKnife 1.225 0.992 0.213 0 0 0 57 38 PepperShaker 1.155 0.135 1.864 0 0 0 46 39 Pan 1.32 0.988 3.848 0 0 0 56 40 Tomato 2.094 1.565 5.251 0 270 0 79 41 DishSponge -0.413 0.143 0.658 0 0 0 65 42 Cup 2.009 1.511 6.001 0 270 0 79 43 Spoon -0.312 0.761 6.354 0 270 0 93 44 Mug 1.384 1.043 0.847 0 270 0 57 45 Cabinet 1.307 2.455 4.360 0 0 0 46 Cabinet 1.054 0.422 1.710 0 0 0 47 Drawer 1.280 0.808 4.718 0 0 0 48 Cabinet 1.307 2.455 3.607 0 0 0 49 Drawer 0.736 0.802 0.521 0 0 0 50 Drawer 1.276 0.802 3.291 0 0 0 51 StoveBurner 1.562 0.982 3.848 0 0 0 52 StoveBurner 1.317 0.982 4.294 0 0 0 53 Drawer -0.482 0.802 0.521 0 0 0 54 Drawer 0.124 0.802 0.521 0 0 0 55 StoveBurner 1.559 0.982 4.294 0 0 0 56 StoveBurner 1.320 0.982 3.848 0 0 0 57 CounterTop 1.391 1.028 0.897 0 0 0 58 CounterTop 1.391 1.028 4.716 0 0 0 59 Cabinet 1.054 0.422 4.548 0 0 0 60 Cabinet 1.317 2.134 0.517 0 0 0 61 Cabinet 1.317 2.134 4.889 0 0 0 62 Cabinet 1.317 2.134 3.095 0 0 0 63 Cabinet 0.443 0.422 0.743 0 0 0 64 Cabinet 1.270 2.134 0.434 0 0 0 65 Cabinet -0.775 0.422 0.743 0 0 0 66 Cabinet -0.168 0.422 0.743 0 0 0 67 Cabinet 1.317 2.134 1.534 0 0 0 68 Cabinet 1.054 0.422 2.990 0 0 0 69 Cabinet 1.054 0.422 2.944 0 0 0 70 Cabinet -0.263 2.134 0.434 0 0 0 71 Cabinet 0.252 2.134 0.434 0 0 0 72 Sink 1.391 1.006 2.326 0 0 0 73 Microwave 0.108 0.981 0.262 0 0 0 74 HousePlant -0.165 0.826 6.444 0 0 0 75 CoffeeMachine 1.551 0.982 0.953 0 270 0 76 Toaster 1.473 0.981 4.715 0 270 0 77 Window -2.065 1.916 3.626 90 90 0 78 Window 1.763 2.007 2.299 90 270 0 79 Fridge 2.035 0.0 5.625 0 0 0 80 SinkBasin 1.387 0.880 2.338 0 90 0 81 GarbageCan 2.001 -0.044 6.503 0 0 0 82 StoveKnob 1.140 0.934 3.987 45 270 0 83 StoveKnob 1.140 0.934 4.309 45 270 0 84 StoveKnob 1.140 0.934 4.140 45 270 0 85 StoveKnob 1.140 0.934 3.824 45 270 0 86 Vase -0.226 0.834 6.993 0 0 0 87 Vase 2.098 0.043 7.070 0 257.232 0 88 Vase -0.594 0.835 6.130 0 225 0 89 LightSwitch -2.0 1.549 6.045 0 90 0 90 Safe 2.046 1.072 7.054 0 257.232 0 91 Faucet 1.534 1.025 2.371 0 294.391 0 92 Blinds 1.738 2.563 2.312 0 90 0 93 DiningTable -0.156 0.000 6.474 0 0 0 94 Chair 0.291 0.002 6.142 0 310.162 0 95 GarbageBag -1.092 0.318 0.268 270 90 83.492 96 NorthWall 97 EastWall 98 SouthWall 99 WestWall
[ "STEP 1: turn into kitchen, walk to face stove | STEP 2: pick up tea kettle from stove top | STEP 3: walk right to face kitchen sink | STEP 4: place kettle into left sink basin, wash, pick up kettle | STEP 5: walk right to face counter top above dish washer | STEP 6: place kettle on counter top below two brass vases | END" ]
[ [ "STEP 1: turn into kitchen, walk to face stove ", " STEP 2: pick up tea kettle from stove top ", " STEP 3: walk right to face kitchen sink ", " STEP 4: place kettle into left sink basin, wash, pick up kettle ", " STEP 5: walk right to face counter top above dish washer ", " STEP 6: place kettle on counter top below two brass vases ", " END" ] ]
seen
trial_T20190908_025529_009980-1
Place a washed kettle by the coffee maker.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 1.5 0 180 0 1 DishSponge 0.124 0.143 0.353 0 0 0 66 2 ButterKnife -0.535 0.992 0.670 0 0 0 57 3 Kettle 1.562 0.988 3.848 0 0 0 51 4 Pot 0.745 0.145 0.418 0 0 0 63 5 Spoon -0.687 0.993 0.212 0 0 0 57 6 Fork 0.771 0.993 0.670 0 0 0 57 7 Fork 0.124 0.772 0.507 0 0 0 54 8 Egg -0.467 0.810 6.354 0 270 0 93 9 Egg 2.137 1.565 5.751 0 270 0 79 10 Cup 0.256 0.756 6.240 0 135 0 93 11 Cup -0.621 0.756 6.291 0 270 0 93 12 Knife 0.803 0.802 0.563 0 270 0 49 13 Tomato -0.313 0.809 6.544 0 135 0 93 14 Tomato -0.158 0.809 6.666 0 270 0 93 15 Bowl 1.332 0.895 2.137 0 90 0 80 16 PepperShaker 0.102 0.755 6.305 0 135 0 93 17 Bread -0.459 1.062 0.303 0 0 0 57 18 Lettuce 1.314 1.081 0.213 0 0 0 57 19 Mug -0.284 0.755 6.787 0 0 0 93 20 Apple 2.137 1.590 5.626 0 270 0 79 21 Apple 0.064 1.171 0.213 0 0 0 73 22 Bowl 0.150 0.759 6.479 0 270 0 93 23 Bread 1.099 1.048 0.434 0 0 0 57 24 Egg 0.104 0.810 6.653 0 225 0 93 25 Knife -0.481 0.802 0.507 0 0 0 53 26 Fork 1.332 0.891 1.983 0 180 0 80 27 Apple 2.051 1.590 5.501 0 270 0 79 28 Kettle -0.621 0.761 6.541 0 270 0 93 29 Plate 1.403 0.993 3.231 0 0 0 57 30 SaltShaker 1.358 2.202 3.840 0 0 0 48 31 Lettuce 0.169 0.848 6.807 0 225 0 93 32 SoapBottle 0.257 0.760 6.719 0 135 0 93 33 Spatula 0.771 1.007 0.303 0 0 0 57 34 PaperTowelRoll -0.159 0.864 6.941 0 0 0 93 35 Pot 1.559 0.988 4.294 0 0 0 55 36 Potato 1.135 1.027 4.670 0 0 0 58 37 ButterKnife 1.225 0.992 0.213 0 0 0 57 38 PepperShaker 1.155 0.135 1.864 0 0 0 46 39 Pan 1.32 0.988 3.848 0 0 0 56 40 Tomato 2.094 1.565 5.251 0 270 0 79 41 DishSponge -0.413 0.143 0.658 0 0 0 65 42 Cup 2.009 1.511 6.001 0 270 0 79 43 Spoon -0.312 0.761 6.354 0 270 0 93 44 Mug 1.384 1.043 0.847 0 270 0 57 45 Cabinet 1.307 2.455 4.360 0 0 0 46 Cabinet 1.054 0.422 1.710 0 0 0 47 Drawer 1.280 0.808 4.718 0 0 0 48 Cabinet 1.307 2.455 3.607 0 0 0 49 Drawer 0.736 0.802 0.521 0 0 0 50 Drawer 1.276 0.802 3.291 0 0 0 51 StoveBurner 1.562 0.982 3.848 0 0 0 52 StoveBurner 1.317 0.982 4.294 0 0 0 53 Drawer -0.482 0.802 0.521 0 0 0 54 Drawer 0.124 0.802 0.521 0 0 0 55 StoveBurner 1.559 0.982 4.294 0 0 0 56 StoveBurner 1.320 0.982 3.848 0 0 0 57 CounterTop 1.391 1.028 0.897 0 0 0 58 CounterTop 1.391 1.028 4.716 0 0 0 59 Cabinet 1.054 0.422 4.548 0 0 0 60 Cabinet 1.317 2.134 0.517 0 0 0 61 Cabinet 1.317 2.134 4.889 0 0 0 62 Cabinet 1.317 2.134 3.095 0 0 0 63 Cabinet 0.443 0.422 0.743 0 0 0 64 Cabinet 1.270 2.134 0.434 0 0 0 65 Cabinet -0.775 0.422 0.743 0 0 0 66 Cabinet -0.168 0.422 0.743 0 0 0 67 Cabinet 1.317 2.134 1.534 0 0 0 68 Cabinet 1.054 0.422 2.990 0 0 0 69 Cabinet 1.054 0.422 2.944 0 0 0 70 Cabinet -0.263 2.134 0.434 0 0 0 71 Cabinet 0.252 2.134 0.434 0 0 0 72 Sink 1.391 1.006 2.326 0 0 0 73 Microwave 0.108 0.981 0.262 0 0 0 74 HousePlant -0.165 0.826 6.444 0 0 0 75 CoffeeMachine 1.551 0.982 0.953 0 270 0 76 Toaster 1.473 0.981 4.715 0 270 0 77 Window -2.065 1.916 3.626 90 90 0 78 Window 1.763 2.007 2.299 90 270 0 79 Fridge 2.035 0.0 5.625 0 0 0 80 SinkBasin 1.387 0.880 2.338 0 90 0 81 GarbageCan 2.001 -0.044 6.503 0 0 0 82 StoveKnob 1.140 0.934 3.987 45 270 0 83 StoveKnob 1.140 0.934 4.309 45 270 0 84 StoveKnob 1.140 0.934 4.140 45 270 0 85 StoveKnob 1.140 0.934 3.824 45 270 0 86 Vase -0.226 0.834 6.993 0 0 0 87 Vase 2.098 0.043 7.070 0 257.232 0 88 Vase -0.594 0.835 6.130 0 225 0 89 LightSwitch -2.0 1.549 6.045 0 90 0 90 Safe 2.046 1.072 7.054 0 257.232 0 91 Faucet 1.534 1.025 2.371 0 294.391 0 92 Blinds 1.738 2.563 2.312 0 90 0 93 DiningTable -0.156 0.000 6.474 0 0 0 94 Chair 0.291 0.002 6.142 0 310.162 0 95 GarbageBag -1.092 0.318 0.268 270 90 83.492 96 NorthWall 97 EastWall 98 SouthWall 99 WestWall
[ "STEP 1: Turn around and move to the stove. | STEP 2: Pick up the kettle from the back right corner of the stove. | STEP 3: Carry the kettle to the sink, which is to your right. | STEP 4: Place the kettle in the left side of the sink, turn the water on, and then remove once it has been washed. | STEP 5: Carry the kettle to the coffee maker, which is just a little right of the sink. | STEP 6: Place the kettle on the counter to the left of the coffee maker. | END" ]
[ [ "STEP 1: Turn around and move to the stove. ", " STEP 2: Pick up the kettle from the back right corner of the stove. ", " STEP 3: Carry the kettle to the sink, which is to your right. ", " STEP 4: Place the kettle in the left side of the sink, turn the water on, and then remove once it has been washed. ", " STEP 5: Carry the kettle to the coffee maker, which is just a little right of the sink. ", " STEP 6: Place the kettle on the counter to the left of the coffee maker. ", " END" ] ]
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