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trial_T20190907_144205_820330-2
Place a warmed plate in a cabinet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.0", " 0.900", " -0.75", " 0", " 270", " 0", "" ], [ "1", " Potato", " -2.584", " 0.915", " 3.221", " 0", " 0", " 0", " 62" ], [ "2", " Potato", " -2.807", " 0.911", " 2.884", " 0", " 0", " 0", " 62" ], [ "3", " DishSponge", " 1.614", " 0.909", " -1.255", " 0", " 0", " 0", " 80" ], [ "4", " ButterKnife", " 0.069", " 0.928", " -1.790", " 0", " 0", " 0", " 57" ], [ "5", " Kettle", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", " 78" ], [ "6", " WineBottle", " -1.557", " 1.658", " -1.784", " 0", " 0", " 0", " 73" ], [ "7", " WineBottle", " -2.183", " 0.913", " -0.939", " 0", " 0", " 0", " 60" ], [ "8", " Spatula", " -1.961", " 0.927", " 0.037", " 0", " 0", " 0", " 60" ], [ "9", " Spatula", " -1.649", " 0.732", " -1.073", " 0", " 90", " 0", " 75" ], [ "10", " Pot", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", " 64" ], [ "11", " Fork", " -0.040", " 0.929", " -1.501", " 0", " 270", " 0", " 57" ], [ "12", " Fork", " -2.964", " 0.875", " 2.811", " 0", " 225", " 0", " 62" ], [ "13", " Egg", " -0.149", " 1.169", " 2.127", " 0", " 180", " 0", " 85" ], [ "14", " Egg", " 0.193", " 0.414", " 1.967", " 0", " 180", " 0", " 85" ], [ "15", " Cup", " 0.124", " 0.927", " -1.429", " 0", " 270", " 0", " 57" ], [ "16", " Plate", " 1.648", " 0.118", " -1.450", " 0", " 0", " 0", " 66" ], [ "17", " Knife", " -2.644", " 0.900", " 2.997", " 0", " 225", " 0", " 62" ], [ "18", " Tomato", " -3.165", " 0.925", " 3.073", " 0", " 270", " 0", " 62" ], [ "19", " Bowl", " 3.689", " 0.551", " 1.449", " 0", " 270", " 0", " 83" ], [ "20", " SaltShaker", " 3.743", " 0.877", " 1.554", " 0", " 270", " 0", " 81" ], [ "21", " Bread", " -0.263", " 0.886", " 2.194", " 0", " 180", " 0", " 85" ], [ "22", " Bread", " -2.300", " 0.958", " 3.580", " 0", " 225", " 0", " 62" ], [ "23", " Lettuce", " -2.321", " 0.939", " 3.221", " 0", " 270", " 0", " 62" ], [ "24", " Lettuce", " -2.584", " 0.943", " 3.728", " 0", " 0", " 0", " 62" ], [ "25", " Mug", " -2.996", " 0.873", " 3.073", " 0", " 270", " 0", " 62" ], [ "26", " Apple", " 0.663", " 0.967", " -1.776", " 0", " 0", " 0", " 60" ], [ "27", " Apple", " -2.539", " 0.933", " 3.341", " 0", " 225", " 0", " 62" ], [ "28", " Book", " 0.599", " 0.715", " -1.410", " 0", " 0", " 0", " 77" ], [ "29", " Fork", " -0.330", " 0.708", " -1.573", " 0", " 270", " 0", " 89" ], [ "30", " Tomato", " -2.740", " 0.925", " 3.618", " 0", " 135", " 0", " 62" ], [ "31", " Egg", " 0.079", " 0.828", " 2.023", " 0", " 180", " 0", " 85" ], [ "32", " Kettle", " -0.833", " 0.900", " -1.757", " 0", " 0", " 0", " 60" ], [ "33", " Vase", " -1.388", " 1.658", " -1.710", " 0", " 0", " 0", " 73" ], [ "34", " Cup", " -0.149", " 1.570", " 2.279", " 0", " 180", " 0", " 85" ], [ "35", " WineBottle", " 3.662", " 0.881", " 1.861", " 0", " 270", " 0", " 81" ], [ "36", " Plate", " -2.898", " 0.878", " 3.460", " 0", " 135", " 0", " 62" ], [ "37", " Spatula", " -2.315", " 0.893", " 3.088", " 0", " 225", " 0", " 62" ], [ "38", " Potato", " -2.321", " 0.911", " 3.370", " 0", " 270", " 0", " 62" ], [ "39", " Pot", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 59" ], [ "40", " Knife", " 0.234", " 0.950", " -1.573", " 0", " 270", " 0", " 57" ], [ "41", " SaltShaker", " 1.760", " 0.906", " -1.346", " 0", " 0", " 0", " 80" ], [ "42", " PepperShaker", " -2.584", " 0.871", " 2.715", " 0", " 0", " 0", " 62" ], [ "43", " Lettuce", " -1.849", " 0.977", " -0.614", " 0", " 0", " 0", " 60" ], [ "44", " ButterKnife", " -3.002", " 0.878", " 3.355", " 0", " 135", " 0", " 62" ], [ "45", " Bread", " -2.300", " 0.958", " 2.863", " 0", " 135", " 0", " 62" ], [ "46", " Vase", " 0.036", " 0.115", " -1.379", " 0", " 0", " 0", " 68" ], [ "47", " DishSponge", " -2.964", " 0.878", " 3.632", " 0", " 135", " 0", " 62" ], [ "48", " Apple", " -1.627", " 0.967", " -0.614", " 0", " 0", " 0", " 60" ], [ "49", " Pan", " -1.849", " 0.911", " 0.363", " 0", " 0", " 0", " 60" ], [ "50", " Spoon", " -2.015", " 0.719", " -1.716", " 0", " 0", " 0", " 79" ], [ "51", " SoapBottle", " 3.689", " 0.881", " 1.963", " 0", " 270", " 0", " 81" ], [ "52", " Mug", " -2.539", " 0.869", " 3.102", " 0", " 135", " 0", " 62" ], [ "53", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 83" ], [ "54", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 83" ], [ "55", " Bowl", " -0.035", " 1.570", " 2.040", " 0", " 180", " 0", " 85" ], [ "56", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "57", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "58", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "60", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "62", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "63", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "64", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "65", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " 1.775", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " 0.524", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.714", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -1.671", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " 0.854", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "75", " Drawer", " -1.636", " 0.683", " -0.930", " 0", " 0", " 0", "" ], [ "76", " Drawer", " 1.650", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "77", " Drawer", " 0.600", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "78", " StoveBurner", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", "" ], [ "79", " Drawer", " -2.062", " 0.683", " -1.579", " 0", " 0", " 0", "" ], [ "80", " CounterTop", " 1.645", " 0.945", " -1.527", " 0", " 0", " 0", "" ], [ "81", " Shelf", " 3.725", " 0.880", " 1.671", " 0", " 90", " 0", "" ], [ "82", " LightSwitch", " 2.830", " 1.266", " -0.748", " 0", " 0", " 0", "" ], [ "83", " Shelf", " 3.726", " 0.552", " 1.671", " 0", " 90", " 0", "" ], [ "84", " Microwave", " 1.150", " 1.655", " -1.614", " 0", " 0", " 0", "" ], [ "85", " Fridge", " -0.035", " 0.0", " 2.177", " 0", " 180", " 0", "" ], [ "86", " Window", " -0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "87", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "88", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "89", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "90", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "91", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "92", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "93", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "94", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "95", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "96", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "97", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "98", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "99", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "100", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "101", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "102", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "103", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "104", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 0", "" ], [ "105", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "106", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "107", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "108", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.900 -0.75 0 270 0 1 Potato -2.584 0.915 3.221 0 0 0 62 2 Potato -2.807 0.911 2.884 0 0 0 62 3 DishSponge 1.614 0.909 -1.255 0 0 0 80 4 ButterKnife 0.069 0.928 -1.790 0 0 0 57 5 Kettle 0.974 0.957 -1.419 0 180 0 78 6 WineBottle -1.557 1.658 -1.784 0 0 0 73 7 WineBottle -2.183 0.913 -0.939 0 0 0 60 8 Spatula -1.961 0.927 0.037 0 0 0 60 9 Spatula -1.649 0.732 -1.073 0 90 0 75 10 Pot 1.328 0.957 -1.420 0 180 0 64 11 Fork -0.040 0.929 -1.501 0 270 0 57 12 Fork -2.964 0.875 2.811 0 225 0 62 13 Egg -0.149 1.169 2.127 0 180 0 85 14 Egg 0.193 0.414 1.967 0 180 0 85 15 Cup 0.124 0.927 -1.429 0 270 0 57 16 Plate 1.648 0.118 -1.450 0 0 0 66 17 Knife -2.644 0.900 2.997 0 225 0 62 18 Tomato -3.165 0.925 3.073 0 270 0 62 19 Bowl 3.689 0.551 1.449 0 270 0 83 20 SaltShaker 3.743 0.877 1.554 0 270 0 81 21 Bread -0.263 0.886 2.194 0 180 0 85 22 Bread -2.300 0.958 3.580 0 225 0 62 23 Lettuce -2.321 0.939 3.221 0 270 0 62 24 Lettuce -2.584 0.943 3.728 0 0 0 62 25 Mug -2.996 0.873 3.073 0 270 0 62 26 Apple 0.663 0.967 -1.776 0 0 0 60 27 Apple -2.539 0.933 3.341 0 225 0 62 28 Book 0.599 0.715 -1.410 0 0 0 77 29 Fork -0.330 0.708 -1.573 0 270 0 89 30 Tomato -2.740 0.925 3.618 0 135 0 62 31 Egg 0.079 0.828 2.023 0 180 0 85 32 Kettle -0.833 0.900 -1.757 0 0 0 60 33 Vase -1.388 1.658 -1.710 0 0 0 73 34 Cup -0.149 1.570 2.279 0 180 0 85 35 WineBottle 3.662 0.881 1.861 0 270 0 81 36 Plate -2.898 0.878 3.460 0 135 0 62 37 Spatula -2.315 0.893 3.088 0 225 0 62 38 Potato -2.321 0.911 3.370 0 270 0 62 39 Pot 0.974 0.957 -1.688 0 180 0 59 40 Knife 0.234 0.950 -1.573 0 270 0 57 41 SaltShaker 1.760 0.906 -1.346 0 0 0 80 42 PepperShaker -2.584 0.871 2.715 0 0 0 62 43 Lettuce -1.849 0.977 -0.614 0 0 0 60 44 ButterKnife -3.002 0.878 3.355 0 135 0 62 45 Bread -2.300 0.958 2.863 0 135 0 62 46 Vase 0.036 0.115 -1.379 0 0 0 68 47 DishSponge -2.964 0.878 3.632 0 135 0 62 48 Apple -1.627 0.967 -0.614 0 0 0 60 49 Pan -1.849 0.911 0.363 0 0 0 60 50 Spoon -2.015 0.719 -1.716 0 0 0 79 51 SoapBottle 3.689 0.881 1.963 0 270 0 81 52 Mug -2.539 0.869 3.102 0 135 0 62 53 Statue 3.676 0.168 1.410 0 334.521 0 83 54 Statue 3.668 0.540 1.800 0 0 0 83 55 Bowl -0.035 1.570 2.040 0 180 0 85 56 Cabinet -2.171 2.009 -1.538 0 0 0 57 Sink 0.024 0.771 -1.708 0 270 0 58 Cabinet 1.444 2.259 -1.542 0 0 0 59 StoveBurner 0.974 0.957 -1.688 0 180 0 60 CounterTop -1.866 0.947 -0.614 0 0 0 61 Cabinet -2.217 0.373 -1.874 0 0 0 62 DiningTable -2.663 0.002 3.208 0 0 0 63 StoveBurner 1.328 0.957 -1.688 0 180 0 64 StoveBurner 1.328 0.957 -1.420 0 180 0 65 Cabinet -1.478 0.373 -1.235 0 0 0 66 Cabinet 1.775 0.372 -1.242 0 0 0 67 Cabinet 0.774 0.372 -1.242 0 0 0 68 Cabinet 0.375 0.372 -1.242 0 0 0 69 Cabinet -0.574 0.372 -1.238 0 0 0 70 Cabinet 1.775 2.009 -1.542 0 0 0 71 Cabinet 0.524 2.009 -1.542 0 0 0 72 Cabinet -0.714 2.009 -1.542 0 0 0 73 Cabinet -1.671 2.009 -1.538 0 0 0 74 Cabinet 0.854 2.259 -1.542 0 0 0 75 Drawer -1.636 0.683 -0.930 0 0 0 76 Drawer 1.650 0.682 -1.396 0 0 0 77 Drawer 0.600 0.682 -1.396 0 0 0 78 StoveBurner 0.974 0.957 -1.419 0 180 0 79 Drawer -2.062 0.683 -1.579 0 0 0 80 CounterTop 1.645 0.945 -1.527 0 0 0 81 Shelf 3.725 0.880 1.671 0 90 0 82 LightSwitch 2.830 1.266 -0.748 0 0 0 83 Shelf 3.726 0.552 1.671 0 90 0 84 Microwave 1.150 1.655 -1.614 0 0 0 85 Fridge -0.035 0.0 2.177 0 180 0 86 Window -0.115 1.802 -1.896 90 0 0 87 Window -4.009 1.799 0.310 90 90 0 88 Shelf 3.726 0.172 1.671 0 90 0 89 SinkBasin -0.330 0.686 -1.581 0 270 0 90 GarbageCan -0.870 -0.001 2.136 0 90 0 91 StoveKnob 1.089 0.913 -1.243 45 0 0 92 StoveKnob 1.208 0.913 -1.243 45 0 0 93 StoveKnob 1.340 0.913 -1.243 45 0 0 94 StoveKnob 0.961 0.913 -1.243 45 0 0 95 Toaster 1.637 0.900 -1.673 0 0 0 96 Chair -3.505 0.002 3.290 0 105.736 0 97 CoffeeMachine -1.111 0.900 -1.726 0 0 0 98 HousePlant -2.663 0.835 3.209 0 0 0 99 Faucet -0.187 0.922 -1.75 0 311.166 0 100 ShelvingUnit 3.726 0.006 1.671 0 90 0 101 Stool -2.501 -0.000 0.062 1.223 91.243 0 102 Stool -2.475 -0.000 -0.802 1.209 69.808 0 103 Chair -2.934 0.002 2.437 0 28.531 0 104 Chair -1.698 0.002 3.235 0 245.204 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn right, then turn right again to cross the kitchen, then turn right again to reach the stove. | STEP 2: Open the cabinet to the left of the stove and grab the plate. | STEP 3: Turn right to face the microwave above the stove. | STEP 4: Warm the plate in the microwave, then take it out again. | STEP 5: Face the cabinet to the left of the stove and open it again. | STEP 6: Place the plate back in the cabinet. | END" ]
[ [ "STEP 1: Turn right, then turn right again to cross the kitchen, then turn right again to reach the stove. ", " STEP 2: Open the cabinet to the left of the stove and grab the plate. ", " STEP 3: Turn right to face the microwave above the stove. ", " STEP 4: Warm the plate in the microwave, then take it out again. ", " STEP 5: Face the cabinet to the left of the stove and open it again. ", " STEP 6: Place the plate back in the cabinet. ", " END" ] ]
seen
trial_T20190907_144205_820330-3
Place the warm plate inside the cabinet
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"11", " Fork", " -0.040", " 0.929", " -1.501", " 0", " 270", " 0", " 57" ], [ "12", " Fork", " -2.964", " 0.875", " 2.811", " 0", " 225", " 0", " 62" ], [ "13", " Egg", " -0.149", " 1.169", " 2.127", " 0", " 180", " 0", " 85" ], [ "14", " Egg", " 0.193", " 0.414", " 1.967", " 0", " 180", " 0", " 85" ], [ "15", " Cup", " 0.124", " 0.927", " -1.429", " 0", " 270", " 0", " 57" ], [ "16", " Plate", " 1.648", " 0.118", " -1.450", " 0", " 0", " 0", " 66" ], [ "17", " Knife", " -2.644", " 0.900", " 2.997", " 0", " 225", " 0", " 62" ], [ "18", " Tomato", " -3.165", " 0.925", " 3.073", " 0", " 270", " 0", " 62" ], [ "19", " Bowl", " 3.689", " 0.551", " 1.449", " 0", " 270", " 0", " 83" ], [ "20", " SaltShaker", " 3.743", " 0.877", " 1.554", " 0", " 270", " 0", " 81" ], [ "21", " Bread", " -0.263", " 0.886", " 2.194", " 0", " 180", " 0", " 85" ], [ "22", " Bread", " -2.300", " 0.958", " 3.580", " 0", " 225", " 0", " 62" ], [ "23", " Lettuce", " -2.321", " 0.939", " 3.221", " 0", " 270", " 0", " 62" ], [ "24", " Lettuce", " -2.584", " 0.943", " 3.728", " 0", " 0", " 0", " 62" ], [ "25", " Mug", " -2.996", " 0.873", " 3.073", " 0", " 270", " 0", " 62" ], [ "26", " Apple", " 0.663", " 0.967", " -1.776", " 0", " 0", " 0", " 60" ], [ "27", " Apple", " -2.539", " 0.933", " 3.341", " 0", " 225", " 0", " 62" ], [ "28", " Book", " 0.599", " 0.715", " -1.410", " 0", " 0", " 0", " 77" ], [ "29", " Fork", " -0.330", " 0.708", " -1.573", " 0", " 270", " 0", " 89" ], [ "30", " Tomato", " -2.740", " 0.925", " 3.618", " 0", " 135", " 0", " 62" ], [ "31", " Egg", " 0.079", " 0.828", " 2.023", " 0", " 180", " 0", " 85" ], [ "32", " Kettle", " -0.833", " 0.900", " -1.757", " 0", " 0", " 0", " 60" ], [ "33", " Vase", " -1.388", " 1.658", " -1.710", " 0", " 0", " 0", " 73" ], [ "34", " Cup", " -0.149", " 1.570", " 2.279", " 0", " 180", " 0", " 85" ], [ "35", " WineBottle", " 3.662", " 0.881", " 1.861", " 0", " 270", " 0", " 81" ], [ "36", " Plate", " -2.898", " 0.878", " 3.460", " 0", " 135", " 0", " 62" ], [ "37", " Spatula", " -2.315", " 0.893", " 3.088", " 0", " 225", " 0", " 62" ], [ "38", " Potato", " -2.321", " 0.911", " 3.370", " 0", " 270", " 0", " 62" ], [ "39", " Pot", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 59" ], [ "40", " Knife", " 0.234", " 0.950", " -1.573", " 0", " 270", " 0", " 57" ], [ "41", " SaltShaker", " 1.760", " 0.906", " -1.346", " 0", " 0", " 0", " 80" ], [ "42", " PepperShaker", " -2.584", " 0.871", " 2.715", " 0", " 0", " 0", " 62" ], [ "43", " Lettuce", " -1.849", " 0.977", " -0.614", " 0", " 0", " 0", " 60" ], [ "44", " ButterKnife", " -3.002", " 0.878", " 3.355", " 0", " 135", " 0", " 62" ], [ "45", " Bread", " -2.300", " 0.958", " 2.863", " 0", " 135", " 0", " 62" ], [ "46", " Vase", " 0.036", " 0.115", " -1.379", " 0", " 0", " 0", " 68" ], [ "47", " DishSponge", " -2.964", " 0.878", " 3.632", " 0", " 135", " 0", " 62" ], [ "48", " Apple", " -1.627", " 0.967", " -0.614", " 0", " 0", " 0", " 60" ], [ "49", " Pan", " -1.849", " 0.911", " 0.363", " 0", " 0", " 0", " 60" ], [ "50", " Spoon", " -2.015", " 0.719", " -1.716", " 0", " 0", " 0", " 79" ], [ "51", " SoapBottle", " 3.689", " 0.881", " 1.963", " 0", " 270", " 0", " 81" ], [ "52", " Mug", " -2.539", " 0.869", " 3.102", " 0", " 135", " 0", " 62" ], [ "53", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 83" ], [ "54", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 83" ], [ "55", " Bowl", " -0.035", " 1.570", " 2.040", " 0", " 180", " 0", " 85" ], [ "56", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "57", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "58", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "60", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "62", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "63", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "64", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "65", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " 1.775", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " 0.524", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.714", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -1.671", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " 0.854", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "75", " Drawer", " -1.636", " 0.683", " -0.930", " 0", " 0", " 0", "" ], [ "76", " Drawer", " 1.650", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "77", " Drawer", " 0.600", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "78", " StoveBurner", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", "" ], [ "79", " Drawer", " -2.062", " 0.683", " -1.579", " 0", " 0", " 0", "" ], [ "80", " CounterTop", " 1.645", " 0.945", " -1.527", " 0", " 0", " 0", "" ], [ "81", " Shelf", " 3.725", " 0.880", " 1.671", " 0", " 90", " 0", "" ], [ "82", " LightSwitch", " 2.830", " 1.266", " -0.748", " 0", " 0", " 0", "" ], [ "83", " Shelf", " 3.726", " 0.552", " 1.671", " 0", " 90", " 0", "" ], [ "84", " Microwave", " 1.150", " 1.655", " -1.614", " 0", " 0", " 0", "" ], [ "85", " Fridge", " -0.035", " 0.0", " 2.177", " 0", " 180", " 0", "" ], [ "86", " Window", " -0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "87", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "88", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "89", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "90", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "91", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "92", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "93", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "94", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "95", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "96", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "97", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "98", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "99", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "100", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "101", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "102", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "103", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "104", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 0", "" ], [ "105", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "106", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "107", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "108", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.900 -0.75 0 270 0 1 Potato -2.584 0.915 3.221 0 0 0 62 2 Potato -2.807 0.911 2.884 0 0 0 62 3 DishSponge 1.614 0.909 -1.255 0 0 0 80 4 ButterKnife 0.069 0.928 -1.790 0 0 0 57 5 Kettle 0.974 0.957 -1.419 0 180 0 78 6 WineBottle -1.557 1.658 -1.784 0 0 0 73 7 WineBottle -2.183 0.913 -0.939 0 0 0 60 8 Spatula -1.961 0.927 0.037 0 0 0 60 9 Spatula -1.649 0.732 -1.073 0 90 0 75 10 Pot 1.328 0.957 -1.420 0 180 0 64 11 Fork -0.040 0.929 -1.501 0 270 0 57 12 Fork -2.964 0.875 2.811 0 225 0 62 13 Egg -0.149 1.169 2.127 0 180 0 85 14 Egg 0.193 0.414 1.967 0 180 0 85 15 Cup 0.124 0.927 -1.429 0 270 0 57 16 Plate 1.648 0.118 -1.450 0 0 0 66 17 Knife -2.644 0.900 2.997 0 225 0 62 18 Tomato -3.165 0.925 3.073 0 270 0 62 19 Bowl 3.689 0.551 1.449 0 270 0 83 20 SaltShaker 3.743 0.877 1.554 0 270 0 81 21 Bread -0.263 0.886 2.194 0 180 0 85 22 Bread -2.300 0.958 3.580 0 225 0 62 23 Lettuce -2.321 0.939 3.221 0 270 0 62 24 Lettuce -2.584 0.943 3.728 0 0 0 62 25 Mug -2.996 0.873 3.073 0 270 0 62 26 Apple 0.663 0.967 -1.776 0 0 0 60 27 Apple -2.539 0.933 3.341 0 225 0 62 28 Book 0.599 0.715 -1.410 0 0 0 77 29 Fork -0.330 0.708 -1.573 0 270 0 89 30 Tomato -2.740 0.925 3.618 0 135 0 62 31 Egg 0.079 0.828 2.023 0 180 0 85 32 Kettle -0.833 0.900 -1.757 0 0 0 60 33 Vase -1.388 1.658 -1.710 0 0 0 73 34 Cup -0.149 1.570 2.279 0 180 0 85 35 WineBottle 3.662 0.881 1.861 0 270 0 81 36 Plate -2.898 0.878 3.460 0 135 0 62 37 Spatula -2.315 0.893 3.088 0 225 0 62 38 Potato -2.321 0.911 3.370 0 270 0 62 39 Pot 0.974 0.957 -1.688 0 180 0 59 40 Knife 0.234 0.950 -1.573 0 270 0 57 41 SaltShaker 1.760 0.906 -1.346 0 0 0 80 42 PepperShaker -2.584 0.871 2.715 0 0 0 62 43 Lettuce -1.849 0.977 -0.614 0 0 0 60 44 ButterKnife -3.002 0.878 3.355 0 135 0 62 45 Bread -2.300 0.958 2.863 0 135 0 62 46 Vase 0.036 0.115 -1.379 0 0 0 68 47 DishSponge -2.964 0.878 3.632 0 135 0 62 48 Apple -1.627 0.967 -0.614 0 0 0 60 49 Pan -1.849 0.911 0.363 0 0 0 60 50 Spoon -2.015 0.719 -1.716 0 0 0 79 51 SoapBottle 3.689 0.881 1.963 0 270 0 81 52 Mug -2.539 0.869 3.102 0 135 0 62 53 Statue 3.676 0.168 1.410 0 334.521 0 83 54 Statue 3.668 0.540 1.800 0 0 0 83 55 Bowl -0.035 1.570 2.040 0 180 0 85 56 Cabinet -2.171 2.009 -1.538 0 0 0 57 Sink 0.024 0.771 -1.708 0 270 0 58 Cabinet 1.444 2.259 -1.542 0 0 0 59 StoveBurner 0.974 0.957 -1.688 0 180 0 60 CounterTop -1.866 0.947 -0.614 0 0 0 61 Cabinet -2.217 0.373 -1.874 0 0 0 62 DiningTable -2.663 0.002 3.208 0 0 0 63 StoveBurner 1.328 0.957 -1.688 0 180 0 64 StoveBurner 1.328 0.957 -1.420 0 180 0 65 Cabinet -1.478 0.373 -1.235 0 0 0 66 Cabinet 1.775 0.372 -1.242 0 0 0 67 Cabinet 0.774 0.372 -1.242 0 0 0 68 Cabinet 0.375 0.372 -1.242 0 0 0 69 Cabinet -0.574 0.372 -1.238 0 0 0 70 Cabinet 1.775 2.009 -1.542 0 0 0 71 Cabinet 0.524 2.009 -1.542 0 0 0 72 Cabinet -0.714 2.009 -1.542 0 0 0 73 Cabinet -1.671 2.009 -1.538 0 0 0 74 Cabinet 0.854 2.259 -1.542 0 0 0 75 Drawer -1.636 0.683 -0.930 0 0 0 76 Drawer 1.650 0.682 -1.396 0 0 0 77 Drawer 0.600 0.682 -1.396 0 0 0 78 StoveBurner 0.974 0.957 -1.419 0 180 0 79 Drawer -2.062 0.683 -1.579 0 0 0 80 CounterTop 1.645 0.945 -1.527 0 0 0 81 Shelf 3.725 0.880 1.671 0 90 0 82 LightSwitch 2.830 1.266 -0.748 0 0 0 83 Shelf 3.726 0.552 1.671 0 90 0 84 Microwave 1.150 1.655 -1.614 0 0 0 85 Fridge -0.035 0.0 2.177 0 180 0 86 Window -0.115 1.802 -1.896 90 0 0 87 Window -4.009 1.799 0.310 90 90 0 88 Shelf 3.726 0.172 1.671 0 90 0 89 SinkBasin -0.330 0.686 -1.581 0 270 0 90 GarbageCan -0.870 -0.001 2.136 0 90 0 91 StoveKnob 1.089 0.913 -1.243 45 0 0 92 StoveKnob 1.208 0.913 -1.243 45 0 0 93 StoveKnob 1.340 0.913 -1.243 45 0 0 94 StoveKnob 0.961 0.913 -1.243 45 0 0 95 Toaster 1.637 0.900 -1.673 0 0 0 96 Chair -3.505 0.002 3.290 0 105.736 0 97 CoffeeMachine -1.111 0.900 -1.726 0 0 0 98 HousePlant -2.663 0.835 3.209 0 0 0 99 Faucet -0.187 0.922 -1.75 0 311.166 0 100 ShelvingUnit 3.726 0.006 1.671 0 90 0 101 Stool -2.501 -0.000 0.062 1.223 91.243 0 102 Stool -2.475 -0.000 -0.802 1.209 69.808 0 103 Chair -2.934 0.002 2.437 0 28.531 0 104 Chair -1.698 0.002 3.235 0 245.204 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn to your right, walk straight then turn right head to the cabinet on the left side of the stove | STEP 2: Open the cabinet then get the plate and close the cabinet | STEP 3: Turn to your right then face the microwave on your left | STEP 4: Open the microwave put in and out the plate then close the microwave | STEP 5: Turn around to your right, then head to the cabinet beside the stove | STEP 6: Open the cabinet then put in the plate and close the door. | END" ]
[ [ "STEP 1: Turn to your right, walk straight then turn right head to the cabinet on the left side of the stove ", " STEP 2: Open the cabinet then get the plate and close the cabinet ", " STEP 3: Turn to your right then face the microwave on your left ", " STEP 4: Open the microwave put in and out the plate then close the microwave ", " STEP 5: Turn around to your right, then head to the cabinet beside the stove ", " STEP 6: Open the cabinet then put in the plate and close the door. ", " END" ] ]
seen
trial_T20190907_144205_820330-4
Retrieve a plate from a cabinet and heat it up so you can return it to its original location
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.0", " 0.900", " -0.75", " 0", " 270", " 0", "" ], [ "1", " Potato", " -2.584", " 0.915", " 3.221", " 0", " 0", " 0", " 62" ], [ "2", " Potato", " -2.807", " 0.911", " 2.884", " 0", " 0", " 0", " 62" ], [ "3", " DishSponge", " 1.614", " 0.909", " -1.255", " 0", " 0", " 0", " 80" ], [ "4", " ButterKnife", " 0.069", " 0.928", " -1.790", " 0", " 0", " 0", " 57" ], [ "5", " Kettle", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", " 78" ], [ "6", " WineBottle", " -1.557", " 1.658", " -1.784", " 0", " 0", " 0", " 73" ], [ "7", " WineBottle", " -2.183", " 0.913", " -0.939", " 0", " 0", " 0", " 60" ], [ "8", " Spatula", " -1.961", " 0.927", " 0.037", " 0", " 0", " 0", " 60" ], [ "9", " Spatula", " -1.649", " 0.732", " -1.073", " 0", " 90", " 0", " 75" ], [ "10", " Pot", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", " 64" ], [ "11", " Fork", " -0.040", " 0.929", " -1.501", " 0", " 270", " 0", " 57" ], [ "12", " Fork", " -2.964", " 0.875", " 2.811", " 0", " 225", " 0", " 62" ], [ "13", " Egg", " -0.149", " 1.169", " 2.127", " 0", " 180", " 0", " 85" ], [ "14", " Egg", " 0.193", " 0.414", " 1.967", " 0", " 180", " 0", " 85" ], [ "15", " Cup", " 0.124", " 0.927", " -1.429", " 0", " 270", " 0", " 57" ], [ "16", " Plate", " 1.648", " 0.118", " -1.450", " 0", " 0", " 0", " 66" ], [ "17", " Knife", " -2.644", " 0.900", " 2.997", " 0", " 225", " 0", " 62" ], [ "18", " Tomato", " -3.165", " 0.925", " 3.073", " 0", " 270", " 0", " 62" ], [ "19", " Bowl", " 3.689", " 0.551", " 1.449", " 0", " 270", " 0", " 83" ], [ "20", " SaltShaker", " 3.743", " 0.877", " 1.554", " 0", " 270", " 0", " 81" ], [ "21", " Bread", " -0.263", " 0.886", " 2.194", " 0", " 180", " 0", " 85" ], [ "22", " Bread", " -2.300", " 0.958", " 3.580", " 0", " 225", " 0", " 62" ], [ "23", " Lettuce", " -2.321", " 0.939", " 3.221", " 0", " 270", " 0", " 62" ], [ "24", " Lettuce", " -2.584", " 0.943", " 3.728", " 0", " 0", " 0", " 62" ], [ "25", " Mug", " -2.996", " 0.873", " 3.073", " 0", " 270", " 0", " 62" ], [ "26", " Apple", " 0.663", " 0.967", " -1.776", " 0", " 0", " 0", " 60" ], [ "27", " Apple", " -2.539", " 0.933", " 3.341", " 0", " 225", " 0", " 62" ], [ "28", " Book", " 0.599", " 0.715", " -1.410", " 0", " 0", " 0", " 77" ], [ "29", " Fork", " -0.330", " 0.708", " -1.573", " 0", " 270", " 0", " 89" ], [ "30", " Tomato", " -2.740", " 0.925", " 3.618", " 0", " 135", " 0", " 62" ], [ "31", " Egg", " 0.079", " 0.828", " 2.023", " 0", " 180", " 0", " 85" ], [ "32", " Kettle", " -0.833", " 0.900", " -1.757", " 0", " 0", " 0", " 60" ], [ "33", " Vase", " -1.388", " 1.658", " -1.710", " 0", " 0", " 0", " 73" ], [ "34", " Cup", " -0.149", " 1.570", " 2.279", " 0", " 180", " 0", " 85" ], [ "35", " WineBottle", " 3.662", " 0.881", " 1.861", " 0", " 270", " 0", " 81" ], [ "36", " Plate", " -2.898", " 0.878", " 3.460", " 0", " 135", " 0", " 62" ], [ "37", " Spatula", " -2.315", " 0.893", " 3.088", " 0", " 225", " 0", " 62" ], [ "38", " Potato", " -2.321", " 0.911", " 3.370", " 0", " 270", " 0", " 62" ], [ "39", " Pot", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 59" ], [ "40", " Knife", " 0.234", " 0.950", " -1.573", " 0", " 270", " 0", " 57" ], [ "41", " SaltShaker", " 1.760", " 0.906", " -1.346", " 0", " 0", " 0", " 80" ], [ "42", " PepperShaker", " -2.584", " 0.871", " 2.715", " 0", " 0", " 0", " 62" ], [ "43", " Lettuce", " -1.849", " 0.977", " -0.614", " 0", " 0", " 0", " 60" ], [ "44", " ButterKnife", " -3.002", " 0.878", " 3.355", " 0", " 135", " 0", " 62" ], [ "45", " Bread", " -2.300", " 0.958", " 2.863", " 0", " 135", " 0", " 62" ], [ "46", " Vase", " 0.036", " 0.115", " -1.379", " 0", " 0", " 0", " 68" ], [ "47", " DishSponge", " -2.964", " 0.878", " 3.632", " 0", " 135", " 0", " 62" ], [ "48", " Apple", " -1.627", " 0.967", " -0.614", " 0", " 0", " 0", " 60" ], [ "49", " Pan", " -1.849", " 0.911", " 0.363", " 0", " 0", " 0", " 60" ], [ "50", " Spoon", " -2.015", " 0.719", " -1.716", " 0", " 0", " 0", " 79" ], [ "51", " SoapBottle", " 3.689", " 0.881", " 1.963", " 0", " 270", " 0", " 81" ], [ "52", " Mug", " -2.539", " 0.869", " 3.102", " 0", " 135", " 0", " 62" ], [ "53", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 83" ], [ "54", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 83" ], [ "55", " Bowl", " -0.035", " 1.570", " 2.040", " 0", " 180", " 0", " 85" ], [ "56", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "57", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "58", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "60", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "62", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "63", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "64", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "65", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " 1.775", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " 0.524", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.714", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -1.671", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " 0.854", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "75", " Drawer", " -1.636", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.900 -0.75 0 270 0 1 Potato -2.584 0.915 3.221 0 0 0 62 2 Potato -2.807 0.911 2.884 0 0 0 62 3 DishSponge 1.614 0.909 -1.255 0 0 0 80 4 ButterKnife 0.069 0.928 -1.790 0 0 0 57 5 Kettle 0.974 0.957 -1.419 0 180 0 78 6 WineBottle -1.557 1.658 -1.784 0 0 0 73 7 WineBottle -2.183 0.913 -0.939 0 0 0 60 8 Spatula -1.961 0.927 0.037 0 0 0 60 9 Spatula -1.649 0.732 -1.073 0 90 0 75 10 Pot 1.328 0.957 -1.420 0 180 0 64 11 Fork -0.040 0.929 -1.501 0 270 0 57 12 Fork -2.964 0.875 2.811 0 225 0 62 13 Egg -0.149 1.169 2.127 0 180 0 85 14 Egg 0.193 0.414 1.967 0 180 0 85 15 Cup 0.124 0.927 -1.429 0 270 0 57 16 Plate 1.648 0.118 -1.450 0 0 0 66 17 Knife -2.644 0.900 2.997 0 225 0 62 18 Tomato -3.165 0.925 3.073 0 270 0 62 19 Bowl 3.689 0.551 1.449 0 270 0 83 20 SaltShaker 3.743 0.877 1.554 0 270 0 81 21 Bread -0.263 0.886 2.194 0 180 0 85 22 Bread -2.300 0.958 3.580 0 225 0 62 23 Lettuce -2.321 0.939 3.221 0 270 0 62 24 Lettuce -2.584 0.943 3.728 0 0 0 62 25 Mug -2.996 0.873 3.073 0 270 0 62 26 Apple 0.663 0.967 -1.776 0 0 0 60 27 Apple -2.539 0.933 3.341 0 225 0 62 28 Book 0.599 0.715 -1.410 0 0 0 77 29 Fork -0.330 0.708 -1.573 0 270 0 89 30 Tomato -2.740 0.925 3.618 0 135 0 62 31 Egg 0.079 0.828 2.023 0 180 0 85 32 Kettle -0.833 0.900 -1.757 0 0 0 60 33 Vase -1.388 1.658 -1.710 0 0 0 73 34 Cup -0.149 1.570 2.279 0 180 0 85 35 WineBottle 3.662 0.881 1.861 0 270 0 81 36 Plate -2.898 0.878 3.460 0 135 0 62 37 Spatula -2.315 0.893 3.088 0 225 0 62 38 Potato -2.321 0.911 3.370 0 270 0 62 39 Pot 0.974 0.957 -1.688 0 180 0 59 40 Knife 0.234 0.950 -1.573 0 270 0 57 41 SaltShaker 1.760 0.906 -1.346 0 0 0 80 42 PepperShaker -2.584 0.871 2.715 0 0 0 62 43 Lettuce -1.849 0.977 -0.614 0 0 0 60 44 ButterKnife -3.002 0.878 3.355 0 135 0 62 45 Bread -2.300 0.958 2.863 0 135 0 62 46 Vase 0.036 0.115 -1.379 0 0 0 68 47 DishSponge -2.964 0.878 3.632 0 135 0 62 48 Apple -1.627 0.967 -0.614 0 0 0 60 49 Pan -1.849 0.911 0.363 0 0 0 60 50 Spoon -2.015 0.719 -1.716 0 0 0 79 51 SoapBottle 3.689 0.881 1.963 0 270 0 81 52 Mug -2.539 0.869 3.102 0 135 0 62 53 Statue 3.676 0.168 1.410 0 334.521 0 83 54 Statue 3.668 0.540 1.800 0 0 0 83 55 Bowl -0.035 1.570 2.040 0 180 0 85 56 Cabinet -2.171 2.009 -1.538 0 0 0 57 Sink 0.024 0.771 -1.708 0 270 0 58 Cabinet 1.444 2.259 -1.542 0 0 0 59 StoveBurner 0.974 0.957 -1.688 0 180 0 60 CounterTop -1.866 0.947 -0.614 0 0 0 61 Cabinet -2.217 0.373 -1.874 0 0 0 62 DiningTable -2.663 0.002 3.208 0 0 0 63 StoveBurner 1.328 0.957 -1.688 0 180 0 64 StoveBurner 1.328 0.957 -1.420 0 180 0 65 Cabinet -1.478 0.373 -1.235 0 0 0 66 Cabinet 1.775 0.372 -1.242 0 0 0 67 Cabinet 0.774 0.372 -1.242 0 0 0 68 Cabinet 0.375 0.372 -1.242 0 0 0 69 Cabinet -0.574 0.372 -1.238 0 0 0 70 Cabinet 1.775 2.009 -1.542 0 0 0 71 Cabinet 0.524 2.009 -1.542 0 0 0 72 Cabinet -0.714 2.009 -1.542 0 0 0 73 Cabinet -1.671 2.009 -1.538 0 0 0 74 Cabinet 0.854 2.259 -1.542 0 0 0 75 Drawer -1.636 0.683 -0.930 0 0 0 76 Drawer 1.650 0.682 -1.396 0 0 0 77 Drawer 0.600 0.682 -1.396 0 0 0 78 StoveBurner 0.974 0.957 -1.419 0 180 0 79 Drawer -2.062 0.683 -1.579 0 0 0 80 CounterTop 1.645 0.945 -1.527 0 0 0 81 Shelf 3.725 0.880 1.671 0 90 0 82 LightSwitch 2.830 1.266 -0.748 0 0 0 83 Shelf 3.726 0.552 1.671 0 90 0 84 Microwave 1.150 1.655 -1.614 0 0 0 85 Fridge -0.035 0.0 2.177 0 180 0 86 Window -0.115 1.802 -1.896 90 0 0 87 Window -4.009 1.799 0.310 90 90 0 88 Shelf 3.726 0.172 1.671 0 90 0 89 SinkBasin -0.330 0.686 -1.581 0 270 0 90 GarbageCan -0.870 -0.001 2.136 0 90 0 91 StoveKnob 1.089 0.913 -1.243 45 0 0 92 StoveKnob 1.208 0.913 -1.243 45 0 0 93 StoveKnob 1.340 0.913 -1.243 45 0 0 94 StoveKnob 0.961 0.913 -1.243 45 0 0 95 Toaster 1.637 0.900 -1.673 0 0 0 96 Chair -3.505 0.002 3.290 0 105.736 0 97 CoffeeMachine -1.111 0.900 -1.726 0 0 0 98 HousePlant -2.663 0.835 3.209 0 0 0 99 Faucet -0.187 0.922 -1.75 0 311.166 0 100 ShelvingUnit 3.726 0.006 1.671 0 90 0 101 Stool -2.501 -0.000 0.062 1.223 91.243 0 102 Stool -2.475 -0.000 -0.802 1.209 69.808 0 103 Chair -2.934 0.002 2.437 0 28.531 0 104 Chair -1.698 0.002 3.235 0 245.204 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Go straight towards the kitchen table, then turn right, proceed straight until you reach the refrigerator, then turn right again and face the oven. | STEP 2: open the cabinet door next to the oven and beneath the counter top and remove a plate | STEP 3: face the stove top to the left of the toaster and start raising the plate to the microwave above the stove top | STEP 4: open the microwave and place the plate inside for several seconds, then remove it | STEP 5: lower the plate and turn to face the lower cabinet door to the left of the oven. | STEP 6: open the cabinet door and place the plate on the top shelf | END" ]
[ [ "STEP 1: Go straight towards the kitchen table, then turn right, proceed straight until you reach the refrigerator, then turn right again and face the oven. ", " STEP 2: open the cabinet door next to the oven and beneath the counter top and remove a plate ", " STEP 3: face the stove top to the left of the toaster and start raising the plate to the microwave above the stove top ", " STEP 4: open the microwave and place the plate inside for several seconds, then remove it ", " STEP 5: lower the plate and turn to face the lower cabinet door to the left of the oven. ", " STEP 6: open the cabinet door and place the plate on the top shelf ", " END" ] ]
seen
trial_T20190907_144205_820330-5
Put a warm plate in the cabinet.
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"11", " Fork", " -0.040", " 0.929", " -1.501", " 0", " 270", " 0", " 57" ], [ "12", " Fork", " -2.964", " 0.875", " 2.811", " 0", " 225", " 0", " 62" ], [ "13", " Egg", " -0.149", " 1.169", " 2.127", " 0", " 180", " 0", " 85" ], [ "14", " Egg", " 0.193", " 0.414", " 1.967", " 0", " 180", " 0", " 85" ], [ "15", " Cup", " 0.124", " 0.927", " -1.429", " 0", " 270", " 0", " 57" ], [ "16", " Plate", " 1.648", " 0.118", " -1.450", " 0", " 0", " 0", " 66" ], [ "17", " Knife", " -2.644", " 0.900", " 2.997", " 0", " 225", " 0", " 62" ], [ "18", " Tomato", " -3.165", " 0.925", " 3.073", " 0", " 270", " 0", " 62" ], [ "19", " Bowl", " 3.689", " 0.551", " 1.449", " 0", " 270", " 0", " 83" ], [ "20", " SaltShaker", " 3.743", " 0.877", " 1.554", " 0", " 270", " 0", " 81" ], [ "21", " Bread", " -0.263", " 0.886", " 2.194", " 0", " 180", " 0", " 85" ], [ "22", " Bread", " -2.300", " 0.958", " 3.580", " 0", " 225", " 0", " 62" ], [ "23", " Lettuce", " -2.321", " 0.939", " 3.221", " 0", " 270", " 0", " 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" 0.683", " -0.930", " 0", " 0", " 0", "" ], [ "76", " Drawer", " 1.650", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "77", " Drawer", " 0.600", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "78", " StoveBurner", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", "" ], [ "79", " Drawer", " -2.062", " 0.683", " -1.579", " 0", " 0", " 0", "" ], [ "80", " CounterTop", " 1.645", " 0.945", " -1.527", " 0", " 0", " 0", "" ], [ "81", " Shelf", " 3.725", " 0.880", " 1.671", " 0", " 90", " 0", "" ], [ "82", " LightSwitch", " 2.830", " 1.266", " -0.748", " 0", " 0", " 0", "" ], [ "83", " Shelf", " 3.726", " 0.552", " 1.671", " 0", " 90", " 0", "" ], [ "84", " Microwave", " 1.150", " 1.655", " -1.614", " 0", " 0", " 0", "" ], [ "85", " Fridge", " -0.035", " 0.0", " 2.177", " 0", " 180", " 0", "" ], [ "86", " Window", " -0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "87", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "88", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "89", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "90", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "91", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "92", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "93", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "94", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "95", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "96", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "97", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "98", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "99", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "100", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "101", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "102", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "103", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "104", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 0", "" ], [ "105", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "106", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "107", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "108", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.900 -0.75 0 270 0 1 Potato -2.584 0.915 3.221 0 0 0 62 2 Potato -2.807 0.911 2.884 0 0 0 62 3 DishSponge 1.614 0.909 -1.255 0 0 0 80 4 ButterKnife 0.069 0.928 -1.790 0 0 0 57 5 Kettle 0.974 0.957 -1.419 0 180 0 78 6 WineBottle -1.557 1.658 -1.784 0 0 0 73 7 WineBottle -2.183 0.913 -0.939 0 0 0 60 8 Spatula -1.961 0.927 0.037 0 0 0 60 9 Spatula -1.649 0.732 -1.073 0 90 0 75 10 Pot 1.328 0.957 -1.420 0 180 0 64 11 Fork -0.040 0.929 -1.501 0 270 0 57 12 Fork -2.964 0.875 2.811 0 225 0 62 13 Egg -0.149 1.169 2.127 0 180 0 85 14 Egg 0.193 0.414 1.967 0 180 0 85 15 Cup 0.124 0.927 -1.429 0 270 0 57 16 Plate 1.648 0.118 -1.450 0 0 0 66 17 Knife -2.644 0.900 2.997 0 225 0 62 18 Tomato -3.165 0.925 3.073 0 270 0 62 19 Bowl 3.689 0.551 1.449 0 270 0 83 20 SaltShaker 3.743 0.877 1.554 0 270 0 81 21 Bread -0.263 0.886 2.194 0 180 0 85 22 Bread -2.300 0.958 3.580 0 225 0 62 23 Lettuce -2.321 0.939 3.221 0 270 0 62 24 Lettuce -2.584 0.943 3.728 0 0 0 62 25 Mug -2.996 0.873 3.073 0 270 0 62 26 Apple 0.663 0.967 -1.776 0 0 0 60 27 Apple -2.539 0.933 3.341 0 225 0 62 28 Book 0.599 0.715 -1.410 0 0 0 77 29 Fork -0.330 0.708 -1.573 0 270 0 89 30 Tomato -2.740 0.925 3.618 0 135 0 62 31 Egg 0.079 0.828 2.023 0 180 0 85 32 Kettle -0.833 0.900 -1.757 0 0 0 60 33 Vase -1.388 1.658 -1.710 0 0 0 73 34 Cup -0.149 1.570 2.279 0 180 0 85 35 WineBottle 3.662 0.881 1.861 0 270 0 81 36 Plate -2.898 0.878 3.460 0 135 0 62 37 Spatula -2.315 0.893 3.088 0 225 0 62 38 Potato -2.321 0.911 3.370 0 270 0 62 39 Pot 0.974 0.957 -1.688 0 180 0 59 40 Knife 0.234 0.950 -1.573 0 270 0 57 41 SaltShaker 1.760 0.906 -1.346 0 0 0 80 42 PepperShaker -2.584 0.871 2.715 0 0 0 62 43 Lettuce -1.849 0.977 -0.614 0 0 0 60 44 ButterKnife -3.002 0.878 3.355 0 135 0 62 45 Bread -2.300 0.958 2.863 0 135 0 62 46 Vase 0.036 0.115 -1.379 0 0 0 68 47 DishSponge -2.964 0.878 3.632 0 135 0 62 48 Apple -1.627 0.967 -0.614 0 0 0 60 49 Pan -1.849 0.911 0.363 0 0 0 60 50 Spoon -2.015 0.719 -1.716 0 0 0 79 51 SoapBottle 3.689 0.881 1.963 0 270 0 81 52 Mug -2.539 0.869 3.102 0 135 0 62 53 Statue 3.676 0.168 1.410 0 334.521 0 83 54 Statue 3.668 0.540 1.800 0 0 0 83 55 Bowl -0.035 1.570 2.040 0 180 0 85 56 Cabinet -2.171 2.009 -1.538 0 0 0 57 Sink 0.024 0.771 -1.708 0 270 0 58 Cabinet 1.444 2.259 -1.542 0 0 0 59 StoveBurner 0.974 0.957 -1.688 0 180 0 60 CounterTop -1.866 0.947 -0.614 0 0 0 61 Cabinet -2.217 0.373 -1.874 0 0 0 62 DiningTable -2.663 0.002 3.208 0 0 0 63 StoveBurner 1.328 0.957 -1.688 0 180 0 64 StoveBurner 1.328 0.957 -1.420 0 180 0 65 Cabinet -1.478 0.373 -1.235 0 0 0 66 Cabinet 1.775 0.372 -1.242 0 0 0 67 Cabinet 0.774 0.372 -1.242 0 0 0 68 Cabinet 0.375 0.372 -1.242 0 0 0 69 Cabinet -0.574 0.372 -1.238 0 0 0 70 Cabinet 1.775 2.009 -1.542 0 0 0 71 Cabinet 0.524 2.009 -1.542 0 0 0 72 Cabinet -0.714 2.009 -1.542 0 0 0 73 Cabinet -1.671 2.009 -1.538 0 0 0 74 Cabinet 0.854 2.259 -1.542 0 0 0 75 Drawer -1.636 0.683 -0.930 0 0 0 76 Drawer 1.650 0.682 -1.396 0 0 0 77 Drawer 0.600 0.682 -1.396 0 0 0 78 StoveBurner 0.974 0.957 -1.419 0 180 0 79 Drawer -2.062 0.683 -1.579 0 0 0 80 CounterTop 1.645 0.945 -1.527 0 0 0 81 Shelf 3.725 0.880 1.671 0 90 0 82 LightSwitch 2.830 1.266 -0.748 0 0 0 83 Shelf 3.726 0.552 1.671 0 90 0 84 Microwave 1.150 1.655 -1.614 0 0 0 85 Fridge -0.035 0.0 2.177 0 180 0 86 Window -0.115 1.802 -1.896 90 0 0 87 Window -4.009 1.799 0.310 90 90 0 88 Shelf 3.726 0.172 1.671 0 90 0 89 SinkBasin -0.330 0.686 -1.581 0 270 0 90 GarbageCan -0.870 -0.001 2.136 0 90 0 91 StoveKnob 1.089 0.913 -1.243 45 0 0 92 StoveKnob 1.208 0.913 -1.243 45 0 0 93 StoveKnob 1.340 0.913 -1.243 45 0 0 94 StoveKnob 0.961 0.913 -1.243 45 0 0 95 Toaster 1.637 0.900 -1.673 0 0 0 96 Chair -3.505 0.002 3.290 0 105.736 0 97 CoffeeMachine -1.111 0.900 -1.726 0 0 0 98 HousePlant -2.663 0.835 3.209 0 0 0 99 Faucet -0.187 0.922 -1.75 0 311.166 0 100 ShelvingUnit 3.726 0.006 1.671 0 90 0 101 Stool -2.501 -0.000 0.062 1.223 91.243 0 102 Stool -2.475 -0.000 -0.802 1.209 69.808 0 103 Chair -2.934 0.002 2.437 0 28.531 0 104 Chair -1.698 0.002 3.235 0 245.204 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn right go forward, then turn right, go forward then turn right to reach the stove. | STEP 2: Take the plate from the cabinet to the left of the stove. | STEP 3: Go to the stove to your right. | STEP 4: Warm the plate in the microwave, above the stove. | STEP 5: Turn around, then turn right, then turn back around to face the cabinet, the left of the stove. | STEP 6: Put the plate in the cabinet. | END" ]
[ [ "STEP 1: Turn right go forward, then turn right, go forward then turn right to reach the stove. ", " STEP 2: Take the plate from the cabinet to the left of the stove. ", " STEP 3: Go to the stove to your right. ", " STEP 4: Warm the plate in the microwave, above the stove. ", " STEP 5: Turn around, then turn right, then turn back around to face the cabinet, the left of the stove. ", " STEP 6: Put the plate in the cabinet. ", " END" ] ]
seen
trial_T20190907_133721_464394-0
Examine the white rag by the light of the lamp on the desk.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.75", " 0.900", " -1.25", " 0", " 90", " 0", "" ], [ "1", " CellPhone", " 0.816", " 0.774", " 1.496", " 0", " 0", " 0", " 27" ], [ "2", " Pen", " -0.587", " 0.867", " -2.248", " 0", " 0", " 0", " 56" ], [ "3", " Pen", " 1.411", " 0.829", " -1.363", " 0", " 270", " 0", " 47" ], [ "4", " CreditCard", " -0.990", " 0.861", " -2.311", " 0", " 0", " 0", " 56" ], [ "5", " Book", " -1.192", " 0.861", " -2.436", " 0", " 0", " 0", " 56" ], [ "6", " Pillow", " -0.333", " 0.902", " 1.173", " 0", " 0", " 0", " 27" ], [ "7", " Laptop", " 0.241", " 0.772", " 1.173", " 0", " 0", " 0", " 27" ], [ "8", " AlarmClock", " -0.061", " 0.813", " -2.304", " 0", " 0", " 0", " 49" ], [ "9", " AlarmClock", " 0.355", " 0.813", " -2.304", " 0", " 0", " 0", " 49" ], [ "10", " Book", " 0.241", " 0.774", " 1.819", " 0", " 0", " 0", " 27" ], [ "11", " Cloth", " 1.303", " 0.0", " -0.696", " 0", " 303.212", " 0", "" ], [ "12", " Cloth", " 1.273", " 0.0", " -0.969", " 0", " 0", " 0", "" ], [ "13", " CellPhone", " 0.355", " 0.812", " -2.236", " 0", " 0", " 0", " 49" ], [ "14", " Pencil", " -0.789", " 0.865", " -2.311", " 0", " 0", " 0", " 56" ], [ "15", " Laptop", " -0.333", " 0.772", " 1.657", " 0", " 0", " 0", " 27" ], [ "16", " AlarmClock", " -1.594", " 0.862", " -2.248", " 0", " 0", " 0", " 56" ], [ "17", " CreditCard", " 0.146", " 0.805", " -2.507", " 0", " 0", " 0", " 49" ], [ "18", " KeyChain", " -1.145", " 0.088", " -2.325", " 0", " 0", " 0", " 53" ], [ "19", " TennisRacket", " -1.704", " 0.345", " 1.743", " 345.000", " 90", " 180", "" ], [ "20", " RemoteControl", " 0.355", " 0.813", " -2.440", " 0", " 0", " 0", " 49" ], [ "21", " Pillow", " 1.073", " 0.876", " 1.326", " 0", " 262.063", " 0", " 27" ], [ "22", " CD", " 0.459", " 0.811", " -2.372", " 0", " 0", " 0", " 49" ], [ "23", " CD", " -1.393", " 0.861", " -2.498", " 0", " 0", " 0", " 56" ], [ "24", " CD", " 1.306", " 0.151", " -2.459", " 0", " 315", " 0", " 34" ], [ "25", " Pen", " -1.393", " 0.867", " -2.248", " 0", " 0", " 0", " 56" ], [ "26", " Bowl", " -0.674", " 0.855", " -2.499", " 0", " 323.153", " 0", " 56" ], [ "27", " Bed", " 0.270", " 0.001", " 1.331", " 0", " 90", " 0", "" ], [ "28", " LaundryHamper", " -1.329", " 0.001", " 1.829", " 0", " 180", " 0", "" ], [ "29", " Television", " -1.664", " 1.479", " -0.912", " 0", " 90", " 0", "" ], [ "30", " DeskLamp", " 0.049", " 0.815", " -2.481", " 0", " 0", " 0", "" ], [ "31", " LightSwitch", " -1.799", " 1.213", " 0.680", " 0", " 90", " 0", "" ], [ "32", " Painting", " 0.492", " 1.684", " -2.629", " 90", " 0", " 0", "" ], [ "33", " Poster", " -1.799", " 1.690", " -1.491", " 90", " 270", " 0", "" ], [ "34", " GarbageCan", " 1.306", " -0.001", " -2.451", " 0", " 317.376", " 0", "" ], [ "35", " Mirror", " 1.5", " 1.361", " -0.542", " 0", " 90", " 0", "" ], [ "36", " Window", " 1.721", " 1.365", " -1.597", " 90", " 270", " 0", "" ], [ "37", " Shelf", " -1.605", " 0.435", " -0.686", " 0", " 90", " 0", "" ], [ "38", " Shelf", " -1.613", " 1.154", " -0.904", " 0", " 90", " 0", "" ], [ "39", " ShelvingUnit", " -1.611", " 0.005", " -0.904", " 0", " 90", " 0", "" ], [ "40", " Shelf", " -1.605", " 0.719", " -1.122", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.605", " 0.435", " -1.122", " 0", " 90", " 0", "" ], [ "42", " Shelf", " -1.605", " 1.006", " -1.122", " 0", " 90", " 0", "" ], [ "43", " Shelf", " -1.605", " 0.148", " -0.686", " 0", " 90", " 0", "" ], [ "44", " Shelf", " -1.605", " 0.149", " -1.122", " 0", " 90", " 0", "" ], [ "45", " Shelf", " -1.605", " 1.006", " -0.686", " 0", " 90", " 0", "" ], [ "46", " Shelf", " -1.605", " 0.719", " -0.686", " 0", " 90", " 0", "" ], [ "47", " SideTable", " 1.484", " 0.001", " -1.481", " 0", " 270", " 0", "" ], [ "48", " Blinds", " 1.699", " 2.096", " -1.575", " 0", " 270", " 0", "" ], [ "49", " Desk", " 0.244", " 0.004", " -2.356", " 0", " 0", " 0", "" ], [ "50", " Chair", " -0.626", " 1.439", " -2.199", " 0", " 171.006", " 0", "" ], [ "51", " Chair", " 0.220", " 1.466", " -2.214", " 0", " 188.269", " 0", "" ], [ "52", " Shelf", " -0.978", " 1.387", " -2.479", " 0", " 0", " 0", "" ], [ "53", " Drawer", " -1.389", " 0.197", " -2.261", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -1.389", " 0.480", " -2.261", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -1.389", " 0.731", " -2.261", " 0", " 0", " 0", "" ], [ "56", " Desk", " -0.973", " 1.162", " -2.351", " 0", " 0", " 0", "" ], [ "57", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "58", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "59", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "60", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 -1.25 0 90 0 1 CellPhone 0.816 0.774 1.496 0 0 0 27 2 Pen -0.587 0.867 -2.248 0 0 0 56 3 Pen 1.411 0.829 -1.363 0 270 0 47 4 CreditCard -0.990 0.861 -2.311 0 0 0 56 5 Book -1.192 0.861 -2.436 0 0 0 56 6 Pillow -0.333 0.902 1.173 0 0 0 27 7 Laptop 0.241 0.772 1.173 0 0 0 27 8 AlarmClock -0.061 0.813 -2.304 0 0 0 49 9 AlarmClock 0.355 0.813 -2.304 0 0 0 49 10 Book 0.241 0.774 1.819 0 0 0 27 11 Cloth 1.303 0.0 -0.696 0 303.212 0 12 Cloth 1.273 0.0 -0.969 0 0 0 13 CellPhone 0.355 0.812 -2.236 0 0 0 49 14 Pencil -0.789 0.865 -2.311 0 0 0 56 15 Laptop -0.333 0.772 1.657 0 0 0 27 16 AlarmClock -1.594 0.862 -2.248 0 0 0 56 17 CreditCard 0.146 0.805 -2.507 0 0 0 49 18 KeyChain -1.145 0.088 -2.325 0 0 0 53 19 TennisRacket -1.704 0.345 1.743 345.000 90 180 20 RemoteControl 0.355 0.813 -2.440 0 0 0 49 21 Pillow 1.073 0.876 1.326 0 262.063 0 27 22 CD 0.459 0.811 -2.372 0 0 0 49 23 CD -1.393 0.861 -2.498 0 0 0 56 24 CD 1.306 0.151 -2.459 0 315 0 34 25 Pen -1.393 0.867 -2.248 0 0 0 56 26 Bowl -0.674 0.855 -2.499 0 323.153 0 56 27 Bed 0.270 0.001 1.331 0 90 0 28 LaundryHamper -1.329 0.001 1.829 0 180 0 29 Television -1.664 1.479 -0.912 0 90 0 30 DeskLamp 0.049 0.815 -2.481 0 0 0 31 LightSwitch -1.799 1.213 0.680 0 90 0 32 Painting 0.492 1.684 -2.629 90 0 0 33 Poster -1.799 1.690 -1.491 90 270 0 34 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 35 Mirror 1.5 1.361 -0.542 0 90 0 36 Window 1.721 1.365 -1.597 90 270 0 37 Shelf -1.605 0.435 -0.686 0 90 0 38 Shelf -1.613 1.154 -0.904 0 90 0 39 ShelvingUnit -1.611 0.005 -0.904 0 90 0 40 Shelf -1.605 0.719 -1.122 0 90 0 41 Shelf -1.605 0.435 -1.122 0 90 0 42 Shelf -1.605 1.006 -1.122 0 90 0 43 Shelf -1.605 0.148 -0.686 0 90 0 44 Shelf -1.605 0.149 -1.122 0 90 0 45 Shelf -1.605 1.006 -0.686 0 90 0 46 Shelf -1.605 0.719 -0.686 0 90 0 47 SideTable 1.484 0.001 -1.481 0 270 0 48 Blinds 1.699 2.096 -1.575 0 270 0 49 Desk 0.244 0.004 -2.356 0 0 0 50 Chair -0.626 1.439 -2.199 0 171.006 0 51 Chair 0.220 1.466 -2.214 0 188.269 0 52 Shelf -0.978 1.387 -2.479 0 0 0 53 Drawer -1.389 0.197 -2.261 0 0 0 54 Drawer -1.389 0.480 -2.261 0 0 0 55 Drawer -1.389 0.731 -2.261 0 0 0 56 Desk -0.973 1.162 -2.351 0 0 0 57 NorthWall 58 EastWall 59 SouthWall 60 WestWall
[ "STEP 1: Move to the left and pick up the white rag on the ground. | STEP 2: Pick up the white rag on the ground. | STEP 3: Turn around and bring the rag to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END" ]
[ [ "STEP 1: Move to the left and pick up the white rag on the ground. ", " STEP 2: Pick up the white rag on the ground. ", " STEP 3: Turn around and bring the rag to the lamp on the desk. ", " STEP 4: Turn on the lamp on the desk. ", " END" ] ]
seen
trial_T20190907_133721_464394-1
Examine the cloth by the light
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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 0.900 -1.25 0 90 0 1 CellPhone 0.816 0.774 1.496 0 0 0 27 2 Pen -0.587 0.867 -2.248 0 0 0 56 3 Pen 1.411 0.829 -1.363 0 270 0 47 4 CreditCard -0.990 0.861 -2.311 0 0 0 56 5 Book -1.192 0.861 -2.436 0 0 0 56 6 Pillow -0.333 0.902 1.173 0 0 0 27 7 Laptop 0.241 0.772 1.173 0 0 0 27 8 AlarmClock -0.061 0.813 -2.304 0 0 0 49 9 AlarmClock 0.355 0.813 -2.304 0 0 0 49 10 Book 0.241 0.774 1.819 0 0 0 27 11 Cloth 1.303 0.0 -0.696 0 303.212 0 12 Cloth 1.273 0.0 -0.969 0 0 0 13 CellPhone 0.355 0.812 -2.236 0 0 0 49 14 Pencil -0.789 0.865 -2.311 0 0 0 56 15 Laptop -0.333 0.772 1.657 0 0 0 27 16 AlarmClock -1.594 0.862 -2.248 0 0 0 56 17 CreditCard 0.146 0.805 -2.507 0 0 0 49 18 KeyChain -1.145 0.088 -2.325 0 0 0 53 19 TennisRacket -1.704 0.345 1.743 345.000 90 180 20 RemoteControl 0.355 0.813 -2.440 0 0 0 49 21 Pillow 1.073 0.876 1.326 0 262.063 0 27 22 CD 0.459 0.811 -2.372 0 0 0 49 23 CD -1.393 0.861 -2.498 0 0 0 56 24 CD 1.306 0.151 -2.459 0 315 0 34 25 Pen -1.393 0.867 -2.248 0 0 0 56 26 Bowl -0.674 0.855 -2.499 0 323.153 0 56 27 Bed 0.270 0.001 1.331 0 90 0 28 LaundryHamper -1.329 0.001 1.829 0 180 0 29 Television -1.664 1.479 -0.912 0 90 0 30 DeskLamp 0.049 0.815 -2.481 0 0 0 31 LightSwitch -1.799 1.213 0.680 0 90 0 32 Painting 0.492 1.684 -2.629 90 0 0 33 Poster -1.799 1.690 -1.491 90 270 0 34 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 35 Mirror 1.5 1.361 -0.542 0 90 0 36 Window 1.721 1.365 -1.597 90 270 0 37 Shelf -1.605 0.435 -0.686 0 90 0 38 Shelf -1.613 1.154 -0.904 0 90 0 39 ShelvingUnit -1.611 0.005 -0.904 0 90 0 40 Shelf -1.605 0.719 -1.122 0 90 0 41 Shelf -1.605 0.435 -1.122 0 90 0 42 Shelf -1.605 1.006 -1.122 0 90 0 43 Shelf -1.605 0.148 -0.686 0 90 0 44 Shelf -1.605 0.149 -1.122 0 90 0 45 Shelf -1.605 1.006 -0.686 0 90 0 46 Shelf -1.605 0.719 -0.686 0 90 0 47 SideTable 1.484 0.001 -1.481 0 270 0 48 Blinds 1.699 2.096 -1.575 0 270 0 49 Desk 0.244 0.004 -2.356 0 0 0 50 Chair -0.626 1.439 -2.199 0 171.006 0 51 Chair 0.220 1.466 -2.214 0 188.269 0 52 Shelf -0.978 1.387 -2.479 0 0 0 53 Drawer -1.389 0.197 -2.261 0 0 0 54 Drawer -1.389 0.480 -2.261 0 0 0 55 Drawer -1.389 0.731 -2.261 0 0 0 56 Desk -0.973 1.162 -2.351 0 0 0 57 NorthWall 58 EastWall 59 SouthWall 60 WestWall
[ "STEP 1: Look on the floor, turn to your left then turn to your right | STEP 2: Pick up the white cloth on the floor beside the green cloth | STEP 3: Turn to your right and walk across the room, then head to the desk with a lamp | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Look on the floor, turn to your left then turn to your right ", " STEP 2: Pick up the white cloth on the floor beside the green cloth ", " STEP 3: Turn to your right and walk across the room, then head to the desk with a lamp ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190907_133721_464394-2
Examine a white towel next to the light of a desk lamp.
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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 0.900 -1.25 0 90 0 1 CellPhone 0.816 0.774 1.496 0 0 0 27 2 Pen -0.587 0.867 -2.248 0 0 0 56 3 Pen 1.411 0.829 -1.363 0 270 0 47 4 CreditCard -0.990 0.861 -2.311 0 0 0 56 5 Book -1.192 0.861 -2.436 0 0 0 56 6 Pillow -0.333 0.902 1.173 0 0 0 27 7 Laptop 0.241 0.772 1.173 0 0 0 27 8 AlarmClock -0.061 0.813 -2.304 0 0 0 49 9 AlarmClock 0.355 0.813 -2.304 0 0 0 49 10 Book 0.241 0.774 1.819 0 0 0 27 11 Cloth 1.303 0.0 -0.696 0 303.212 0 12 Cloth 1.273 0.0 -0.969 0 0 0 13 CellPhone 0.355 0.812 -2.236 0 0 0 49 14 Pencil -0.789 0.865 -2.311 0 0 0 56 15 Laptop -0.333 0.772 1.657 0 0 0 27 16 AlarmClock -1.594 0.862 -2.248 0 0 0 56 17 CreditCard 0.146 0.805 -2.507 0 0 0 49 18 KeyChain -1.145 0.088 -2.325 0 0 0 53 19 TennisRacket -1.704 0.345 1.743 345.000 90 180 20 RemoteControl 0.355 0.813 -2.440 0 0 0 49 21 Pillow 1.073 0.876 1.326 0 262.063 0 27 22 CD 0.459 0.811 -2.372 0 0 0 49 23 CD -1.393 0.861 -2.498 0 0 0 56 24 CD 1.306 0.151 -2.459 0 315 0 34 25 Pen -1.393 0.867 -2.248 0 0 0 56 26 Bowl -0.674 0.855 -2.499 0 323.153 0 56 27 Bed 0.270 0.001 1.331 0 90 0 28 LaundryHamper -1.329 0.001 1.829 0 180 0 29 Television -1.664 1.479 -0.912 0 90 0 30 DeskLamp 0.049 0.815 -2.481 0 0 0 31 LightSwitch -1.799 1.213 0.680 0 90 0 32 Painting 0.492 1.684 -2.629 90 0 0 33 Poster -1.799 1.690 -1.491 90 270 0 34 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 35 Mirror 1.5 1.361 -0.542 0 90 0 36 Window 1.721 1.365 -1.597 90 270 0 37 Shelf -1.605 0.435 -0.686 0 90 0 38 Shelf -1.613 1.154 -0.904 0 90 0 39 ShelvingUnit -1.611 0.005 -0.904 0 90 0 40 Shelf -1.605 0.719 -1.122 0 90 0 41 Shelf -1.605 0.435 -1.122 0 90 0 42 Shelf -1.605 1.006 -1.122 0 90 0 43 Shelf -1.605 0.148 -0.686 0 90 0 44 Shelf -1.605 0.149 -1.122 0 90 0 45 Shelf -1.605 1.006 -0.686 0 90 0 46 Shelf -1.605 0.719 -0.686 0 90 0 47 SideTable 1.484 0.001 -1.481 0 270 0 48 Blinds 1.699 2.096 -1.575 0 270 0 49 Desk 0.244 0.004 -2.356 0 0 0 50 Chair -0.626 1.439 -2.199 0 171.006 0 51 Chair 0.220 1.466 -2.214 0 188.269 0 52 Shelf -0.978 1.387 -2.479 0 0 0 53 Drawer -1.389 0.197 -2.261 0 0 0 54 Drawer -1.389 0.480 -2.261 0 0 0 55 Drawer -1.389 0.731 -2.261 0 0 0 56 Desk -0.973 1.162 -2.351 0 0 0 57 NorthWall 58 EastWall 59 SouthWall 60 WestWall
[ "STEP 1: Take a step to the left and look at the floor in front. | STEP 2: Pick up the white towel from the floor. | STEP 3: Turn right and head towards the lamp on the desk. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Take a step to the left and look at the floor in front. ", " STEP 2: Pick up the white towel from the floor. ", " STEP 3: Turn right and head towards the lamp on the desk. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190907_133721_464394-3
Inspect a cloth in the lamp light.
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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 0.900 -1.25 0 90 0 1 CellPhone 0.816 0.774 1.496 0 0 0 27 2 Pen -0.587 0.867 -2.248 0 0 0 56 3 Pen 1.411 0.829 -1.363 0 270 0 47 4 CreditCard -0.990 0.861 -2.311 0 0 0 56 5 Book -1.192 0.861 -2.436 0 0 0 56 6 Pillow -0.333 0.902 1.173 0 0 0 27 7 Laptop 0.241 0.772 1.173 0 0 0 27 8 AlarmClock -0.061 0.813 -2.304 0 0 0 49 9 AlarmClock 0.355 0.813 -2.304 0 0 0 49 10 Book 0.241 0.774 1.819 0 0 0 27 11 Cloth 1.303 0.0 -0.696 0 303.212 0 12 Cloth 1.273 0.0 -0.969 0 0 0 13 CellPhone 0.355 0.812 -2.236 0 0 0 49 14 Pencil -0.789 0.865 -2.311 0 0 0 56 15 Laptop -0.333 0.772 1.657 0 0 0 27 16 AlarmClock -1.594 0.862 -2.248 0 0 0 56 17 CreditCard 0.146 0.805 -2.507 0 0 0 49 18 KeyChain -1.145 0.088 -2.325 0 0 0 53 19 TennisRacket -1.704 0.345 1.743 345.000 90 180 20 RemoteControl 0.355 0.813 -2.440 0 0 0 49 21 Pillow 1.073 0.876 1.326 0 262.063 0 27 22 CD 0.459 0.811 -2.372 0 0 0 49 23 CD -1.393 0.861 -2.498 0 0 0 56 24 CD 1.306 0.151 -2.459 0 315 0 34 25 Pen -1.393 0.867 -2.248 0 0 0 56 26 Bowl -0.674 0.855 -2.499 0 323.153 0 56 27 Bed 0.270 0.001 1.331 0 90 0 28 LaundryHamper -1.329 0.001 1.829 0 180 0 29 Television -1.664 1.479 -0.912 0 90 0 30 DeskLamp 0.049 0.815 -2.481 0 0 0 31 LightSwitch -1.799 1.213 0.680 0 90 0 32 Painting 0.492 1.684 -2.629 90 0 0 33 Poster -1.799 1.690 -1.491 90 270 0 34 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 35 Mirror 1.5 1.361 -0.542 0 90 0 36 Window 1.721 1.365 -1.597 90 270 0 37 Shelf -1.605 0.435 -0.686 0 90 0 38 Shelf -1.613 1.154 -0.904 0 90 0 39 ShelvingUnit -1.611 0.005 -0.904 0 90 0 40 Shelf -1.605 0.719 -1.122 0 90 0 41 Shelf -1.605 0.435 -1.122 0 90 0 42 Shelf -1.605 1.006 -1.122 0 90 0 43 Shelf -1.605 0.148 -0.686 0 90 0 44 Shelf -1.605 0.149 -1.122 0 90 0 45 Shelf -1.605 1.006 -0.686 0 90 0 46 Shelf -1.605 0.719 -0.686 0 90 0 47 SideTable 1.484 0.001 -1.481 0 270 0 48 Blinds 1.699 2.096 -1.575 0 270 0 49 Desk 0.244 0.004 -2.356 0 0 0 50 Chair -0.626 1.439 -2.199 0 171.006 0 51 Chair 0.220 1.466 -2.214 0 188.269 0 52 Shelf -0.978 1.387 -2.479 0 0 0 53 Drawer -1.389 0.197 -2.261 0 0 0 54 Drawer -1.389 0.480 -2.261 0 0 0 55 Drawer -1.389 0.731 -2.261 0 0 0 56 Desk -0.973 1.162 -2.351 0 0 0 57 NorthWall 58 EastWall 59 SouthWall 60 WestWall
[ "STEP 1: Take a half a step to your left. | STEP 2: Pick up the white cloth to the right of the green cloth. | STEP 3: Turn around and take a step then turn left to walk to the desk with the chair and two alarm clocks on it by a light. | STEP 4: Turn on the light. | END" ]
[ [ "STEP 1: Take a half a step to your left. ", " STEP 2: Pick up the white cloth to the right of the green cloth. ", " STEP 3: Turn around and take a step then turn left to walk to the desk with the chair and two alarm clocks on it by a light. ", " STEP 4: Turn on the light. ", " END" ] ]
seen
trial_T20190907_133721_464394-4
Retrieve a cloth and bring it to a lit desk.
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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 0.900 -1.25 0 90 0 1 CellPhone 0.816 0.774 1.496 0 0 0 27 2 Pen -0.587 0.867 -2.248 0 0 0 56 3 Pen 1.411 0.829 -1.363 0 270 0 47 4 CreditCard -0.990 0.861 -2.311 0 0 0 56 5 Book -1.192 0.861 -2.436 0 0 0 56 6 Pillow -0.333 0.902 1.173 0 0 0 27 7 Laptop 0.241 0.772 1.173 0 0 0 27 8 AlarmClock -0.061 0.813 -2.304 0 0 0 49 9 AlarmClock 0.355 0.813 -2.304 0 0 0 49 10 Book 0.241 0.774 1.819 0 0 0 27 11 Cloth 1.303 0.0 -0.696 0 303.212 0 12 Cloth 1.273 0.0 -0.969 0 0 0 13 CellPhone 0.355 0.812 -2.236 0 0 0 49 14 Pencil -0.789 0.865 -2.311 0 0 0 56 15 Laptop -0.333 0.772 1.657 0 0 0 27 16 AlarmClock -1.594 0.862 -2.248 0 0 0 56 17 CreditCard 0.146 0.805 -2.507 0 0 0 49 18 KeyChain -1.145 0.088 -2.325 0 0 0 53 19 TennisRacket -1.704 0.345 1.743 345.000 90 180 20 RemoteControl 0.355 0.813 -2.440 0 0 0 49 21 Pillow 1.073 0.876 1.326 0 262.063 0 27 22 CD 0.459 0.811 -2.372 0 0 0 49 23 CD -1.393 0.861 -2.498 0 0 0 56 24 CD 1.306 0.151 -2.459 0 315 0 34 25 Pen -1.393 0.867 -2.248 0 0 0 56 26 Bowl -0.674 0.855 -2.499 0 323.153 0 56 27 Bed 0.270 0.001 1.331 0 90 0 28 LaundryHamper -1.329 0.001 1.829 0 180 0 29 Television -1.664 1.479 -0.912 0 90 0 30 DeskLamp 0.049 0.815 -2.481 0 0 0 31 LightSwitch -1.799 1.213 0.680 0 90 0 32 Painting 0.492 1.684 -2.629 90 0 0 33 Poster -1.799 1.690 -1.491 90 270 0 34 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 35 Mirror 1.5 1.361 -0.542 0 90 0 36 Window 1.721 1.365 -1.597 90 270 0 37 Shelf -1.605 0.435 -0.686 0 90 0 38 Shelf -1.613 1.154 -0.904 0 90 0 39 ShelvingUnit -1.611 0.005 -0.904 0 90 0 40 Shelf -1.605 0.719 -1.122 0 90 0 41 Shelf -1.605 0.435 -1.122 0 90 0 42 Shelf -1.605 1.006 -1.122 0 90 0 43 Shelf -1.605 0.148 -0.686 0 90 0 44 Shelf -1.605 0.149 -1.122 0 90 0 45 Shelf -1.605 1.006 -0.686 0 90 0 46 Shelf -1.605 0.719 -0.686 0 90 0 47 SideTable 1.484 0.001 -1.481 0 270 0 48 Blinds 1.699 2.096 -1.575 0 270 0 49 Desk 0.244 0.004 -2.356 0 0 0 50 Chair -0.626 1.439 -2.199 0 171.006 0 51 Chair 0.220 1.466 -2.214 0 188.269 0 52 Shelf -0.978 1.387 -2.479 0 0 0 53 Drawer -1.389 0.197 -2.261 0 0 0 54 Drawer -1.389 0.480 -2.261 0 0 0 55 Drawer -1.389 0.731 -2.261 0 0 0 56 Desk -0.973 1.162 -2.351 0 0 0 57 NorthWall 58 EastWall 59 SouthWall 60 WestWall
[ "STEP 1: Turn to the left and look down at the floor. | STEP 2: Pick up the white cloth next to the green cloth. | STEP 3: Turn right and face the desk to the right of the recycling bin. | STEP 4: Switch on the lamp on the desk above the alarm clock. | END" ]
[ [ "STEP 1: Turn to the left and look down at the floor. ", " STEP 2: Pick up the white cloth next to the green cloth. ", " STEP 3: Turn right and face the desk to the right of the recycling bin. ", " STEP 4: Switch on the lamp on the desk above the alarm clock. ", " END" ] ]
seen
trial_T20190908_215937_642226-0
Put a warm egg in the recycle bin.
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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 0.900 -0.25 0 90 0 1 DishSponge -2.614 0.951 0.614 0 90 0 81 2 Spatula 0.908 0.934 -1.649 0 90 0 46 3 Spatula -1.928 0.967 0.165 0 180 0 81 4 Plate 1.846 0.913 0.375 0 0 0 63 5 Knife 0.167 0.937 0.375 0 0 0 47 6 Knife -2.340 0.977 0.345 0 90 0 81 7 SoapBottle 0.701 0.918 -1.582 0 270 0 46 8 Tomato -2.614 1.001 0.435 0 90 0 81 9 Bowl -0.198 0.110 -1.545 0 0 0 57 10 SaltShaker -2.614 0.948 0.165 0 90 0 81 11 PepperShaker 1.601 0.908 0.458 0 0 0 63 12 PepperShaker 1.754 0.104 0.385 0 0 0 56 13 Bread -2.222 1.134 -1.763 0 0 0 78 14 Bread -2.203 1.035 0.255 0 90 0 81 15 Lettuce -1.791 1.042 0.255 0 90 0 81 16 Lettuce -1.959 0.871 -1.763 0 0 0 78 17 Mug -1.959 1.046 -1.677 0 0 0 78 18 Mug -2.065 0.947 0.255 0 90 0 81 19 Bread 1.300 0.978 -1.532 0 0 0 48 20 Knife -2.477 0.977 0.255 0 0 0 81 21 Fork 0.753 0.920 -1.449 0 0 0 46 22 Bowl -1.791 0.951 0.524 0 90 0 81 23 Kettle 1.361 0.962 0.561 0 270 0 53 24 Cup 0.035 0.910 0.209 0 0 0 47 25 Tomato 1.658 0.961 -1.737 0 0 0 48 26 SoapBottle 0.300 0.910 0.209 0 0 0 47 27 Plate 0.394 0.109 -1.509 0 180 0 45 28 Pot 1.007 0.962 0.561 0 270 0 50 29 Spatula 0.649 0.934 -1.782 0 90 0 46 30 PaperTowelRoll -0.329 0.174 0.612 0 90 0 77 31 Egg 0.377 0.811 -1.745 0 270 0 71 32 Lettuce -1.959 0.601 -1.763 0 0 0 78 33 SaltShaker 1.601 0.908 0.706 0 0 0 63 34 PepperShaker 1.846 0.908 0.623 0 0 0 63 35 Apple -0.872 1.082 -1.803 0 0 0 70 36 ButterKnife 1.412 0.901 -1.406 0 0 0 48 37 Potato 0.753 0.949 -1.715 0 270 0 46 38 Pan 1.022 0.959 0.288 0 219.190 0 60 39 DishSponge 1.828 1.328 -1.846 0 180 0 64 40 Spoon -2.203 0.953 0.435 0 90 0 81 41 Mug -2.31 0.775 -1.849 0 0 0 78 42 Cabinet -0.193 1.688 -1.648 0 180 0 43 StoveBurner 1.360 0.957 0.293 0 180 0 44 Drawer 0.499 0.792 0.296 0 0 0 45 Cabinet 0.095 0.400 -1.352 0 180 0 46 Sink 0.711 0.817 -1.772 0 270 0 47 CounterTop 0.280 0.947 0.458 0 0 0 48 CounterTop -0.680 0.947 -1.654 0 0 0 49 Drawer 1.825 0.792 0.296 0 0 0 50 StoveBurner 1.007 0.957 0.561 0 270 0 51 Drawer -0.150 0.792 -1.496 0 0 0 52 Drawer -0.586 0.792 -1.496 0 0 0 53 StoveBurner 1.360 0.957 0.561 0 270 0 54 Drawer 0.024 0.792 0.296 0 0 0 55 Cabinet 1.079 0.400 -1.349 0 180 0 56 Cabinet 1.669 0.402 0.151 0 0 0 57 Cabinet 0.055 0.402 -1.351 0 0 0 58 Cabinet -0.180 0.402 0.151 0 0 0 59 Cabinet 0.729 0.402 0.151 0 0 0 60 StoveBurner 1.007 0.957 0.293 0 180 0 61 Drawer -1.100 0.792 -1.496 0 0 0 62 Cabinet -0.396 0.402 -1.351 0 0 0 63 CounterTop 1.776 0.947 0.458 0 0 0 64 Cabinet 1.974 1.688 -1.648 0 180 0 65 Cabinet -0.820 0.400 -1.349 0 180 0 66 Toaster 0.305 0.900 0.552 0 180 0 67 LightSwitch -2.756 1.307 -0.987 0 90 0 68 Window 0.582 1.613 -1.967 90 0 0 69 Window 1.969 1.5 -0.615 90 270 0 70 Microwave -1.037 0.900 -1.723 0 0 0 71 SinkBasin 0.377 0.765 -1.655 0 270 0 72 CoffeeMachine 0.618 0.900 0.600 0 180 0 73 StoveKnob 1.246 0.913 0.118 45 180 0 74 StoveKnob 1.373 0.913 0.118 45 180 0 75 StoveKnob 0.995 0.913 0.118 45 180 0 76 StoveKnob 1.126 0.913 0.118 45 180 0 77 GarbageCan -0.368 -0.029 0.539 0 90 0 78 Fridge -2.134 0.0 -1.690 0 0 0 79 Faucet 0.549 1.046 -1.833 0 232.527 0 80 Stool -1.475 0.000 0.414 1.233 280.375 0 81 DiningTable -2.255 -0.004 0.432 0 0 0 82 NorthWall 83 EastWall 84 SouthWall 85 WestWall
[ "STEP 1: Go to the sink ahead to your right. | STEP 2: Pull the egg in the back of the sink out. | STEP 3: Turn to your right and go to the microwave on your left, just before the refrigerator. | STEP 4: Place the egg in the microwave, heat it up, and remove the egg from the microwave. | STEP 5: Turn around and go to the green recycle bin, on the floor, across from you. | STEP 6: Place the egg in the recycle bin. | END" ]
[ [ "STEP 1: Go to the sink ahead to your right. ", " STEP 2: Pull the egg in the back of the sink out. ", " STEP 3: Turn to your right and go to the microwave on your left, just before the refrigerator. ", " STEP 4: Place the egg in the microwave, heat it up, and remove the egg from the microwave. ", " STEP 5: Turn around and go to the green recycle bin, on the floor, across from you. ", " STEP 6: Place the egg in the recycle bin. ", " END" ] ]
seen
trial_T20190908_215937_642226-1
Put a heated egg in a green bin.
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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 0.900 -0.25 0 90 0 1 DishSponge -2.614 0.951 0.614 0 90 0 81 2 Spatula 0.908 0.934 -1.649 0 90 0 46 3 Spatula -1.928 0.967 0.165 0 180 0 81 4 Plate 1.846 0.913 0.375 0 0 0 63 5 Knife 0.167 0.937 0.375 0 0 0 47 6 Knife -2.340 0.977 0.345 0 90 0 81 7 SoapBottle 0.701 0.918 -1.582 0 270 0 46 8 Tomato -2.614 1.001 0.435 0 90 0 81 9 Bowl -0.198 0.110 -1.545 0 0 0 57 10 SaltShaker -2.614 0.948 0.165 0 90 0 81 11 PepperShaker 1.601 0.908 0.458 0 0 0 63 12 PepperShaker 1.754 0.104 0.385 0 0 0 56 13 Bread -2.222 1.134 -1.763 0 0 0 78 14 Bread -2.203 1.035 0.255 0 90 0 81 15 Lettuce -1.791 1.042 0.255 0 90 0 81 16 Lettuce -1.959 0.871 -1.763 0 0 0 78 17 Mug -1.959 1.046 -1.677 0 0 0 78 18 Mug -2.065 0.947 0.255 0 90 0 81 19 Bread 1.300 0.978 -1.532 0 0 0 48 20 Knife -2.477 0.977 0.255 0 0 0 81 21 Fork 0.753 0.920 -1.449 0 0 0 46 22 Bowl -1.791 0.951 0.524 0 90 0 81 23 Kettle 1.361 0.962 0.561 0 270 0 53 24 Cup 0.035 0.910 0.209 0 0 0 47 25 Tomato 1.658 0.961 -1.737 0 0 0 48 26 SoapBottle 0.300 0.910 0.209 0 0 0 47 27 Plate 0.394 0.109 -1.509 0 180 0 45 28 Pot 1.007 0.962 0.561 0 270 0 50 29 Spatula 0.649 0.934 -1.782 0 90 0 46 30 PaperTowelRoll -0.329 0.174 0.612 0 90 0 77 31 Egg 0.377 0.811 -1.745 0 270 0 71 32 Lettuce -1.959 0.601 -1.763 0 0 0 78 33 SaltShaker 1.601 0.908 0.706 0 0 0 63 34 PepperShaker 1.846 0.908 0.623 0 0 0 63 35 Apple -0.872 1.082 -1.803 0 0 0 70 36 ButterKnife 1.412 0.901 -1.406 0 0 0 48 37 Potato 0.753 0.949 -1.715 0 270 0 46 38 Pan 1.022 0.959 0.288 0 219.190 0 60 39 DishSponge 1.828 1.328 -1.846 0 180 0 64 40 Spoon -2.203 0.953 0.435 0 90 0 81 41 Mug -2.31 0.775 -1.849 0 0 0 78 42 Cabinet -0.193 1.688 -1.648 0 180 0 43 StoveBurner 1.360 0.957 0.293 0 180 0 44 Drawer 0.499 0.792 0.296 0 0 0 45 Cabinet 0.095 0.400 -1.352 0 180 0 46 Sink 0.711 0.817 -1.772 0 270 0 47 CounterTop 0.280 0.947 0.458 0 0 0 48 CounterTop -0.680 0.947 -1.654 0 0 0 49 Drawer 1.825 0.792 0.296 0 0 0 50 StoveBurner 1.007 0.957 0.561 0 270 0 51 Drawer -0.150 0.792 -1.496 0 0 0 52 Drawer -0.586 0.792 -1.496 0 0 0 53 StoveBurner 1.360 0.957 0.561 0 270 0 54 Drawer 0.024 0.792 0.296 0 0 0 55 Cabinet 1.079 0.400 -1.349 0 180 0 56 Cabinet 1.669 0.402 0.151 0 0 0 57 Cabinet 0.055 0.402 -1.351 0 0 0 58 Cabinet -0.180 0.402 0.151 0 0 0 59 Cabinet 0.729 0.402 0.151 0 0 0 60 StoveBurner 1.007 0.957 0.293 0 180 0 61 Drawer -1.100 0.792 -1.496 0 0 0 62 Cabinet -0.396 0.402 -1.351 0 0 0 63 CounterTop 1.776 0.947 0.458 0 0 0 64 Cabinet 1.974 1.688 -1.648 0 180 0 65 Cabinet -0.820 0.400 -1.349 0 180 0 66 Toaster 0.305 0.900 0.552 0 180 0 67 LightSwitch -2.756 1.307 -0.987 0 90 0 68 Window 0.582 1.613 -1.967 90 0 0 69 Window 1.969 1.5 -0.615 90 270 0 70 Microwave -1.037 0.900 -1.723 0 0 0 71 SinkBasin 0.377 0.765 -1.655 0 270 0 72 CoffeeMachine 0.618 0.900 0.600 0 180 0 73 StoveKnob 1.246 0.913 0.118 45 180 0 74 StoveKnob 1.373 0.913 0.118 45 180 0 75 StoveKnob 0.995 0.913 0.118 45 180 0 76 StoveKnob 1.126 0.913 0.118 45 180 0 77 GarbageCan -0.368 -0.029 0.539 0 90 0 78 Fridge -2.134 0.0 -1.690 0 0 0 79 Faucet 0.549 1.046 -1.833 0 232.527 0 80 Stool -1.475 0.000 0.414 1.233 280.375 0 81 DiningTable -2.255 -0.004 0.432 0 0 0 82 NorthWall 83 EastWall 84 SouthWall 85 WestWall
[ "STEP 1: Begin walking across the room, then hang a right and walk up to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Turn right and walk over to the microwave on the counter. | STEP 4: Heat up the egg in the microwave, then take it out and close the microwave. | STEP 5: Turn around and walk to the wall, then turn right and walk up to the green bin next to the counter. | STEP 6: Put the heated egg in the green bin. | END" ]
[ [ "STEP 1: Begin walking across the room, then hang a right and walk up to the sink. ", " STEP 2: Pick up the egg out of the sink. ", " STEP 3: Turn right and walk over to the microwave on the counter. ", " STEP 4: Heat up the egg in the microwave, then take it out and close the microwave. ", " STEP 5: Turn around and walk to the wall, then turn right and walk up to the green bin next to the counter. ", " STEP 6: Put the heated egg in the green bin. ", " END" ] ]
seen
trial_T20190908_215937_642226-2
Heat an egg and place it in a green bin.
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" 0", " 0", " 0", "" ], [ "50", " StoveBurner", " 1.007", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "51", " Drawer", " -0.150", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "52", " Drawer", " -0.586", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " 1.360", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "54", " Drawer", " 0.024", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 1.079", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "56", " Cabinet", " 1.669", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 0.055", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.180", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 0.729", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " 1.007", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "61", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "63", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "65", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "66", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "67", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "68", " Window", " 0.582", " 1.613", " -1.967", " 90", " 0", " 0", "" ], [ "69", " Window", " 1.969", " 1.5", " -0.615", " 90", " 270", " 0", "" ], [ "70", " Microwave", " -1.037", " 0.900", " -1.723", " 0", " 0", " 0", "" ], [ "71", " SinkBasin", " 0.377", " 0.765", " -1.655", " 0", " 270", " 0", "" ], [ "72", " CoffeeMachine", " 0.618", " 0.900", " 0.600", " 0", " 180", " 0", "" ], [ "73", " StoveKnob", " 1.246", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "74", " StoveKnob", " 1.373", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "75", " StoveKnob", " 0.995", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "76", " StoveKnob", " 1.126", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "77", " GarbageCan", " -0.368", " -0.029", " 0.539", " 0", " 90", " 0", "" ], [ "78", " Fridge", " -2.134", " 0.0", " -1.690", " 0", " 0", " 0", "" ], [ "79", " Faucet", " 0.549", " 1.046", " -1.833", " 0", " 232.527", " 0", "" ], [ "80", " Stool", " -1.475", " 0.000", " 0.414", " 1.233", " 280.375", " 0", "" ], [ "81", " DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "82", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 -0.25 0 90 0 1 DishSponge -2.614 0.951 0.614 0 90 0 81 2 Spatula 0.908 0.934 -1.649 0 90 0 46 3 Spatula -1.928 0.967 0.165 0 180 0 81 4 Plate 1.846 0.913 0.375 0 0 0 63 5 Knife 0.167 0.937 0.375 0 0 0 47 6 Knife -2.340 0.977 0.345 0 90 0 81 7 SoapBottle 0.701 0.918 -1.582 0 270 0 46 8 Tomato -2.614 1.001 0.435 0 90 0 81 9 Bowl -0.198 0.110 -1.545 0 0 0 57 10 SaltShaker -2.614 0.948 0.165 0 90 0 81 11 PepperShaker 1.601 0.908 0.458 0 0 0 63 12 PepperShaker 1.754 0.104 0.385 0 0 0 56 13 Bread -2.222 1.134 -1.763 0 0 0 78 14 Bread -2.203 1.035 0.255 0 90 0 81 15 Lettuce -1.791 1.042 0.255 0 90 0 81 16 Lettuce -1.959 0.871 -1.763 0 0 0 78 17 Mug -1.959 1.046 -1.677 0 0 0 78 18 Mug -2.065 0.947 0.255 0 90 0 81 19 Bread 1.300 0.978 -1.532 0 0 0 48 20 Knife -2.477 0.977 0.255 0 0 0 81 21 Fork 0.753 0.920 -1.449 0 0 0 46 22 Bowl -1.791 0.951 0.524 0 90 0 81 23 Kettle 1.361 0.962 0.561 0 270 0 53 24 Cup 0.035 0.910 0.209 0 0 0 47 25 Tomato 1.658 0.961 -1.737 0 0 0 48 26 SoapBottle 0.300 0.910 0.209 0 0 0 47 27 Plate 0.394 0.109 -1.509 0 180 0 45 28 Pot 1.007 0.962 0.561 0 270 0 50 29 Spatula 0.649 0.934 -1.782 0 90 0 46 30 PaperTowelRoll -0.329 0.174 0.612 0 90 0 77 31 Egg 0.377 0.811 -1.745 0 270 0 71 32 Lettuce -1.959 0.601 -1.763 0 0 0 78 33 SaltShaker 1.601 0.908 0.706 0 0 0 63 34 PepperShaker 1.846 0.908 0.623 0 0 0 63 35 Apple -0.872 1.082 -1.803 0 0 0 70 36 ButterKnife 1.412 0.901 -1.406 0 0 0 48 37 Potato 0.753 0.949 -1.715 0 270 0 46 38 Pan 1.022 0.959 0.288 0 219.190 0 60 39 DishSponge 1.828 1.328 -1.846 0 180 0 64 40 Spoon -2.203 0.953 0.435 0 90 0 81 41 Mug -2.31 0.775 -1.849 0 0 0 78 42 Cabinet -0.193 1.688 -1.648 0 180 0 43 StoveBurner 1.360 0.957 0.293 0 180 0 44 Drawer 0.499 0.792 0.296 0 0 0 45 Cabinet 0.095 0.400 -1.352 0 180 0 46 Sink 0.711 0.817 -1.772 0 270 0 47 CounterTop 0.280 0.947 0.458 0 0 0 48 CounterTop -0.680 0.947 -1.654 0 0 0 49 Drawer 1.825 0.792 0.296 0 0 0 50 StoveBurner 1.007 0.957 0.561 0 270 0 51 Drawer -0.150 0.792 -1.496 0 0 0 52 Drawer -0.586 0.792 -1.496 0 0 0 53 StoveBurner 1.360 0.957 0.561 0 270 0 54 Drawer 0.024 0.792 0.296 0 0 0 55 Cabinet 1.079 0.400 -1.349 0 180 0 56 Cabinet 1.669 0.402 0.151 0 0 0 57 Cabinet 0.055 0.402 -1.351 0 0 0 58 Cabinet -0.180 0.402 0.151 0 0 0 59 Cabinet 0.729 0.402 0.151 0 0 0 60 StoveBurner 1.007 0.957 0.293 0 180 0 61 Drawer -1.100 0.792 -1.496 0 0 0 62 Cabinet -0.396 0.402 -1.351 0 0 0 63 CounterTop 1.776 0.947 0.458 0 0 0 64 Cabinet 1.974 1.688 -1.648 0 180 0 65 Cabinet -0.820 0.400 -1.349 0 180 0 66 Toaster 0.305 0.900 0.552 0 180 0 67 LightSwitch -2.756 1.307 -0.987 0 90 0 68 Window 0.582 1.613 -1.967 90 0 0 69 Window 1.969 1.5 -0.615 90 270 0 70 Microwave -1.037 0.900 -1.723 0 0 0 71 SinkBasin 0.377 0.765 -1.655 0 270 0 72 CoffeeMachine 0.618 0.900 0.600 0 180 0 73 StoveKnob 1.246 0.913 0.118 45 180 0 74 StoveKnob 1.373 0.913 0.118 45 180 0 75 StoveKnob 0.995 0.913 0.118 45 180 0 76 StoveKnob 1.126 0.913 0.118 45 180 0 77 GarbageCan -0.368 -0.029 0.539 0 90 0 78 Fridge -2.134 0.0 -1.690 0 0 0 79 Faucet 0.549 1.046 -1.833 0 232.527 0 80 Stool -1.475 0.000 0.414 1.233 280.375 0 81 DiningTable -2.255 -0.004 0.432 0 0 0 82 NorthWall 83 EastWall 84 SouthWall 85 WestWall
[ "STEP 1: Go forward and turn to the right and face the sink. | STEP 2: Pick up the egg from the sink. | STEP 3: Turn right again and go forward to the microwave. Turn left to face the microwave. | STEP 4: Place the egg in the microwave and heat it. Then take the egg out. | STEP 5: Turn around completely and go forward then turn to the right to face the green bin. | STEP 6: Place the egg inside the green bin. | END" ]
[ [ "STEP 1: Go forward and turn to the right and face the sink. ", " STEP 2: Pick up the egg from the sink. ", " STEP 3: Turn right again and go forward to the microwave. Turn left to face the microwave. ", " STEP 4: Place the egg in the microwave and heat it. Then take the egg out. ", " STEP 5: Turn around completely and go forward then turn to the right to face the green bin. ", " STEP 6: Place the egg inside the green bin. ", " END" ] ]
seen
trial_T20190907_161432_130014-0
Rinse a cloth and place it in the bath tub.
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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 0.902 2.0 0 90 0 1 Cloth -2.707 0.092 3.039 0 0 0 34 2 Cloth -2.826 0.929 1.757 0 0 0 35 3 Cloth -2.712 0.745 3.385 0 0 0 31 4 SoapBar -2.762 0.937 2.455 0 90 0 43 5 DishSponge -2.736 0.939 2.006 0 90 0 43 6 SoapBottle -2.530 0.928 1.800 0 0 0 35 7 Towel -0.106 1.510 1.943 0 270 0 37 8 Candle -2.792 1.214 1.400 0 270 0 36 9 SoapBottle -2.609 0.088 2.276 0 0 0 24 10 HandTowel -2.698 1.521 2.867 0 0 0 38 11 Plunger -2.837 0.001 0.131 0 0 0 Floor|-00.99| 12 SoapBar -2.491 0.745 3.167 0 0 0 31 13 ToiletPaper -2.328 0.791 0.079 0 0 270 40 14 Cloth -2.701 1.206 1.460 0 270 0 36 15 ToiletPaper -2.927 1.197 1.459 0 0 0 36 16 SprayBottle -0.230 0.057 0.216 0 270 0 41 17 PaperTowelRoll -2.338 1.311 1.400 0 270 0 36 18 ScrubBrush -2.831 0.001 0.295 0 0 0 Floor|-00.99| 19 DishSponge -2.656 0.746 3.167 0 0 0 31 20 Cabinet -2.410 0.371 2.862 0 0 0 21 Mirror -2.973 1.613 2.265 0 0 0 22 Bathtub -0.435 0.182 1.575 0 0 0 23 Cabinet -2.410 0.371 3.570 0 0 0 24 Cabinet -2.410 0.371 2.040 0 0 0 25 Cabinet -2.410 1.261 2.913 0 0 0 26 Faucet -0.769 0.416 1.0 0 9.958 0 27 Cabinet -2.410 1.261 3.570 0 0 0 28 Sink -2.723 0.862 2.231 0 90 0 29 Cabinet -2.410 2.022 2.913 0 0 0 30 Cabinet -2.410 0.371 1.585 0 0 0 31 Drawer -2.638 0.767 3.239 0 0 0 32 Cabinet -2.410 2.022 3.570 0 0 0 33 Faucet -2.928 0.978 2.231 0 90 0 34 Cabinet -2.410 0.371 2.913 0 0 0 35 CounterTop -2.688 0.966 2.260 0 0 0 36 CounterTop -2.611 1.243 1.455 0 270 0 37 TowelHolder 0.0 1.496 1.942 0 270 0 38 HandTowelHolder -2.698 1.623 2.906 0 90 0 39 Window -2.256 1.656 -0.021 90 0 0 40 ToiletPaperHanger -2.288 0.910 0.000 0 0 0 41 GarbageCan -0.403 -0.027 0.241 0 0 0 42 BathtubBasin -0.435 0.185 1.544 0 0 0 43 SinkBasin -2.736 0.929 2.241 0 90 0 44 LightSwitch -1.675 1.442 3.610 0 180 0 45 Toilet -2.579 0.032 0.656 0 180 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Turn around to go to the counter. | STEP 2: Pick the purple cloth from the back of the counter. | STEP 3: Take the cloth and move a few steps to the right. | STEP 4: Place the cloth in the sink and turn the water on. Turn the water off and pick up the cloth. | STEP 5: Take the cloth and turn around, then to the right to find the bath tub. | STEP 6: Place the cloth in the bath tub. | END" ]
[ [ "STEP 1: Turn around to go to the counter. ", " STEP 2: Pick the purple cloth from the back of the counter. ", " STEP 3: Take the cloth and move a few steps to the right. ", " STEP 4: Place the cloth in the sink and turn the water on. Turn the water off and pick up the cloth. ", " STEP 5: Take the cloth and turn around, then to the right to find the bath tub. ", " STEP 6: Place the cloth in the bath tub. ", " END" ] ]
seen
trial_T20190907_161432_130014-1
Put a wet cloth in the tub.
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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 0.902 2.0 0 90 0 1 Cloth -2.707 0.092 3.039 0 0 0 34 2 Cloth -2.826 0.929 1.757 0 0 0 35 3 Cloth -2.712 0.745 3.385 0 0 0 31 4 SoapBar -2.762 0.937 2.455 0 90 0 43 5 DishSponge -2.736 0.939 2.006 0 90 0 43 6 SoapBottle -2.530 0.928 1.800 0 0 0 35 7 Towel -0.106 1.510 1.943 0 270 0 37 8 Candle -2.792 1.214 1.400 0 270 0 36 9 SoapBottle -2.609 0.088 2.276 0 0 0 24 10 HandTowel -2.698 1.521 2.867 0 0 0 38 11 Plunger -2.837 0.001 0.131 0 0 0 Floor|-00.99| 12 SoapBar -2.491 0.745 3.167 0 0 0 31 13 ToiletPaper -2.328 0.791 0.079 0 0 270 40 14 Cloth -2.701 1.206 1.460 0 270 0 36 15 ToiletPaper -2.927 1.197 1.459 0 0 0 36 16 SprayBottle -0.230 0.057 0.216 0 270 0 41 17 PaperTowelRoll -2.338 1.311 1.400 0 270 0 36 18 ScrubBrush -2.831 0.001 0.295 0 0 0 Floor|-00.99| 19 DishSponge -2.656 0.746 3.167 0 0 0 31 20 Cabinet -2.410 0.371 2.862 0 0 0 21 Mirror -2.973 1.613 2.265 0 0 0 22 Bathtub -0.435 0.182 1.575 0 0 0 23 Cabinet -2.410 0.371 3.570 0 0 0 24 Cabinet -2.410 0.371 2.040 0 0 0 25 Cabinet -2.410 1.261 2.913 0 0 0 26 Faucet -0.769 0.416 1.0 0 9.958 0 27 Cabinet -2.410 1.261 3.570 0 0 0 28 Sink -2.723 0.862 2.231 0 90 0 29 Cabinet -2.410 2.022 2.913 0 0 0 30 Cabinet -2.410 0.371 1.585 0 0 0 31 Drawer -2.638 0.767 3.239 0 0 0 32 Cabinet -2.410 2.022 3.570 0 0 0 33 Faucet -2.928 0.978 2.231 0 90 0 34 Cabinet -2.410 0.371 2.913 0 0 0 35 CounterTop -2.688 0.966 2.260 0 0 0 36 CounterTop -2.611 1.243 1.455 0 270 0 37 TowelHolder 0.0 1.496 1.942 0 270 0 38 HandTowelHolder -2.698 1.623 2.906 0 90 0 39 Window -2.256 1.656 -0.021 90 0 0 40 ToiletPaperHanger -2.288 0.910 0.000 0 0 0 41 GarbageCan -0.403 -0.027 0.241 0 0 0 42 BathtubBasin -0.435 0.185 1.544 0 0 0 43 SinkBasin -2.736 0.929 2.241 0 90 0 44 LightSwitch -1.675 1.442 3.610 0 180 0 45 Toilet -2.579 0.032 0.656 0 180 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Turn around and walk to the counter in front of you then take a step left. | STEP 2: Pick up the purple cloth above the soap dispenser. | STEP 3: Take a step to your right. | STEP 4: Get the cloth wet in the sink then get it back out and close the tap. | STEP 5: Turn right and walk to the wall then turn right and walk to the tub and turn right. | STEP 6: Put the purple cloth in the tub. | END" ]
[ [ "STEP 1: Turn around and walk to the counter in front of you then take a step left. ", " STEP 2: Pick up the purple cloth above the soap dispenser. ", " STEP 3: Take a step to your right. ", " STEP 4: Get the cloth wet in the sink then get it back out and close the tap. ", " STEP 5: Turn right and walk to the wall then turn right and walk to the tub and turn right. ", " STEP 6: Put the purple cloth in the tub. ", " END" ] ]
seen
trial_T20190907_161432_130014-2
Put clean rag in the tub
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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 0.902 2.0 0 90 0 1 Cloth -2.707 0.092 3.039 0 0 0 34 2 Cloth -2.826 0.929 1.757 0 0 0 35 3 Cloth -2.712 0.745 3.385 0 0 0 31 4 SoapBar -2.762 0.937 2.455 0 90 0 43 5 DishSponge -2.736 0.939 2.006 0 90 0 43 6 SoapBottle -2.530 0.928 1.800 0 0 0 35 7 Towel -0.106 1.510 1.943 0 270 0 37 8 Candle -2.792 1.214 1.400 0 270 0 36 9 SoapBottle -2.609 0.088 2.276 0 0 0 24 10 HandTowel -2.698 1.521 2.867 0 0 0 38 11 Plunger -2.837 0.001 0.131 0 0 0 Floor|-00.99| 12 SoapBar -2.491 0.745 3.167 0 0 0 31 13 ToiletPaper -2.328 0.791 0.079 0 0 270 40 14 Cloth -2.701 1.206 1.460 0 270 0 36 15 ToiletPaper -2.927 1.197 1.459 0 0 0 36 16 SprayBottle -0.230 0.057 0.216 0 270 0 41 17 PaperTowelRoll -2.338 1.311 1.400 0 270 0 36 18 ScrubBrush -2.831 0.001 0.295 0 0 0 Floor|-00.99| 19 DishSponge -2.656 0.746 3.167 0 0 0 31 20 Cabinet -2.410 0.371 2.862 0 0 0 21 Mirror -2.973 1.613 2.265 0 0 0 22 Bathtub -0.435 0.182 1.575 0 0 0 23 Cabinet -2.410 0.371 3.570 0 0 0 24 Cabinet -2.410 0.371 2.040 0 0 0 25 Cabinet -2.410 1.261 2.913 0 0 0 26 Faucet -0.769 0.416 1.0 0 9.958 0 27 Cabinet -2.410 1.261 3.570 0 0 0 28 Sink -2.723 0.862 2.231 0 90 0 29 Cabinet -2.410 2.022 2.913 0 0 0 30 Cabinet -2.410 0.371 1.585 0 0 0 31 Drawer -2.638 0.767 3.239 0 0 0 32 Cabinet -2.410 2.022 3.570 0 0 0 33 Faucet -2.928 0.978 2.231 0 90 0 34 Cabinet -2.410 0.371 2.913 0 0 0 35 CounterTop -2.688 0.966 2.260 0 0 0 36 CounterTop -2.611 1.243 1.455 0 270 0 37 TowelHolder 0.0 1.496 1.942 0 270 0 38 HandTowelHolder -2.698 1.623 2.906 0 90 0 39 Window -2.256 1.656 -0.021 90 0 0 40 ToiletPaperHanger -2.288 0.910 0.000 0 0 0 41 GarbageCan -0.403 -0.027 0.241 0 0 0 42 BathtubBasin -0.435 0.185 1.544 0 0 0 43 SinkBasin -2.736 0.929 2.241 0 90 0 44 LightSwitch -1.675 1.442 3.610 0 180 0 45 Toilet -2.579 0.032 0.656 0 180 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Turn to your right then face the sink counter | STEP 2: Pick up the dirty rag on the left side of the sink counter | STEP 3: Turn to your right and move closely to the sink | STEP 4: Put the dirty rag on the sink and rinse it | STEP 5: Pick up the clean rag then turn around to your right head to the tub | STEP 6: Put the clean rag in the tub | END" ]
[ [ "STEP 1: Turn to your right then face the sink counter ", " STEP 2: Pick up the dirty rag on the left side of the sink counter ", " STEP 3: Turn to your right and move closely to the sink ", " STEP 4: Put the dirty rag on the sink and rinse it ", " STEP 5: Pick up the clean rag then turn around to your right head to the tub ", " STEP 6: Put the clean rag in the tub ", " END" ] ]
seen
trial_T20190908_163125_420468-0
Put the cloth on top of 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 0.901 -0.25 0 270 0 1 Cloth -2.770 0.078 -1.489 0 0 0 25 2 SoapBar -2.87 0.995 -1.249 0 0 0 20 3 SprayBottle -0.679 1.046 -3.765 0 0 0 33 4 SoapBottle -2.669 0.082 -2.086 0 180 0 19 5 ToiletPaper -0.679 1.042 -3.856 0 0 0 33 6 Towel -1.051 1.535 -2.887 0 90 0 26 7 HandTowel -2.591 1.635 -0.047 0 0 0 28 8 SoapBar -2.707 0.927 -0.694 351.180 90 0 35 9 ToiletPaper -0.084 0.902 -3.286 0 270 90 33 10 ToiletPaper -2.821 0.076 -1.925 0 0 0 19 11 SoapBottle -2.669 0.082 -1.978 0 0 0 19 12 Candle -2.867 0.996 -0.292 0 0 0 20 13 ScrubBrush -1.048 0.000 -3.830 0 0 0 29 14 Plunger -1.066 0.000 -3.527 0 0 0 Floor|-00.04| 15 Cloth -2.719 0.079 -1.008 0 0 0 21 16 SprayBottle -2.678 0.996 -2.188 0 0 0 20 17 ShowerDoor -2.204 1.044 -2.503 0 0 0 18 Mirror -2.947 1.559 -1.194 0 0 0 19 Cabinet -2.504 0.400 -2.208 0 0 0 20 CounterTop -2.744 0.986 -1.243 0 0 0 21 Cabinet -2.504 0.400 -1.238 0 0 0 22 ShowerGlass -2.079 1.482 -3.264 0 0 0 23 Cabinet -2.508 0.426 -0.290 0 0 0 24 Sink -2.907 0.986 -1.761 0 90 0 25 Cabinet -2.508 0.426 -1.260 0 0 0 26 TowelHolder -1.158 1.521 -2.887 0 90 0 27 ToiletPaperHanger 0.0 0.984 -2.651 0 270 0 28 HandTowelHolder -2.591 1.737 -0.009 0 90 0 29 GarbageCan -0.908 -0.031 -3.646 0 90 0 30 Window -0.566 1.730 -4.102 90 0 0 31 LightSwitch -1.332 1.391 0.001 0 180 0 32 SinkBasin -2.724 0.916 -1.755 351.180 90 0 33 Toilet -0.319 0.000 -3.533 0 90 0 34 Faucet -2.907 0.993 -1.761 0 90 0 35 SinkBasin -2.724 0.916 -0.726 351.180 90 0 36 Sink -2.907 0.986 -0.732 0 90 0 37 Faucet -2.907 0.993 -0.731 0 90 0 38 ShowerHead -2.868 1.219 -3.223 0 180 0 39 EastWall 40 EastWall 41 SouthWall
[ "STEP 1: Turn left then walk to the cabinet under the left side of the sink | STEP 2: Open the second cabinet and pick up the red cloth | STEP 3: Turn around to your left and walk straight to the toilet tank | STEP 4: Put the red cloth on the tank beside the spray bottle | END" ]
[ [ "STEP 1: Turn left then walk to the cabinet under the left side of the sink ", " STEP 2: Open the second cabinet and pick up the red cloth ", " STEP 3: Turn around to your left and walk straight to the toilet tank ", " STEP 4: Put the red cloth on the tank beside the spray bottle ", " END" ] ]
seen
trial_T20190908_163125_420468-1
Move a red towel 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 -0.75 0.901 -0.25 0 270 0 1 Cloth -2.770 0.078 -1.489 0 0 0 25 2 SoapBar -2.87 0.995 -1.249 0 0 0 20 3 SprayBottle -0.679 1.046 -3.765 0 0 0 33 4 SoapBottle -2.669 0.082 -2.086 0 180 0 19 5 ToiletPaper -0.679 1.042 -3.856 0 0 0 33 6 Towel -1.051 1.535 -2.887 0 90 0 26 7 HandTowel -2.591 1.635 -0.047 0 0 0 28 8 SoapBar -2.707 0.927 -0.694 351.180 90 0 35 9 ToiletPaper -0.084 0.902 -3.286 0 270 90 33 10 ToiletPaper -2.821 0.076 -1.925 0 0 0 19 11 SoapBottle -2.669 0.082 -1.978 0 0 0 19 12 Candle -2.867 0.996 -0.292 0 0 0 20 13 ScrubBrush -1.048 0.000 -3.830 0 0 0 29 14 Plunger -1.066 0.000 -3.527 0 0 0 Floor|-00.04| 15 Cloth -2.719 0.079 -1.008 0 0 0 21 16 SprayBottle -2.678 0.996 -2.188 0 0 0 20 17 ShowerDoor -2.204 1.044 -2.503 0 0 0 18 Mirror -2.947 1.559 -1.194 0 0 0 19 Cabinet -2.504 0.400 -2.208 0 0 0 20 CounterTop -2.744 0.986 -1.243 0 0 0 21 Cabinet -2.504 0.400 -1.238 0 0 0 22 ShowerGlass -2.079 1.482 -3.264 0 0 0 23 Cabinet -2.508 0.426 -0.290 0 0 0 24 Sink -2.907 0.986 -1.761 0 90 0 25 Cabinet -2.508 0.426 -1.260 0 0 0 26 TowelHolder -1.158 1.521 -2.887 0 90 0 27 ToiletPaperHanger 0.0 0.984 -2.651 0 270 0 28 HandTowelHolder -2.591 1.737 -0.009 0 90 0 29 GarbageCan -0.908 -0.031 -3.646 0 90 0 30 Window -0.566 1.730 -4.102 90 0 0 31 LightSwitch -1.332 1.391 0.001 0 180 0 32 SinkBasin -2.724 0.916 -1.755 351.180 90 0 33 Toilet -0.319 0.000 -3.533 0 90 0 34 Faucet -2.907 0.993 -1.761 0 90 0 35 SinkBasin -2.724 0.916 -0.726 351.180 90 0 36 Sink -2.907 0.986 -0.732 0 90 0 37 Faucet -2.907 0.993 -0.731 0 90 0 38 ShowerHead -2.868 1.219 -3.223 0 180 0 39 EastWall 40 EastWall 41 SouthWall
[ "STEP 1: Move to the sink counter top on the right side of the room | STEP 2: Open the second sink cupboard form the left, remove the red towel inside then shut the cupboard | STEP 3: Carry the red towel over to the toilet on the far left corner of the room | STEP 4: Place the red towel on top of the back of the toilet tank to the left of the purple spray bottle | END" ]
[ [ "STEP 1: Move to the sink counter top on the right side of the room ", " STEP 2: Open the second sink cupboard form the left, remove the red towel inside then shut the cupboard ", " STEP 3: Carry the red towel over to the toilet on the far left corner of the room ", " STEP 4: Place the red towel on top of the back of the toilet tank to the left of the purple spray bottle ", " END" ] ]
seen
trial_T20190908_163125_420468-2
Put a wash cloth on the toilet.
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[ "STEP 1: Walk to stand in front of the left sink that's to your left. | STEP 2: Open the cabinet that's under the right side of the left sink then pick up the red cloth before you close the door. | STEP 3: Turn around and walk to the wall then turn right and walk to the toilet. | STEP 4: Put the cloth to the left of the purple spray bottle. | END" ]
[ [ "STEP 1: Walk to stand in front of the left sink that's to your left. ", " STEP 2: Open the cabinet that's under the right side of the left sink then pick up the red cloth before you close the door. ", " STEP 3: Turn around and walk to the wall then turn right and walk to the toilet. ", " STEP 4: Put the cloth to the left of the purple spray bottle. ", " END" ] ]
seen
trial_T20190907_075451_036053-0
Warm up a mug 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 0.5 0.900 1.25 0 270 0 1 Pan -0.465 0.950 -2.372 0 90 0 58 2 Statue -0.059 1.110 -0.001 0 0 0 60 3 Potato -1.742 0.800 -1.328 0 90 0 95 4 Potato -1.999 1.533 0.841 0 90 0 93 5 Plate -2.081 1.499 1.260 0 90 0 93 6 Plate 0.355 1.108 0.251 0 0 0 60 7 Cup -1.586 0.909 -2.560 0 0 0 85 8 Egg -1.937 1.341 1.343 0 90 0 93 9 Egg -1.611 0.946 -0.698 0 0 0 85 10 SoapBottle -1.605 0.137 -1.856 0 90 0 61 11 SaltShaker 0.582 0.907 -2.253 0 0 0 62 12 PepperShaker 0.950 0.138 -2.479 0 0 0 80 13 Apple -1.997 0.591 0.920 0 90 0 93 14 Knife -1.438 0.936 -2.329 0 0 0 85 15 Knife 0.582 0.936 -2.330 0 0 0 62 16 Fork 0.969 0.911 -2.484 0 0 0 62 17 Spoon 0.893 0.316 -2.334 0 0 0 64 18 Spoon -1.852 0.770 -1.673 0 90 0 95 19 Mug -2.040 1.497 1.008 0 90 0 93 20 Mug -0.335 1.106 -0.253 0 0 0 60 21 Mug 1.686 0.875 -2.563 0 180 0 87 22 Kettle -0.036 0.950 -2.372 0 270 0 55 23 DishSponge -1.935 0.047 1.933 0 270 0 91 24 DishSponge 1.478 0.552 -2.459 0 180 0 90 25 Book 0.155 1.1 0.617 0 315 0 60 26 Glassbottle 1.582 0.553 -2.562 0 180 0 90 27 Knife -0.335 1.136 0.757 0 0 0 60 28 Bread 1.098 0.983 -2.637 0 0 0 62 29 Fork 0.840 0.911 -2.637 0 0 0 62 30 Potato -0.335 1.142 -0.001 0 0 0 60 31 SoapBottle -1.962 0.048 2.124 0 270 0 91 32 Kettle -1.852 0.770 -1.501 0 90 0 95 33 Pan 0.721 0.9 -2.415 0 0 0 62 34 Plate -2.070 1.302 1.176 0 90 0 93 35 Tomato -1.774 0.950 -0.698 0 0 0 85 36 Vase 2.042 0.540 -2.495 0 0 0 90 37 Egg -1.935 0.083 2.029 0 270 0 91 38 CreditCard -1.574 0.908 -1.682 0 0 0 95 39 Statue 0.217 1.110 -0.253 0 0 0 60 40 WineBottle -0.473 1.112 -0.506 0 0 0 60 41 Pot -1.219 0.9 -2.356 0 0 0 85 42 Spatula -1.653 0.169 -0.293 0 0 0 83 43 PaperTowelRoll -1.438 1.015 -2.713 0 0 0 85 44 Cup -2.114 1.307 1.008 0 90 0 93 45 Vase 0.324 0.908 -2.484 0 0 0 62 46 Bowl -2.078 0.795 1.003 0 90 0 93 47 SaltShaker -0.059 1.107 -0.253 0 0 0 60 48 PepperShaker 0.453 0.907 -2.253 0 0 0 62 49 Lettuce -0.059 1.191 -0.506 0 0 0 60 50 ButterKnife -0.197 1.111 0.251 0 0 0 60 51 Apple 0.453 0.961 -2.714 0 0 0 62 52 DishSponge -1.852 0.769 -1.242 0 90 0 95 53 Spoon 0.324 0.911 -2.253 0 0 0 62 54 Mug 2.096 0.875 -2.563 0 180 0 87 55 StoveBurner -0.036 0.915 -2.372 0 0 0 56 Drawer 0.949 0.832 -2.197 0 0 0 57 Drawer -1.560 0.839 0.204 0 90 0 58 StoveBurner -0.465 0.915 -2.371 0 180 0 59 Drawer -1.560 0.839 -0.197 0 90 0 60 CounterTop -0.079 1.147 -0.001 0 0 0 61 Cabinet -1.549 0.494 -1.964 0 90 0 62 CounterTop 0.693 0.946 -2.483 0 0 0 63 StoveBurner -0.036 0.915 -2.576 0 0 0 64 Drawer 0.949 0.393 -2.200 0 0 0 65 Drawer 0.949 0.708 -2.200 0 0 0 66 Cabinet -1.549 0.494 0.379 0 90 0 67 StoveKnob -0.022 0.881 -2.187 45 0 0 68 Drawer 0.949 0.560 -2.201 0 0 0 69 StoveBurner -0.465 0.915 -2.575 0 180 0 70 Window -2.230 1.429 -1.203 0 0 0 71 StoveKnob -0.483 0.881 -2.187 45 0 0 72 Sink -1.899 0.964 -1.5 0 90 0 73 StoveKnob -0.328 0.881 -2.187 45 0 0 74 Cabinet -0.727 2.015 -2.460 0 0 0 75 Drawer -1.560 0.655 -0.196 0 90 0 76 Cabinet -1.685 2.015 -2.461 0 0 0 77 Cabinet 0.680 0.494 -2.200 0 0 0 78 Cabinet -1.179 0.494 -2.200 0 0 0 79 Cabinet -1.849 2.015 0.379 0 90 0 80 Drawer 0.949 0.221 -2.200 0 0 0 81 StoveKnob -0.183 0.881 -2.187 45 0 0 82 Cabinet 0.719 2.015 -2.460 0 0 0 83 Drawer -1.560 0.331 -0.196 0 90 0 84 Cabinet 0.680 2.015 -2.460 0 0 0 85 CounterTop -1.868 0.946 -1.205 0 0 0 86 Microwave -0.236 1.689 -2.525 0 0 0 87 Shelf 1.751 0.880 -2.560 0 0 0 88 HousePlant -1.948 0.889 -2.520 0 5.334 0 89 Toaster -1.835 0.900 0.134 0 90 0 90 Shelf 1.750 0.552 -2.559 0 0 0 91 GarbageCan -1.935 -0.002 2.029 0 270 0 92 Shelf 1.750 0.172 -2.559 0 0 0 93 Fridge -2.096 0.0 1.088 0 0 0 94 CoffeeMachine -1.977 0.900 -0.188 0 90 0 95 SinkBasin -1.908 0.759 -1.488 0 90 0 96 LightSwitch 2.329 1.309 -0.159 0 270 0 97 ShelvingUnit 1.750 0.006 -2.559 0 0 0 98 Stool 0.702 0.000 -0.514 1.202 65.108 0 99 Stool 0.743 0.000 0.563 1.227 106.706 0 100 Faucet -2.070 1.132 -1.514 0 0 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn around complete then go forward then turn right then go forward to the brown shelf. | STEP 2: Pick up the mug that is on the right side of the shelf. | STEP 3: Turn right and walk forward. Turn left to face the microwave. | STEP 4: Heat the mug in the microwave then take it out. | STEP 5: Turn around and go left. Walk straight forward to the shelf on your right. Turn and face the shelf. | STEP 6: Put the mug on the top shelf to the right of the other mug. | END" ]
[ [ "STEP 1: Turn around complete then go forward then turn right then go forward to the brown shelf. ", " STEP 2: Pick up the mug that is on the right side of the shelf. ", " STEP 3: Turn right and walk forward. Turn left to face the microwave. ", " STEP 4: Heat the mug in the microwave then take it out. ", " STEP 5: Turn around and go left. Walk straight forward to the shelf on your right. Turn and face the shelf. ", " STEP 6: Put the mug on the top shelf to the right of the other mug. ", " END" ] ]
seen
trial_T20190907_075451_036053-1
heat a white mug in a microwave
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0.582", " 0.907", " -2.253", " 0", " 0", " 0", " 62" ], [ "12", " PepperShaker", " 0.950", " 0.138", " -2.479", " 0", " 0", " 0", " 80" ], [ "13", " Apple", " -1.997", " 0.591", " 0.920", " 0", " 90", " 0", " 93" ], [ "14", " Knife", " -1.438", " 0.936", " -2.329", " 0", " 0", " 0", " 85" ], [ "15", " Knife", " 0.582", " 0.936", " -2.330", " 0", " 0", " 0", " 62" ], [ "16", " Fork", " 0.969", " 0.911", " -2.484", " 0", " 0", " 0", " 62" ], [ "17", " Spoon", " 0.893", " 0.316", " -2.334", " 0", " 0", " 0", " 64" ], [ "18", " Spoon", " -1.852", " 0.770", " -1.673", " 0", " 90", " 0", " 95" ], [ "19", " Mug", " -2.040", " 1.497", " 1.008", " 0", " 90", " 0", " 93" ], [ "20", " Mug", " -0.335", " 1.106", " -0.253", " 0", " 0", " 0", " 60" ], [ "21", " Mug", " 1.686", " 0.875", " -2.563", " 0", " 180", " 0", " 87" ], [ "22", " Kettle", " -0.036", " 0.950", " -2.372", " 0", " 270", " 0", " 55" ], [ "23", " DishSponge", " -1.935", " 0.047", " 1.933", " 0", " 270", " 0", " 91" ], [ "24", " 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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 1.25 0 270 0 1 Pan -0.465 0.950 -2.372 0 90 0 58 2 Statue -0.059 1.110 -0.001 0 0 0 60 3 Potato -1.742 0.800 -1.328 0 90 0 95 4 Potato -1.999 1.533 0.841 0 90 0 93 5 Plate -2.081 1.499 1.260 0 90 0 93 6 Plate 0.355 1.108 0.251 0 0 0 60 7 Cup -1.586 0.909 -2.560 0 0 0 85 8 Egg -1.937 1.341 1.343 0 90 0 93 9 Egg -1.611 0.946 -0.698 0 0 0 85 10 SoapBottle -1.605 0.137 -1.856 0 90 0 61 11 SaltShaker 0.582 0.907 -2.253 0 0 0 62 12 PepperShaker 0.950 0.138 -2.479 0 0 0 80 13 Apple -1.997 0.591 0.920 0 90 0 93 14 Knife -1.438 0.936 -2.329 0 0 0 85 15 Knife 0.582 0.936 -2.330 0 0 0 62 16 Fork 0.969 0.911 -2.484 0 0 0 62 17 Spoon 0.893 0.316 -2.334 0 0 0 64 18 Spoon -1.852 0.770 -1.673 0 90 0 95 19 Mug -2.040 1.497 1.008 0 90 0 93 20 Mug -0.335 1.106 -0.253 0 0 0 60 21 Mug 1.686 0.875 -2.563 0 180 0 87 22 Kettle -0.036 0.950 -2.372 0 270 0 55 23 DishSponge -1.935 0.047 1.933 0 270 0 91 24 DishSponge 1.478 0.552 -2.459 0 180 0 90 25 Book 0.155 1.1 0.617 0 315 0 60 26 Glassbottle 1.582 0.553 -2.562 0 180 0 90 27 Knife -0.335 1.136 0.757 0 0 0 60 28 Bread 1.098 0.983 -2.637 0 0 0 62 29 Fork 0.840 0.911 -2.637 0 0 0 62 30 Potato -0.335 1.142 -0.001 0 0 0 60 31 SoapBottle -1.962 0.048 2.124 0 270 0 91 32 Kettle -1.852 0.770 -1.501 0 90 0 95 33 Pan 0.721 0.9 -2.415 0 0 0 62 34 Plate -2.070 1.302 1.176 0 90 0 93 35 Tomato -1.774 0.950 -0.698 0 0 0 85 36 Vase 2.042 0.540 -2.495 0 0 0 90 37 Egg -1.935 0.083 2.029 0 270 0 91 38 CreditCard -1.574 0.908 -1.682 0 0 0 95 39 Statue 0.217 1.110 -0.253 0 0 0 60 40 WineBottle -0.473 1.112 -0.506 0 0 0 60 41 Pot -1.219 0.9 -2.356 0 0 0 85 42 Spatula -1.653 0.169 -0.293 0 0 0 83 43 PaperTowelRoll -1.438 1.015 -2.713 0 0 0 85 44 Cup -2.114 1.307 1.008 0 90 0 93 45 Vase 0.324 0.908 -2.484 0 0 0 62 46 Bowl -2.078 0.795 1.003 0 90 0 93 47 SaltShaker -0.059 1.107 -0.253 0 0 0 60 48 PepperShaker 0.453 0.907 -2.253 0 0 0 62 49 Lettuce -0.059 1.191 -0.506 0 0 0 60 50 ButterKnife -0.197 1.111 0.251 0 0 0 60 51 Apple 0.453 0.961 -2.714 0 0 0 62 52 DishSponge -1.852 0.769 -1.242 0 90 0 95 53 Spoon 0.324 0.911 -2.253 0 0 0 62 54 Mug 2.096 0.875 -2.563 0 180 0 87 55 StoveBurner -0.036 0.915 -2.372 0 0 0 56 Drawer 0.949 0.832 -2.197 0 0 0 57 Drawer -1.560 0.839 0.204 0 90 0 58 StoveBurner -0.465 0.915 -2.371 0 180 0 59 Drawer -1.560 0.839 -0.197 0 90 0 60 CounterTop -0.079 1.147 -0.001 0 0 0 61 Cabinet -1.549 0.494 -1.964 0 90 0 62 CounterTop 0.693 0.946 -2.483 0 0 0 63 StoveBurner -0.036 0.915 -2.576 0 0 0 64 Drawer 0.949 0.393 -2.200 0 0 0 65 Drawer 0.949 0.708 -2.200 0 0 0 66 Cabinet -1.549 0.494 0.379 0 90 0 67 StoveKnob -0.022 0.881 -2.187 45 0 0 68 Drawer 0.949 0.560 -2.201 0 0 0 69 StoveBurner -0.465 0.915 -2.575 0 180 0 70 Window -2.230 1.429 -1.203 0 0 0 71 StoveKnob -0.483 0.881 -2.187 45 0 0 72 Sink -1.899 0.964 -1.5 0 90 0 73 StoveKnob -0.328 0.881 -2.187 45 0 0 74 Cabinet -0.727 2.015 -2.460 0 0 0 75 Drawer -1.560 0.655 -0.196 0 90 0 76 Cabinet -1.685 2.015 -2.461 0 0 0 77 Cabinet 0.680 0.494 -2.200 0 0 0 78 Cabinet -1.179 0.494 -2.200 0 0 0 79 Cabinet -1.849 2.015 0.379 0 90 0 80 Drawer 0.949 0.221 -2.200 0 0 0 81 StoveKnob -0.183 0.881 -2.187 45 0 0 82 Cabinet 0.719 2.015 -2.460 0 0 0 83 Drawer -1.560 0.331 -0.196 0 90 0 84 Cabinet 0.680 2.015 -2.460 0 0 0 85 CounterTop -1.868 0.946 -1.205 0 0 0 86 Microwave -0.236 1.689 -2.525 0 0 0 87 Shelf 1.751 0.880 -2.560 0 0 0 88 HousePlant -1.948 0.889 -2.520 0 5.334 0 89 Toaster -1.835 0.900 0.134 0 90 0 90 Shelf 1.750 0.552 -2.559 0 0 0 91 GarbageCan -1.935 -0.002 2.029 0 270 0 92 Shelf 1.750 0.172 -2.559 0 0 0 93 Fridge -2.096 0.0 1.088 0 0 0 94 CoffeeMachine -1.977 0.900 -0.188 0 90 0 95 SinkBasin -1.908 0.759 -1.488 0 90 0 96 LightSwitch 2.329 1.309 -0.159 0 270 0 97 ShelvingUnit 1.750 0.006 -2.559 0 0 0 98 Stool 0.702 0.000 -0.514 1.202 65.108 0 99 Stool 0.743 0.000 0.563 1.227 106.706 0 100 Faucet -2.070 1.132 -1.514 0 0 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: turn left and walk to the wall, then turn right and walk to the three tier shelving unit | STEP 2: pick up the right most white mug off of the top shelf | STEP 3: turn right and walk to face the stove, then look up | STEP 4: open the microwave door, and place the mug inside. turn on the microwave for two seconds, then remove the mug and close the microwave door | STEP 5: look down and turn right. walk to face the shelving unit once more | STEP 6: place the mug down on the top shelf of the shelving unit to the right of the other white mug | END" ]
[ [ "STEP 1: turn left and walk to the wall, then turn right and walk to the three tier shelving unit ", " STEP 2: pick up the right most white mug off of the top shelf ", " STEP 3: turn right and walk to face the stove, then look up ", " STEP 4: open the microwave door, and place the mug inside. turn on the microwave for two seconds, then remove the mug and close the microwave door ", " STEP 5: look down and turn right. walk to face the shelving unit once more ", " STEP 6: place the mug down on the top shelf of the shelving unit to the right of the other white mug ", " END" ] ]
seen
trial_T20190907_075451_036053-2
Put a heated cup on the shelf.
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0.582", " 0.907", " -2.253", " 0", " 0", " 0", " 62" ], [ "12", " PepperShaker", " 0.950", " 0.138", " -2.479", " 0", " 0", " 0", " 80" ], [ "13", " Apple", " -1.997", " 0.591", " 0.920", " 0", " 90", " 0", " 93" ], [ "14", " Knife", " -1.438", " 0.936", " -2.329", " 0", " 0", " 0", " 85" ], [ "15", " Knife", " 0.582", " 0.936", " -2.330", " 0", " 0", " 0", " 62" ], [ "16", " Fork", " 0.969", " 0.911", " -2.484", " 0", " 0", " 0", " 62" ], [ "17", " Spoon", " 0.893", " 0.316", " -2.334", " 0", " 0", " 0", " 64" ], [ "18", " Spoon", " -1.852", " 0.770", " -1.673", " 0", " 90", " 0", " 95" ], [ "19", " Mug", " -2.040", " 1.497", " 1.008", " 0", " 90", " 0", " 93" ], [ "20", " Mug", " -0.335", " 1.106", " -0.253", " 0", " 0", " 0", " 60" ], [ "21", " Mug", " 1.686", " 0.875", " -2.563", " 0", " 180", " 0", " 87" ], [ "22", " Kettle", " -0.036", " 0.950", " -2.372", " 0", " 270", " 0", " 55" ], [ "23", " DishSponge", " -1.935", " 0.047", " 1.933", " 0", " 270", " 0", " 91" ], [ "24", " 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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 1.25 0 270 0 1 Pan -0.465 0.950 -2.372 0 90 0 58 2 Statue -0.059 1.110 -0.001 0 0 0 60 3 Potato -1.742 0.800 -1.328 0 90 0 95 4 Potato -1.999 1.533 0.841 0 90 0 93 5 Plate -2.081 1.499 1.260 0 90 0 93 6 Plate 0.355 1.108 0.251 0 0 0 60 7 Cup -1.586 0.909 -2.560 0 0 0 85 8 Egg -1.937 1.341 1.343 0 90 0 93 9 Egg -1.611 0.946 -0.698 0 0 0 85 10 SoapBottle -1.605 0.137 -1.856 0 90 0 61 11 SaltShaker 0.582 0.907 -2.253 0 0 0 62 12 PepperShaker 0.950 0.138 -2.479 0 0 0 80 13 Apple -1.997 0.591 0.920 0 90 0 93 14 Knife -1.438 0.936 -2.329 0 0 0 85 15 Knife 0.582 0.936 -2.330 0 0 0 62 16 Fork 0.969 0.911 -2.484 0 0 0 62 17 Spoon 0.893 0.316 -2.334 0 0 0 64 18 Spoon -1.852 0.770 -1.673 0 90 0 95 19 Mug -2.040 1.497 1.008 0 90 0 93 20 Mug -0.335 1.106 -0.253 0 0 0 60 21 Mug 1.686 0.875 -2.563 0 180 0 87 22 Kettle -0.036 0.950 -2.372 0 270 0 55 23 DishSponge -1.935 0.047 1.933 0 270 0 91 24 DishSponge 1.478 0.552 -2.459 0 180 0 90 25 Book 0.155 1.1 0.617 0 315 0 60 26 Glassbottle 1.582 0.553 -2.562 0 180 0 90 27 Knife -0.335 1.136 0.757 0 0 0 60 28 Bread 1.098 0.983 -2.637 0 0 0 62 29 Fork 0.840 0.911 -2.637 0 0 0 62 30 Potato -0.335 1.142 -0.001 0 0 0 60 31 SoapBottle -1.962 0.048 2.124 0 270 0 91 32 Kettle -1.852 0.770 -1.501 0 90 0 95 33 Pan 0.721 0.9 -2.415 0 0 0 62 34 Plate -2.070 1.302 1.176 0 90 0 93 35 Tomato -1.774 0.950 -0.698 0 0 0 85 36 Vase 2.042 0.540 -2.495 0 0 0 90 37 Egg -1.935 0.083 2.029 0 270 0 91 38 CreditCard -1.574 0.908 -1.682 0 0 0 95 39 Statue 0.217 1.110 -0.253 0 0 0 60 40 WineBottle -0.473 1.112 -0.506 0 0 0 60 41 Pot -1.219 0.9 -2.356 0 0 0 85 42 Spatula -1.653 0.169 -0.293 0 0 0 83 43 PaperTowelRoll -1.438 1.015 -2.713 0 0 0 85 44 Cup -2.114 1.307 1.008 0 90 0 93 45 Vase 0.324 0.908 -2.484 0 0 0 62 46 Bowl -2.078 0.795 1.003 0 90 0 93 47 SaltShaker -0.059 1.107 -0.253 0 0 0 60 48 PepperShaker 0.453 0.907 -2.253 0 0 0 62 49 Lettuce -0.059 1.191 -0.506 0 0 0 60 50 ButterKnife -0.197 1.111 0.251 0 0 0 60 51 Apple 0.453 0.961 -2.714 0 0 0 62 52 DishSponge -1.852 0.769 -1.242 0 90 0 95 53 Spoon 0.324 0.911 -2.253 0 0 0 62 54 Mug 2.096 0.875 -2.563 0 180 0 87 55 StoveBurner -0.036 0.915 -2.372 0 0 0 56 Drawer 0.949 0.832 -2.197 0 0 0 57 Drawer -1.560 0.839 0.204 0 90 0 58 StoveBurner -0.465 0.915 -2.371 0 180 0 59 Drawer -1.560 0.839 -0.197 0 90 0 60 CounterTop -0.079 1.147 -0.001 0 0 0 61 Cabinet -1.549 0.494 -1.964 0 90 0 62 CounterTop 0.693 0.946 -2.483 0 0 0 63 StoveBurner -0.036 0.915 -2.576 0 0 0 64 Drawer 0.949 0.393 -2.200 0 0 0 65 Drawer 0.949 0.708 -2.200 0 0 0 66 Cabinet -1.549 0.494 0.379 0 90 0 67 StoveKnob -0.022 0.881 -2.187 45 0 0 68 Drawer 0.949 0.560 -2.201 0 0 0 69 StoveBurner -0.465 0.915 -2.575 0 180 0 70 Window -2.230 1.429 -1.203 0 0 0 71 StoveKnob -0.483 0.881 -2.187 45 0 0 72 Sink -1.899 0.964 -1.5 0 90 0 73 StoveKnob -0.328 0.881 -2.187 45 0 0 74 Cabinet -0.727 2.015 -2.460 0 0 0 75 Drawer -1.560 0.655 -0.196 0 90 0 76 Cabinet -1.685 2.015 -2.461 0 0 0 77 Cabinet 0.680 0.494 -2.200 0 0 0 78 Cabinet -1.179 0.494 -2.200 0 0 0 79 Cabinet -1.849 2.015 0.379 0 90 0 80 Drawer 0.949 0.221 -2.200 0 0 0 81 StoveKnob -0.183 0.881 -2.187 45 0 0 82 Cabinet 0.719 2.015 -2.460 0 0 0 83 Drawer -1.560 0.331 -0.196 0 90 0 84 Cabinet 0.680 2.015 -2.460 0 0 0 85 CounterTop -1.868 0.946 -1.205 0 0 0 86 Microwave -0.236 1.689 -2.525 0 0 0 87 Shelf 1.751 0.880 -2.560 0 0 0 88 HousePlant -1.948 0.889 -2.520 0 5.334 0 89 Toaster -1.835 0.900 0.134 0 90 0 90 Shelf 1.750 0.552 -2.559 0 0 0 91 GarbageCan -1.935 -0.002 2.029 0 270 0 92 Shelf 1.750 0.172 -2.559 0 0 0 93 Fridge -2.096 0.0 1.088 0 0 0 94 CoffeeMachine -1.977 0.900 -0.188 0 90 0 95 SinkBasin -1.908 0.759 -1.488 0 90 0 96 LightSwitch 2.329 1.309 -0.159 0 270 0 97 ShelvingUnit 1.750 0.006 -2.559 0 0 0 98 Stool 0.702 0.000 -0.514 1.202 65.108 0 99 Stool 0.743 0.000 0.563 1.227 106.706 0 100 Faucet -2.070 1.132 -1.514 0 0 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn and go to the left and then the right to stand in front of the brown shelves. | STEP 2: Take the white cup on the right off of the shelf. | STEP 3: Go right and stand in front of the microwave. | STEP 4: Put the cup in the microwave, turn it on, take the cup out and shut the microwave door. | STEP 5: Go left and stand in front of the brown shelves. | STEP 6: Put the cup in the center of the top shelf. | END" ]
[ [ "STEP 1: Turn and go to the left and then the right to stand in front of the brown shelves. ", " STEP 2: Take the white cup on the right off of the shelf. ", " STEP 3: Go right and stand in front of the microwave. ", " STEP 4: Put the cup in the microwave, turn it on, take the cup out and shut the microwave door. ", " STEP 5: Go left and stand in front of the brown shelves. ", " STEP 6: Put the cup in the center of the top shelf. ", " END" ] ]
seen
trial_T20190909_122910_260021-0
Put a chilled plate on the table.
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52" ], [ "11", " Spatula", " 1.523", " 0.926", " -0.144", " 0", " 90", " 0", " 71" ], [ "12", " Spatula", " 1.200", " 0.901", " 2.477", " 0", " 90", " 0", " 103" ], [ "13", " Egg", " -1.123", " 0.946", " -0.589", " 0", " 0", " 0", " 77" ], [ "14", " Cup", " -1.060", " 0.911", " -0.477", " 0", " 0", " 0", " 77" ], [ "15", " Cup", " -1.329", " 1.014", " 0.098", " 0", " 90", " 0", " 97" ], [ "16", " Plate", " 0.127", " 0.117", " -0.577", " 0", " 0", " 0", " 66" ], [ "17", " Plate", " 1.325", " 1.656", " -0.333", " 0", " 0", " 0", " 53" ], [ "18", " Plate", " 1.365", " 0.912", " 0.139", " 0", " 0", " 0", " 71" ], [ "19", " Knife", " 1.444", " 0.933", " 0.422", " 0", " 0", " 0", " 71" ], [ "20", " Knife", " -1.197", " 0.770", " 1.902", " 0", " 90", " 0", " 52" ], [ "21", " SoapBottle", " 1.365", " 0.912", " -0.144", " 0", " 0", " 0", " 71" ], [ "22", " SoapBottle", " 1.128", " 0.912", " 0.139", " 0", " 0", " 0", " 71" ], [ "23", " Bowl", " -1.176", " 0.115", " 0.207", " 0", " 180", " 0", " 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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 1.5 0 90 0 1 SprayBottle 1.444 0.910 0.706 0 0 0 71 2 SprayBottle 1.049 0.910 0.706 0 0 0 71 3 CellPhone 1.127 0.773 -0.014 0 0 0 72 4 CellPhone 1.367 0.884 2.369 0 0 0 103 5 DishSponge 1.155 0.775 0.733 0 0 0 83 6 DishSponge -1.357 1.655 -0.166 0 0 0 59 7 ButterKnife -1.105 0.749 2.644 0 0 0 52 8 ButterKnife 1.034 0.886 2.369 0 0 0 103 9 Glassbottle -0.252 0.117 -0.577 0 0 0 67 10 Fork -1.105 0.750 2.459 0 0 0 52 11 Spatula 1.523 0.926 -0.144 0 90 0 71 12 Spatula 1.200 0.901 2.477 0 90 0 103 13 Egg -1.123 0.946 -0.589 0 0 0 77 14 Cup -1.060 0.911 -0.477 0 0 0 77 15 Cup -1.329 1.014 0.098 0 90 0 97 16 Plate 0.127 0.117 -0.577 0 0 0 66 17 Plate 1.325 1.656 -0.333 0 0 0 53 18 Plate 1.365 0.912 0.139 0 0 0 71 19 Knife 1.444 0.933 0.422 0 0 0 71 20 Knife -1.197 0.770 1.902 0 90 0 52 21 SoapBottle 1.365 0.912 -0.144 0 0 0 71 22 SoapBottle 1.128 0.912 0.139 0 0 0 71 23 Bowl -1.176 0.115 0.207 0 180 0 74 24 Bowl -1.012 0.747 2.087 0 0 0 52 25 Apple -0.020 0.818 -0.573 0 0 0 98 26 Bread 1.069 0.935 2.683 0 0 0 103 27 Glassbottle -1.263 1.656 0.184 0 0 0 60 28 Fork 1.284 0.886 2.261 0 0 0 103 29 Kettle -1.197 0.750 2.830 0 90 0 52 30 Tomato -1.475 0.798 3.015 0 0 0 52 31 Plate -1.383 0.750 2.459 0 0 0 52 32 CellPhone -0.503 0.909 -0.748 0 0 0 77 33 Lettuce -1.263 1.492 0.778 0 90 0 91 34 Pot 0.802 0.939 -0.740 0 90 0 80 35 SoapBottle -1.357 1.657 0.298 0 90 0 60 36 WineBottle -1.475 0.750 1.902 0 0 0 52 37 Spatula 1.117 0.901 2.153 0 0 0 103 38 Bowl -1.263 1.419 1.197 0 90 0 91 39 Apple -1.225 0.401 0.883 0 90 0 91 40 Cup -1.263 0.750 0.988 0 90 0 91 41 Knife -1.211 0.934 -0.817 0 180 0 77 42 Egg -1.149 1.671 0.883 0 90 0 91 43 SaltShaker 1.049 0.907 0.990 0 0 0 71 44 PepperShaker -1.015 1.652 -0.847 0 0 0 57 45 Potato -1.123 0.957 -0.669 0 0 0 77 46 ButterKnife 1.13 0.9 -0.305 0 45 0 71 47 DishSponge -0.813 0.911 -0.907 0 0 0 77 48 Pan 0.502 0.939 -0.740 0 90 0 78 49 Spoon 1.444 0.912 -0.428 0 0 0 71 50 SprayBottle 1.284 0.885 2.477 0 0 0 103 51 Mug 1.219 0.110 1.043 0 0 0 68 52 DiningTable -1.182 0.006 2.414 0 90 0 53 Cabinet 1.184 2.059 0.375 0 0 0 54 Cabinet 1.184 2.059 -0.635 0 0 0 55 Cabinet 0.591 2.309 -0.645 0 0 0 56 Cabinet -0.574 2.059 -0.644 0 0 0 57 Cabinet -1.103 2.059 -0.644 0 0 0 58 Cabinet -1.185 2.059 -0.331 0 0 0 59 Cabinet -1.185 2.059 -0.281 0 0 0 60 Cabinet -1.185 2.059 0.375 0 0 0 61 Cabinet 1.184 2.309 1.174 0 0 0 62 Cabinet 1.184 2.309 0.424 0 0 0 63 Cabinet 0.988 0.402 0.581 0 0 0 64 Cabinet 0.988 0.402 0.531 0 0 0 65 Cabinet 0.988 0.402 -0.178 0 0 0 66 Cabinet 0.335 0.402 -0.348 0 0 0 67 Cabinet -0.374 0.402 -0.348 0 0 0 68 Cabinet 0.988 0.402 1.231 0 0 0 69 Cabinet -1.185 2.309 1.374 0 0 0 70 Cabinet -1.185 2.309 0.424 0 0 0 71 CounterTop 1.274 0.947 0.064 0 0 0 72 Drawer 1.116 0.792 -0.015 0 0 0 73 Drawer -1.116 0.792 0.210 0 180 0 74 Cabinet -0.990 0.402 0.374 0 180 0 75 Drawer -1.116 0.792 -0.170 0 180 0 76 Cabinet -0.990 0.402 -0.335 0 180 0 77 CounterTop -1.001 0.947 -0.669 0 0 0 78 StoveBurner 0.502 0.932 -0.740 0 90 0 79 StoveBurner 0.801 0.932 -0.473 0 0 0 80 StoveBurner 0.801 0.932 -0.740 0 90 0 81 Drawer 1.116 0.792 1.081 0 0 0 82 Sink -0.013 0.912 -0.615 0 0 0 83 Drawer 1.116 0.792 0.732 0 0 0 84 StoveBurner 0.502 0.932 -0.469 0 0 0 85 Drawer 1.116 0.792 0.367 0 0 0 86 StoveKnob 0.550 1.085 -0.912 287.970 180 0 87 StoveKnob 0.884 1.085 -0.912 287.970 180 0 88 StoveKnob 0.432 1.085 -0.912 287.970 180 0 89 StoveKnob 0.777 1.085 -0.912 287.970 180 0 90 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 91 Fridge -1.300 0.008 0.987 0 90 0 92 GarbageCan 1.296 -0.024 1.465 0 0 0 93 Window -0.012 1.641 -0.972 90 0 0 94 Window 1.598 1.646 2.489 90 270 0 95 Toaster 1.356 0.900 1.044 0 270 0 96 LightSwitch 0.118 1.353 3.799 0 180 0 97 Microwave -1.343 0.900 0.053 0 90 0 98 SinkBasin -0.029 0.748 -0.612 0 0 0 99 Faucet -0.026 0.927 -0.808 0 0 0 100 Shelf -1.182 0.127 2.414 0 90 0 101 Stool 1.140 0.007 3.262 1.206 20.753 0 102 Shelf -1.182 0.435 2.414 0 90 0 103 DiningTable 1.169 0.014 2.569 0 0 1.896 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Turn around, move to the white table. | STEP 2: Pick up the gray plate on the table. | STEP 3: Bring the plate to the fridge on the right. | STEP 4: Chill the plate in the fridge. | STEP 5: Bring the chilled plate back to the table, right of the fridge. | STEP 6: Put the chilled plate on the table, right of the wine bottle. | END" ]
[ [ "STEP 1: Turn around, move to the white table. ", " STEP 2: Pick up the gray plate on the table. ", " STEP 3: Bring the plate to the fridge on the right. ", " STEP 4: Chill the plate in the fridge. ", " STEP 5: Bring the chilled plate back to the table, right of the fridge. ", " STEP 6: Put the chilled plate on the table, right of the wine bottle. ", " END" ] ]
seen
trial_T20190909_122910_260021-1
put chilled plate on table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.908 1.5 0 90 0 1 SprayBottle 1.444 0.910 0.706 0 0 0 71 2 SprayBottle 1.049 0.910 0.706 0 0 0 71 3 CellPhone 1.127 0.773 -0.014 0 0 0 72 4 CellPhone 1.367 0.884 2.369 0 0 0 103 5 DishSponge 1.155 0.775 0.733 0 0 0 83 6 DishSponge -1.357 1.655 -0.166 0 0 0 59 7 ButterKnife -1.105 0.749 2.644 0 0 0 52 8 ButterKnife 1.034 0.886 2.369 0 0 0 103 9 Glassbottle -0.252 0.117 -0.577 0 0 0 67 10 Fork -1.105 0.750 2.459 0 0 0 52 11 Spatula 1.523 0.926 -0.144 0 90 0 71 12 Spatula 1.200 0.901 2.477 0 90 0 103 13 Egg -1.123 0.946 -0.589 0 0 0 77 14 Cup -1.060 0.911 -0.477 0 0 0 77 15 Cup -1.329 1.014 0.098 0 90 0 97 16 Plate 0.127 0.117 -0.577 0 0 0 66 17 Plate 1.325 1.656 -0.333 0 0 0 53 18 Plate 1.365 0.912 0.139 0 0 0 71 19 Knife 1.444 0.933 0.422 0 0 0 71 20 Knife -1.197 0.770 1.902 0 90 0 52 21 SoapBottle 1.365 0.912 -0.144 0 0 0 71 22 SoapBottle 1.128 0.912 0.139 0 0 0 71 23 Bowl -1.176 0.115 0.207 0 180 0 74 24 Bowl -1.012 0.747 2.087 0 0 0 52 25 Apple -0.020 0.818 -0.573 0 0 0 98 26 Bread 1.069 0.935 2.683 0 0 0 103 27 Glassbottle -1.263 1.656 0.184 0 0 0 60 28 Fork 1.284 0.886 2.261 0 0 0 103 29 Kettle -1.197 0.750 2.830 0 90 0 52 30 Tomato -1.475 0.798 3.015 0 0 0 52 31 Plate -1.383 0.750 2.459 0 0 0 52 32 CellPhone -0.503 0.909 -0.748 0 0 0 77 33 Lettuce -1.263 1.492 0.778 0 90 0 91 34 Pot 0.802 0.939 -0.740 0 90 0 80 35 SoapBottle -1.357 1.657 0.298 0 90 0 60 36 WineBottle -1.475 0.750 1.902 0 0 0 52 37 Spatula 1.117 0.901 2.153 0 0 0 103 38 Bowl -1.263 1.419 1.197 0 90 0 91 39 Apple -1.225 0.401 0.883 0 90 0 91 40 Cup -1.263 0.750 0.988 0 90 0 91 41 Knife -1.211 0.934 -0.817 0 180 0 77 42 Egg -1.149 1.671 0.883 0 90 0 91 43 SaltShaker 1.049 0.907 0.990 0 0 0 71 44 PepperShaker -1.015 1.652 -0.847 0 0 0 57 45 Potato -1.123 0.957 -0.669 0 0 0 77 46 ButterKnife 1.13 0.9 -0.305 0 45 0 71 47 DishSponge -0.813 0.911 -0.907 0 0 0 77 48 Pan 0.502 0.939 -0.740 0 90 0 78 49 Spoon 1.444 0.912 -0.428 0 0 0 71 50 SprayBottle 1.284 0.885 2.477 0 0 0 103 51 Mug 1.219 0.110 1.043 0 0 0 68 52 DiningTable -1.182 0.006 2.414 0 90 0 53 Cabinet 1.184 2.059 0.375 0 0 0 54 Cabinet 1.184 2.059 -0.635 0 0 0 55 Cabinet 0.591 2.309 -0.645 0 0 0 56 Cabinet -0.574 2.059 -0.644 0 0 0 57 Cabinet -1.103 2.059 -0.644 0 0 0 58 Cabinet -1.185 2.059 -0.331 0 0 0 59 Cabinet -1.185 2.059 -0.281 0 0 0 60 Cabinet -1.185 2.059 0.375 0 0 0 61 Cabinet 1.184 2.309 1.174 0 0 0 62 Cabinet 1.184 2.309 0.424 0 0 0 63 Cabinet 0.988 0.402 0.581 0 0 0 64 Cabinet 0.988 0.402 0.531 0 0 0 65 Cabinet 0.988 0.402 -0.178 0 0 0 66 Cabinet 0.335 0.402 -0.348 0 0 0 67 Cabinet -0.374 0.402 -0.348 0 0 0 68 Cabinet 0.988 0.402 1.231 0 0 0 69 Cabinet -1.185 2.309 1.374 0 0 0 70 Cabinet -1.185 2.309 0.424 0 0 0 71 CounterTop 1.274 0.947 0.064 0 0 0 72 Drawer 1.116 0.792 -0.015 0 0 0 73 Drawer -1.116 0.792 0.210 0 180 0 74 Cabinet -0.990 0.402 0.374 0 180 0 75 Drawer -1.116 0.792 -0.170 0 180 0 76 Cabinet -0.990 0.402 -0.335 0 180 0 77 CounterTop -1.001 0.947 -0.669 0 0 0 78 StoveBurner 0.502 0.932 -0.740 0 90 0 79 StoveBurner 0.801 0.932 -0.473 0 0 0 80 StoveBurner 0.801 0.932 -0.740 0 90 0 81 Drawer 1.116 0.792 1.081 0 0 0 82 Sink -0.013 0.912 -0.615 0 0 0 83 Drawer 1.116 0.792 0.732 0 0 0 84 StoveBurner 0.502 0.932 -0.469 0 0 0 85 Drawer 1.116 0.792 0.367 0 0 0 86 StoveKnob 0.550 1.085 -0.912 287.970 180 0 87 StoveKnob 0.884 1.085 -0.912 287.970 180 0 88 StoveKnob 0.432 1.085 -0.912 287.970 180 0 89 StoveKnob 0.777 1.085 -0.912 287.970 180 0 90 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 91 Fridge -1.300 0.008 0.987 0 90 0 92 GarbageCan 1.296 -0.024 1.465 0 0 0 93 Window -0.012 1.641 -0.972 90 0 0 94 Window 1.598 1.646 2.489 90 270 0 95 Toaster 1.356 0.900 1.044 0 270 0 96 LightSwitch 0.118 1.353 3.799 0 180 0 97 Microwave -1.343 0.900 0.053 0 90 0 98 SinkBasin -0.029 0.748 -0.612 0 0 0 99 Faucet -0.026 0.927 -0.808 0 0 0 100 Shelf -1.182 0.127 2.414 0 90 0 101 Stool 1.140 0.007 3.262 1.206 20.753 0 102 Shelf -1.182 0.435 2.414 0 90 0 103 DiningTable 1.169 0.014 2.569 0 0 1.896 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: walk to face small table | STEP 2: pick up grey plate from table | STEP 3: walk to face fridge | STEP 4: chill and remove plate from fridge | STEP 5: walk to face white table | STEP 6: put plate on table | END" ]
[ [ "STEP 1: walk to face small table ", " STEP 2: pick up grey plate from table ", " STEP 3: walk to face fridge ", " STEP 4: chill and remove plate from fridge ", " STEP 5: walk to face white table ", " STEP 6: put plate on table ", " END" ] ]
seen
trial_T20190909_122910_260021-2
Put a chilled plate on the table with shelves.
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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 1.5 0 90 0 1 SprayBottle 1.444 0.910 0.706 0 0 0 71 2 SprayBottle 1.049 0.910 0.706 0 0 0 71 3 CellPhone 1.127 0.773 -0.014 0 0 0 72 4 CellPhone 1.367 0.884 2.369 0 0 0 103 5 DishSponge 1.155 0.775 0.733 0 0 0 83 6 DishSponge -1.357 1.655 -0.166 0 0 0 59 7 ButterKnife -1.105 0.749 2.644 0 0 0 52 8 ButterKnife 1.034 0.886 2.369 0 0 0 103 9 Glassbottle -0.252 0.117 -0.577 0 0 0 67 10 Fork -1.105 0.750 2.459 0 0 0 52 11 Spatula 1.523 0.926 -0.144 0 90 0 71 12 Spatula 1.200 0.901 2.477 0 90 0 103 13 Egg -1.123 0.946 -0.589 0 0 0 77 14 Cup -1.060 0.911 -0.477 0 0 0 77 15 Cup -1.329 1.014 0.098 0 90 0 97 16 Plate 0.127 0.117 -0.577 0 0 0 66 17 Plate 1.325 1.656 -0.333 0 0 0 53 18 Plate 1.365 0.912 0.139 0 0 0 71 19 Knife 1.444 0.933 0.422 0 0 0 71 20 Knife -1.197 0.770 1.902 0 90 0 52 21 SoapBottle 1.365 0.912 -0.144 0 0 0 71 22 SoapBottle 1.128 0.912 0.139 0 0 0 71 23 Bowl -1.176 0.115 0.207 0 180 0 74 24 Bowl -1.012 0.747 2.087 0 0 0 52 25 Apple -0.020 0.818 -0.573 0 0 0 98 26 Bread 1.069 0.935 2.683 0 0 0 103 27 Glassbottle -1.263 1.656 0.184 0 0 0 60 28 Fork 1.284 0.886 2.261 0 0 0 103 29 Kettle -1.197 0.750 2.830 0 90 0 52 30 Tomato -1.475 0.798 3.015 0 0 0 52 31 Plate -1.383 0.750 2.459 0 0 0 52 32 CellPhone -0.503 0.909 -0.748 0 0 0 77 33 Lettuce -1.263 1.492 0.778 0 90 0 91 34 Pot 0.802 0.939 -0.740 0 90 0 80 35 SoapBottle -1.357 1.657 0.298 0 90 0 60 36 WineBottle -1.475 0.750 1.902 0 0 0 52 37 Spatula 1.117 0.901 2.153 0 0 0 103 38 Bowl -1.263 1.419 1.197 0 90 0 91 39 Apple -1.225 0.401 0.883 0 90 0 91 40 Cup -1.263 0.750 0.988 0 90 0 91 41 Knife -1.211 0.934 -0.817 0 180 0 77 42 Egg -1.149 1.671 0.883 0 90 0 91 43 SaltShaker 1.049 0.907 0.990 0 0 0 71 44 PepperShaker -1.015 1.652 -0.847 0 0 0 57 45 Potato -1.123 0.957 -0.669 0 0 0 77 46 ButterKnife 1.13 0.9 -0.305 0 45 0 71 47 DishSponge -0.813 0.911 -0.907 0 0 0 77 48 Pan 0.502 0.939 -0.740 0 90 0 78 49 Spoon 1.444 0.912 -0.428 0 0 0 71 50 SprayBottle 1.284 0.885 2.477 0 0 0 103 51 Mug 1.219 0.110 1.043 0 0 0 68 52 DiningTable -1.182 0.006 2.414 0 90 0 53 Cabinet 1.184 2.059 0.375 0 0 0 54 Cabinet 1.184 2.059 -0.635 0 0 0 55 Cabinet 0.591 2.309 -0.645 0 0 0 56 Cabinet -0.574 2.059 -0.644 0 0 0 57 Cabinet -1.103 2.059 -0.644 0 0 0 58 Cabinet -1.185 2.059 -0.331 0 0 0 59 Cabinet -1.185 2.059 -0.281 0 0 0 60 Cabinet -1.185 2.059 0.375 0 0 0 61 Cabinet 1.184 2.309 1.174 0 0 0 62 Cabinet 1.184 2.309 0.424 0 0 0 63 Cabinet 0.988 0.402 0.581 0 0 0 64 Cabinet 0.988 0.402 0.531 0 0 0 65 Cabinet 0.988 0.402 -0.178 0 0 0 66 Cabinet 0.335 0.402 -0.348 0 0 0 67 Cabinet -0.374 0.402 -0.348 0 0 0 68 Cabinet 0.988 0.402 1.231 0 0 0 69 Cabinet -1.185 2.309 1.374 0 0 0 70 Cabinet -1.185 2.309 0.424 0 0 0 71 CounterTop 1.274 0.947 0.064 0 0 0 72 Drawer 1.116 0.792 -0.015 0 0 0 73 Drawer -1.116 0.792 0.210 0 180 0 74 Cabinet -0.990 0.402 0.374 0 180 0 75 Drawer -1.116 0.792 -0.170 0 180 0 76 Cabinet -0.990 0.402 -0.335 0 180 0 77 CounterTop -1.001 0.947 -0.669 0 0 0 78 StoveBurner 0.502 0.932 -0.740 0 90 0 79 StoveBurner 0.801 0.932 -0.473 0 0 0 80 StoveBurner 0.801 0.932 -0.740 0 90 0 81 Drawer 1.116 0.792 1.081 0 0 0 82 Sink -0.013 0.912 -0.615 0 0 0 83 Drawer 1.116 0.792 0.732 0 0 0 84 StoveBurner 0.502 0.932 -0.469 0 0 0 85 Drawer 1.116 0.792 0.367 0 0 0 86 StoveKnob 0.550 1.085 -0.912 287.970 180 0 87 StoveKnob 0.884 1.085 -0.912 287.970 180 0 88 StoveKnob 0.432 1.085 -0.912 287.970 180 0 89 StoveKnob 0.777 1.085 -0.912 287.970 180 0 90 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 91 Fridge -1.300 0.008 0.987 0 90 0 92 GarbageCan 1.296 -0.024 1.465 0 0 0 93 Window -0.012 1.641 -0.972 90 0 0 94 Window 1.598 1.646 2.489 90 270 0 95 Toaster 1.356 0.900 1.044 0 270 0 96 LightSwitch 0.118 1.353 3.799 0 180 0 97 Microwave -1.343 0.900 0.053 0 90 0 98 SinkBasin -0.029 0.748 -0.612 0 0 0 99 Faucet -0.026 0.927 -0.808 0 0 0 100 Shelf -1.182 0.127 2.414 0 90 0 101 Stool 1.140 0.007 3.262 1.206 20.753 0 102 Shelf -1.182 0.435 2.414 0 90 0 103 DiningTable 1.169 0.014 2.569 0 0 1.896 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Turn around and go to the white table with shelves. | STEP 2: Pick up the plate in the middle of the table. | STEP 3: Turn left and go to the fridge. | STEP 4: Chill the plate in the fridge and pick it back up. | STEP 5: Turn right and go back to the white table with shelves. | STEP 6: Put the plate to the right of the wine bottle. | END" ]
[ [ "STEP 1: Turn around and go to the white table with shelves. ", " STEP 2: Pick up the plate in the middle of the table. ", " STEP 3: Turn left and go to the fridge. ", " STEP 4: Chill the plate in the fridge and pick it back up. ", " STEP 5: Turn right and go back to the white table with shelves. ", " STEP 6: Put the plate to the right of the wine bottle. ", " END" ] ]
seen
trial_T20190907_015045_510934-0
Chill bottle in refrigerator, throw in trash can to front left of paper towels
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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 4.0 0 270 0 1 Pan 1.836 1.027 -1.84 0 90 0 50 2 Pan 1.956 0.764 3.685 0 315 0 53 3 Potato -0.418 1.069 0.785 0 0 0 55 4 Potato 2.276 0.806 3.969 0 270 0 53 5 Ladle -1.130 1.066 1.150 0 270 0 55 6 DishSponge 2.231 1.026 1.699 0 136.999 0 52 7 WineBottle 1.950 1.027 1.158 0 136.999 0 52 8 Pot 2.116 1.027 -1.84 0 270 0 56 9 Spatula 2.325 0.816 1.252 0 227.0 0 65 10 Fork -1.215 1.028 1.519 0 90 0 55 11 Plate 2.376 0.764 4.495 0 0 0 53 12 Tomato -0.922 1.495 -0.627 0 90 0 96 13 SoapBottle 2.302 0.763 3.62 0 0 0 53 14 SoapBottle 3.043 1.025 -0.541 0 0 0 52 15 Bowl -0.983 1.778 2.369 0 0 0 90 16 Bowl -0.987 0.784 -0.184 0 90 0 96 17 SaltShaker 2.998 0.760 4.202 0 225 0 53 18 SaltShaker 2.706 0.797 0.072 0 0 0 62 19 Bread 2.506 0.832 3.577 0 329.999 0 53 20 Bread 2.790 1.094 -0.846 0 0 0 52 21 Mug 2.010 2.274 -1.793 0 90 0 80 22 Apple 1.895 1.911 -1.910 0 0 0 98 23 Apple 2.053 1.911 -1.775 0 0 0 98 24 Pan 2.042 1.017 1.779 0 0 0 52 25 Glassbottle -1.028 0.786 -0.516 0 90 0 96 26 Knife -0.714 0.841 1.103 0 180 0 109 27 SoapBottle 2.101 0.763 3.821 0 270 0 53 28 Egg 3.043 1.070 -1.456 0 0 0 52 29 Fork -0.782 0.817 1.492 0 90 0 109 30 Potato -0.858 0.376 -0.516 0 90 0 96 31 Ladle -0.803 0.088 0.700 0 0 0 54 32 Tomato 2.160 1.080 1.354 0 136.999 0 52 33 Pot 2.177 1.027 -1.599 0 0 0 51 34 WineBottle 2.425 1.027 -1.881 0 90 0 52 35 Plate 2.815 0.764 4.124 0 225 0 53 36 Spatula 2.875 1.041 0.068 0 0 0 52 37 PaperTowelRoll -0.956 0.181 2.748 0 0 0 107 38 Lettuce -0.851 0.874 1.181 0 90 0 109 39 Apple -0.714 0.874 1.337 0 90 0 109 40 SaltShaker 1.774 2.276 -1.951 0 0 0 68 41 PepperShaker 2.945 0.760 4.254 0 225 0 53 42 ButterKnife 2.855 0.764 3.567 0 329.999 0 53 43 Bread 2.525 0.832 3.97 0 0 0 53 44 Cup 1.925 0.763 4.044 0 270 0 53 45 DishSponge 1.347 0.789 -1.546 0 0 0 59 46 Bowl -0.922 1.440 -0.184 0 90 0 96 47 Spoon 2.537 0.801 -0.607 0 270 0 52 48 Mug -1.059 1.437 -0.073 0 90 0 96 49 Sink -0.716 1.023 1.333 0 0 0 50 StoveBurner 1.835 1.018 -1.840 0 90 0 51 StoveBurner 2.177 1.018 -1.599 0 0 0 52 CounterTop 2.812 0.992 0.675 0 0 0 53 DiningTable 2.419 0.003 3.930 0 0 0 54 Drawer -0.643 0.828 0.616 0 0 0 55 CounterTop -0.813 1.062 2.188 0 0 0 56 StoveBurner 2.115 1.018 -1.840 0 270 0 57 Drawer -0.643 0.831 1.953 0 0 0 58 Drawer -0.643 0.833 2.418 0 0 0 59 Drawer 1.347 0.836 -1.539 0 0 0 60 Drawer 2.693 0.833 -1.131 0 0 0 61 Drawer 2.693 0.833 -0.699 0 0 0 62 Drawer 2.693 0.833 -0.267 0 0 0 63 Drawer 2.693 0.833 0.163 0 0 0 64 Drawer 2.524 0.833 0.720 0 2.000 0 65 Drawer 2.232 0.833 1.036 0 2.000 0 66 Drawer 1.936 0.833 1.354 0 2.000 0 67 Drawer 1.646 0.833 1.670 0 2.000 0 68 Cabinet 1.504 2.475 -1.710 0 0 0 69 Cabinet -0.823 2.220 1.621 0 0 0 70 Cabinet -0.823 2.220 0.615 0 0 0 71 Cabinet 1.136 0.388 -1.355 0 0 0 72 Cabinet -0.356 0.383 2.626 0 0 0 73 Cabinet 2.745 2.220 -1.690 0 0 0 74 Cabinet 1.882 0.383 1.017 0 0 0 75 Cabinet 1.307 0.473 1.640 0 0 0 76 Cabinet 1.892 0.383 1.006 0 0 0 77 Cabinet 2.467 0.383 0.383 0 0 0 78 Cabinet 2.466 0.383 -0.475 0 0 0 79 Cabinet 2.466 0.473 0.371 0 0 0 80 Cabinet 2.386 2.475 -1.710 0 0 0 81 Cabinet -0.356 0.383 1.712 0 0 0 82 Cabinet 2.745 2.220 0.019 0 0 0 83 Cabinet -0.663 2.496 0.157 0 0 0 84 Cabinet -0.663 2.496 -0.868 0 0 0 85 Cabinet -0.356 0.383 0.269 0 0 0 86 Cabinet -0.823 2.220 1.603 0 0 0 87 Cabinet -0.662 2.234 0.586 0 0 0 88 Cabinet 2.745 2.220 -0.843 0 0 0 89 Cabinet 2.745 2.220 -0.827 0 0 0 90 Cabinet -0.823 2.220 2.608 0 0 0 91 Cabinet 2.732 2.226 -1.709 0 0 0 92 Cabinet 1.137 2.226 -1.709 0 0 0 93 Cabinet 2.466 0.383 -0.491 0 0 0 94 Cabinet 2.466 0.383 -1.339 0 0 0 95 StoveBurner 1.761 1.018 -1.599 0 0 0 96 Fridge -0.908 0.0 -0.405 0 0 0 97 HousePlant 2.517 1.016 1.822 0 0 0 98 Microwave 1.939 1.745 -1.826 0 0 0 99 StoveKnob 2.017 1.041 -1.514 0 180 180 100 StoveKnob 1.934 1.041 -1.514 0 180 180 101 StoveKnob 2.017 1.041 -1.589 0 180 180 102 StoveKnob 1.934 1.041 -1.589 0 180 180 103 Window 1.756 1.608 4.762 90 0 0 104 HousePlant 2.171 1.004 2.091 0 0 0 105 CoffeeMachine -0.942 1.018 0.645 0 90 0 106 LightSwitch -0.099 1.410 -2.066 0 0 0 107 GarbageCan -0.951 -0.029 2.826 0 0 0 108 Toaster -1.007 1.018 2.238 0 90 0 109 SinkBasin -0.714 0.805 1.348 0 90 0 110 Chair 1.615 0.004 4.310 0 107.976 0 111 Faucet -1.120 1.013 1.334 0 90 0 112 Chair 2.759 0.004 3.086 0 358.967 0 113 114 NorthWall 115 EastWall 116 SouthWall 117 WestWall
[ "STEP 1: Go to angled counter with bottle, tomato, pan | STEP 2: Pick up bottle from counter | STEP 3: Go left to the refrigerator | STEP 4: open refrigerator door, place bottle on bottom shelf to left of fruit, close refrigerator, open refrigerator, pick up bottle, close refrigerator | STEP 5: Turn right, go to trash can at end of counter | STEP 6: Place bottle in trash can | END" ]
[ [ "STEP 1: Go to angled counter with bottle, tomato, pan ", " STEP 2: Pick up bottle from counter ", " STEP 3: Go left to the refrigerator ", " STEP 4: open refrigerator door, place bottle on bottom shelf to left of fruit, close refrigerator, open refrigerator, pick up bottle, close refrigerator ", " STEP 5: Turn right, go to trash can at end of counter ", " STEP 6: Place bottle in trash can ", " END" ] ]
seen
trial_T20190907_015045_510934-1
Put a chilled win bottle in a trash can.
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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 4.0 0 270 0 1 Pan 1.836 1.027 -1.84 0 90 0 50 2 Pan 1.956 0.764 3.685 0 315 0 53 3 Potato -0.418 1.069 0.785 0 0 0 55 4 Potato 2.276 0.806 3.969 0 270 0 53 5 Ladle -1.130 1.066 1.150 0 270 0 55 6 DishSponge 2.231 1.026 1.699 0 136.999 0 52 7 WineBottle 1.950 1.027 1.158 0 136.999 0 52 8 Pot 2.116 1.027 -1.84 0 270 0 56 9 Spatula 2.325 0.816 1.252 0 227.0 0 65 10 Fork -1.215 1.028 1.519 0 90 0 55 11 Plate 2.376 0.764 4.495 0 0 0 53 12 Tomato -0.922 1.495 -0.627 0 90 0 96 13 SoapBottle 2.302 0.763 3.62 0 0 0 53 14 SoapBottle 3.043 1.025 -0.541 0 0 0 52 15 Bowl -0.983 1.778 2.369 0 0 0 90 16 Bowl -0.987 0.784 -0.184 0 90 0 96 17 SaltShaker 2.998 0.760 4.202 0 225 0 53 18 SaltShaker 2.706 0.797 0.072 0 0 0 62 19 Bread 2.506 0.832 3.577 0 329.999 0 53 20 Bread 2.790 1.094 -0.846 0 0 0 52 21 Mug 2.010 2.274 -1.793 0 90 0 80 22 Apple 1.895 1.911 -1.910 0 0 0 98 23 Apple 2.053 1.911 -1.775 0 0 0 98 24 Pan 2.042 1.017 1.779 0 0 0 52 25 Glassbottle -1.028 0.786 -0.516 0 90 0 96 26 Knife -0.714 0.841 1.103 0 180 0 109 27 SoapBottle 2.101 0.763 3.821 0 270 0 53 28 Egg 3.043 1.070 -1.456 0 0 0 52 29 Fork -0.782 0.817 1.492 0 90 0 109 30 Potato -0.858 0.376 -0.516 0 90 0 96 31 Ladle -0.803 0.088 0.700 0 0 0 54 32 Tomato 2.160 1.080 1.354 0 136.999 0 52 33 Pot 2.177 1.027 -1.599 0 0 0 51 34 WineBottle 2.425 1.027 -1.881 0 90 0 52 35 Plate 2.815 0.764 4.124 0 225 0 53 36 Spatula 2.875 1.041 0.068 0 0 0 52 37 PaperTowelRoll -0.956 0.181 2.748 0 0 0 107 38 Lettuce -0.851 0.874 1.181 0 90 0 109 39 Apple -0.714 0.874 1.337 0 90 0 109 40 SaltShaker 1.774 2.276 -1.951 0 0 0 68 41 PepperShaker 2.945 0.760 4.254 0 225 0 53 42 ButterKnife 2.855 0.764 3.567 0 329.999 0 53 43 Bread 2.525 0.832 3.97 0 0 0 53 44 Cup 1.925 0.763 4.044 0 270 0 53 45 DishSponge 1.347 0.789 -1.546 0 0 0 59 46 Bowl -0.922 1.440 -0.184 0 90 0 96 47 Spoon 2.537 0.801 -0.607 0 270 0 52 48 Mug -1.059 1.437 -0.073 0 90 0 96 49 Sink -0.716 1.023 1.333 0 0 0 50 StoveBurner 1.835 1.018 -1.840 0 90 0 51 StoveBurner 2.177 1.018 -1.599 0 0 0 52 CounterTop 2.812 0.992 0.675 0 0 0 53 DiningTable 2.419 0.003 3.930 0 0 0 54 Drawer -0.643 0.828 0.616 0 0 0 55 CounterTop -0.813 1.062 2.188 0 0 0 56 StoveBurner 2.115 1.018 -1.840 0 270 0 57 Drawer -0.643 0.831 1.953 0 0 0 58 Drawer -0.643 0.833 2.418 0 0 0 59 Drawer 1.347 0.836 -1.539 0 0 0 60 Drawer 2.693 0.833 -1.131 0 0 0 61 Drawer 2.693 0.833 -0.699 0 0 0 62 Drawer 2.693 0.833 -0.267 0 0 0 63 Drawer 2.693 0.833 0.163 0 0 0 64 Drawer 2.524 0.833 0.720 0 2.000 0 65 Drawer 2.232 0.833 1.036 0 2.000 0 66 Drawer 1.936 0.833 1.354 0 2.000 0 67 Drawer 1.646 0.833 1.670 0 2.000 0 68 Cabinet 1.504 2.475 -1.710 0 0 0 69 Cabinet -0.823 2.220 1.621 0 0 0 70 Cabinet -0.823 2.220 0.615 0 0 0 71 Cabinet 1.136 0.388 -1.355 0 0 0 72 Cabinet -0.356 0.383 2.626 0 0 0 73 Cabinet 2.745 2.220 -1.690 0 0 0 74 Cabinet 1.882 0.383 1.017 0 0 0 75 Cabinet 1.307 0.473 1.640 0 0 0 76 Cabinet 1.892 0.383 1.006 0 0 0 77 Cabinet 2.467 0.383 0.383 0 0 0 78 Cabinet 2.466 0.383 -0.475 0 0 0 79 Cabinet 2.466 0.473 0.371 0 0 0 80 Cabinet 2.386 2.475 -1.710 0 0 0 81 Cabinet -0.356 0.383 1.712 0 0 0 82 Cabinet 2.745 2.220 0.019 0 0 0 83 Cabinet -0.663 2.496 0.157 0 0 0 84 Cabinet -0.663 2.496 -0.868 0 0 0 85 Cabinet -0.356 0.383 0.269 0 0 0 86 Cabinet -0.823 2.220 1.603 0 0 0 87 Cabinet -0.662 2.234 0.586 0 0 0 88 Cabinet 2.745 2.220 -0.843 0 0 0 89 Cabinet 2.745 2.220 -0.827 0 0 0 90 Cabinet -0.823 2.220 2.608 0 0 0 91 Cabinet 2.732 2.226 -1.709 0 0 0 92 Cabinet 1.137 2.226 -1.709 0 0 0 93 Cabinet 2.466 0.383 -0.491 0 0 0 94 Cabinet 2.466 0.383 -1.339 0 0 0 95 StoveBurner 1.761 1.018 -1.599 0 0 0 96 Fridge -0.908 0.0 -0.405 0 0 0 97 HousePlant 2.517 1.016 1.822 0 0 0 98 Microwave 1.939 1.745 -1.826 0 0 0 99 StoveKnob 2.017 1.041 -1.514 0 180 180 100 StoveKnob 1.934 1.041 -1.514 0 180 180 101 StoveKnob 2.017 1.041 -1.589 0 180 180 102 StoveKnob 1.934 1.041 -1.589 0 180 180 103 Window 1.756 1.608 4.762 90 0 0 104 HousePlant 2.171 1.004 2.091 0 0 0 105 CoffeeMachine -0.942 1.018 0.645 0 90 0 106 LightSwitch -0.099 1.410 -2.066 0 0 0 107 GarbageCan -0.951 -0.029 2.826 0 0 0 108 Toaster -1.007 1.018 2.238 0 90 0 109 SinkBasin -0.714 0.805 1.348 0 90 0 110 Chair 1.615 0.004 4.310 0 107.976 0 111 Faucet -1.120 1.013 1.334 0 90 0 112 Chair 2.759 0.004 3.086 0 358.967 0 113 114 NorthWall 115 EastWall 116 SouthWall 117 WestWall
[ "STEP 1: Turn around and walk to the counter furthest from you. | STEP 2: Pick up the wine bottle on the counter. | STEP 3: Turn around and walk to the fridge. | STEP 4: Open the fridge and put the wine bottle in it. Wait a moment, and then take it out. | STEP 5: Turn right and walk to the end of the counter. | STEP 6: Put the wine bottle in the trash can. | END" ]
[ [ "STEP 1: Turn around and walk to the counter furthest from you. ", " STEP 2: Pick up the wine bottle on the counter. ", " STEP 3: Turn around and walk to the fridge. ", " STEP 4: Open the fridge and put the wine bottle in it. Wait a moment, and then take it out. ", " STEP 5: Turn right and walk to the end of the counter. ", " STEP 6: Put the wine bottle in the trash can. ", " END" ] ]
seen
trial_T20190907_015045_510934-2
put cooled wine inside the garbage
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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 4.0 0 270 0 1 Pan 1.836 1.027 -1.84 0 90 0 50 2 Pan 1.956 0.764 3.685 0 315 0 53 3 Potato -0.418 1.069 0.785 0 0 0 55 4 Potato 2.276 0.806 3.969 0 270 0 53 5 Ladle -1.130 1.066 1.150 0 270 0 55 6 DishSponge 2.231 1.026 1.699 0 136.999 0 52 7 WineBottle 1.950 1.027 1.158 0 136.999 0 52 8 Pot 2.116 1.027 -1.84 0 270 0 56 9 Spatula 2.325 0.816 1.252 0 227.0 0 65 10 Fork -1.215 1.028 1.519 0 90 0 55 11 Plate 2.376 0.764 4.495 0 0 0 53 12 Tomato -0.922 1.495 -0.627 0 90 0 96 13 SoapBottle 2.302 0.763 3.62 0 0 0 53 14 SoapBottle 3.043 1.025 -0.541 0 0 0 52 15 Bowl -0.983 1.778 2.369 0 0 0 90 16 Bowl -0.987 0.784 -0.184 0 90 0 96 17 SaltShaker 2.998 0.760 4.202 0 225 0 53 18 SaltShaker 2.706 0.797 0.072 0 0 0 62 19 Bread 2.506 0.832 3.577 0 329.999 0 53 20 Bread 2.790 1.094 -0.846 0 0 0 52 21 Mug 2.010 2.274 -1.793 0 90 0 80 22 Apple 1.895 1.911 -1.910 0 0 0 98 23 Apple 2.053 1.911 -1.775 0 0 0 98 24 Pan 2.042 1.017 1.779 0 0 0 52 25 Glassbottle -1.028 0.786 -0.516 0 90 0 96 26 Knife -0.714 0.841 1.103 0 180 0 109 27 SoapBottle 2.101 0.763 3.821 0 270 0 53 28 Egg 3.043 1.070 -1.456 0 0 0 52 29 Fork -0.782 0.817 1.492 0 90 0 109 30 Potato -0.858 0.376 -0.516 0 90 0 96 31 Ladle -0.803 0.088 0.700 0 0 0 54 32 Tomato 2.160 1.080 1.354 0 136.999 0 52 33 Pot 2.177 1.027 -1.599 0 0 0 51 34 WineBottle 2.425 1.027 -1.881 0 90 0 52 35 Plate 2.815 0.764 4.124 0 225 0 53 36 Spatula 2.875 1.041 0.068 0 0 0 52 37 PaperTowelRoll -0.956 0.181 2.748 0 0 0 107 38 Lettuce -0.851 0.874 1.181 0 90 0 109 39 Apple -0.714 0.874 1.337 0 90 0 109 40 SaltShaker 1.774 2.276 -1.951 0 0 0 68 41 PepperShaker 2.945 0.760 4.254 0 225 0 53 42 ButterKnife 2.855 0.764 3.567 0 329.999 0 53 43 Bread 2.525 0.832 3.97 0 0 0 53 44 Cup 1.925 0.763 4.044 0 270 0 53 45 DishSponge 1.347 0.789 -1.546 0 0 0 59 46 Bowl -0.922 1.440 -0.184 0 90 0 96 47 Spoon 2.537 0.801 -0.607 0 270 0 52 48 Mug -1.059 1.437 -0.073 0 90 0 96 49 Sink -0.716 1.023 1.333 0 0 0 50 StoveBurner 1.835 1.018 -1.840 0 90 0 51 StoveBurner 2.177 1.018 -1.599 0 0 0 52 CounterTop 2.812 0.992 0.675 0 0 0 53 DiningTable 2.419 0.003 3.930 0 0 0 54 Drawer -0.643 0.828 0.616 0 0 0 55 CounterTop -0.813 1.062 2.188 0 0 0 56 StoveBurner 2.115 1.018 -1.840 0 270 0 57 Drawer -0.643 0.831 1.953 0 0 0 58 Drawer -0.643 0.833 2.418 0 0 0 59 Drawer 1.347 0.836 -1.539 0 0 0 60 Drawer 2.693 0.833 -1.131 0 0 0 61 Drawer 2.693 0.833 -0.699 0 0 0 62 Drawer 2.693 0.833 -0.267 0 0 0 63 Drawer 2.693 0.833 0.163 0 0 0 64 Drawer 2.524 0.833 0.720 0 2.000 0 65 Drawer 2.232 0.833 1.036 0 2.000 0 66 Drawer 1.936 0.833 1.354 0 2.000 0 67 Drawer 1.646 0.833 1.670 0 2.000 0 68 Cabinet 1.504 2.475 -1.710 0 0 0 69 Cabinet -0.823 2.220 1.621 0 0 0 70 Cabinet -0.823 2.220 0.615 0 0 0 71 Cabinet 1.136 0.388 -1.355 0 0 0 72 Cabinet -0.356 0.383 2.626 0 0 0 73 Cabinet 2.745 2.220 -1.690 0 0 0 74 Cabinet 1.882 0.383 1.017 0 0 0 75 Cabinet 1.307 0.473 1.640 0 0 0 76 Cabinet 1.892 0.383 1.006 0 0 0 77 Cabinet 2.467 0.383 0.383 0 0 0 78 Cabinet 2.466 0.383 -0.475 0 0 0 79 Cabinet 2.466 0.473 0.371 0 0 0 80 Cabinet 2.386 2.475 -1.710 0 0 0 81 Cabinet -0.356 0.383 1.712 0 0 0 82 Cabinet 2.745 2.220 0.019 0 0 0 83 Cabinet -0.663 2.496 0.157 0 0 0 84 Cabinet -0.663 2.496 -0.868 0 0 0 85 Cabinet -0.356 0.383 0.269 0 0 0 86 Cabinet -0.823 2.220 1.603 0 0 0 87 Cabinet -0.662 2.234 0.586 0 0 0 88 Cabinet 2.745 2.220 -0.843 0 0 0 89 Cabinet 2.745 2.220 -0.827 0 0 0 90 Cabinet -0.823 2.220 2.608 0 0 0 91 Cabinet 2.732 2.226 -1.709 0 0 0 92 Cabinet 1.137 2.226 -1.709 0 0 0 93 Cabinet 2.466 0.383 -0.491 0 0 0 94 Cabinet 2.466 0.383 -1.339 0 0 0 95 StoveBurner 1.761 1.018 -1.599 0 0 0 96 Fridge -0.908 0.0 -0.405 0 0 0 97 HousePlant 2.517 1.016 1.822 0 0 0 98 Microwave 1.939 1.745 -1.826 0 0 0 99 StoveKnob 2.017 1.041 -1.514 0 180 180 100 StoveKnob 1.934 1.041 -1.514 0 180 180 101 StoveKnob 2.017 1.041 -1.589 0 180 180 102 StoveKnob 1.934 1.041 -1.589 0 180 180 103 Window 1.756 1.608 4.762 90 0 0 104 HousePlant 2.171 1.004 2.091 0 0 0 105 CoffeeMachine -0.942 1.018 0.645 0 90 0 106 LightSwitch -0.099 1.410 -2.066 0 0 0 107 GarbageCan -0.951 -0.029 2.826 0 0 0 108 Toaster -1.007 1.018 2.238 0 90 0 109 SinkBasin -0.714 0.805 1.348 0 90 0 110 Chair 1.615 0.004 4.310 0 107.976 0 111 Faucet -1.120 1.013 1.334 0 90 0 112 Chair 2.759 0.004 3.086 0 358.967 0 113 114 NorthWall 115 EastWall 116 SouthWall 117 WestWall
[ "STEP 1: walk over to the left most kitchen counter | STEP 2: grab the bottle of wine off the kitchen counter | STEP 3: bring the wine over to the fridge | STEP 4: put the wine in the fridge to cool, then take out the wine | STEP 5: walk over to the garbage | STEP 6: put the wine inside the garbage | END" ]
[ [ "STEP 1: walk over to the left most kitchen counter ", " STEP 2: grab the bottle of wine off the kitchen counter ", " STEP 3: bring the wine over to the fridge ", " STEP 4: put the wine in the fridge to cool, then take out the wine ", " STEP 5: walk over to the garbage ", " STEP 6: put the wine inside the garbage ", " END" ] ]
seen
trial_T20190909_001555_348694-0
place microwaved apple in sink
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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 0.900 3.25 0 180 0 1 Potato -1.486 1.402 3.901 0 180 0 70 2 Potato -1.317 0.943 1.143 0 90 0 82 3 ButterKnife -1.317 0.900 1.452 0 90 0 82 4 Pot 0.642 0.850 1.375 0 0 0 58 5 Spatula -0.657 0.915 1.040 0 180 0 82 6 Fork 0.703 0.691 1.016 0 270 0 52 7 Plate -2.786 1.402 3.897 0 0 0 55 8 Cup 0.875 0.822 2.198 0 0 0 46 9 Tomato -1.317 0.969 1.555 0 90 0 82 10 Bowl -1.817 0.126 3.713 0 0 0 63 11 Bread -2.577 0.820 2.221 0 90 0 73 12 Apple 1.024 0.884 2.371 0 0 0 46 13 Plate 0.860 0.812 0.975 0 0 0 41 14 Fork 0.635 0.691 0.944 0 90 0 52 15 Bread 0.827 0.861 2.449 0 0 0 41 16 Spatula -0.789 0.915 1.349 0 270 0 82 17 PaperTowelRoll -1.317 1.004 0.937 0 90 0 82 18 Potato -2.636 1.038 2.389 0 90 0 73 19 SoapBottle -1.317 0.900 1.246 0 90 0 82 20 Egg -0.921 0.936 1.246 0 90 0 82 21 Cup -0.921 0.900 1.349 0 90 0 82 22 Pot 0.642 0.850 1.768 0 0 0 68 23 SaltShaker -2.705 0.123 3.273 0 0 0 65 24 Pan -2.667 0.812 3.74 0 137.145 0 64 25 PepperShaker -0.921 0.896 1.452 0 90 0 82 26 ButterKnife -2.172 0.812 3.552 0 0 0 64 27 Tomato -0.524 0.969 1.555 0 90 0 82 28 DishSponge -2.619 1.634 3.025 0 0 0 60 29 Lettuce -0.580 0.956 1.358 31.822 0 0 82 30 Spoon 0.635 0.693 2.199 0 90 0 35 31 Apple 0.960 0.085 2.918 0 0 0 75 32 Knife -2.779 0.846 3.479 0 0 0 64 33 Mug -2.577 1.185 2.333 0 90 0 73 34 Bowl 0.781 0.124 2.572 0 0 0 48 35 Drawer 0.729 0.703 2.199 0 0 0 36 Cabinet -1.962 1.926 3.733 0 0 0 37 Cabinet -2.377 2.014 1.058 0 0 0 38 Drawer 0.729 0.703 2.532 0 0 0 39 Cabinet -2.622 1.925 3.733 0 0 0 40 StoveBurner 0.913 0.843 1.375 0 0 0 41 CounterTop 0.864 0.858 0.984 0 0 0 42 Cabinet -1.976 1.779 3.734 0 0 0 43 Cabinet 0.580 0.385 0.819 0 0 0 44 Cabinet -2.379 1.408 1.677 0 0 0 45 Cabinet -0.419 1.703 3.736 0 0 0 46 CounterTop 0.864 0.858 2.371 0 0 0 47 Sink -1.702 0.726 3.828 0 180 0 48 Cabinet 0.580 0.385 2.694 0 0 0 49 Cabinet -2.379 0.637 1.677 0 0 0 50 Cabinet -0.419 0.674 3.736 0 0 0 51 Cabinet -2.377 2.014 2.558 0 0 0 52 Drawer 0.729 0.703 0.980 0 0 0 53 Drawer -2.114 0.706 3.657 0 0 0 54 Cabinet -2.377 1.691 2.572 0 0 0 55 Cabinet -2.951 1.925 3.733 0 0 0 56 Cabinet 0.580 0.385 2.360 0 0 0 57 Cabinet -2.426 0.435 3.421 0 0 0 58 StoveBurner 0.642 0.843 1.375 0 0 0 59 Cabinet -2.377 1.927 1.686 0 0 0 60 Cabinet -2.377 2.013 3.177 0 0 0 61 Cabinet -1.136 0.385 3.516 0 0 0 62 StoveBurner 0.913 0.843 1.768 0 0 0 63 Cabinet -1.974 0.385 3.516 0 0 0 64 CounterTop -2.081 0.858 3.799 0 0 0 65 Cabinet -2.426 0.435 3.174 0 0 0 66 Cabinet -2.377 2.014 1.693 0 0 0 67 Cabinet -1.986 0.385 3.511 0 0 0 68 StoveBurner 0.642 0.843 1.768 0 0 0 69 Cabinet -1.098 1.926 3.729 0 0 0 70 Microwave -1.529 1.250 3.881 1.622 180 0 71 CoffeeMachine 1.000 0.812 2.492 0 270 0 72 LightSwitch 0.825 1.396 4.082 0 180 0 73 Fridge -2.642 0.0 2.134 0 180 0 74 Window -1.131 1.673 0.808 90 0 0 75 GarbageCan 0.931 -0.000 2.918 0 0 0 76 SinkBasin -1.601 0.686 3.774 0 0 0 77 StoveKnob 1.104 1.002 1.886 0 0 70.346 78 StoveKnob 1.104 1.002 1.733 0 0 70.346 79 StoveKnob 1.104 1.002 1.321 0 0 70.346 80 StoveKnob 1.104 1.002 1.481 0 0 70.346 81 Toaster -2.247 0.812 3.862 0 180 0 82 DiningTable -0.917 -0.000 1.203 0 0 0 83 Stool -0.932 0.000 1.404 1.196 21.715 0 84 Faucet -1.842 0.809 3.984 0 180 0 85 Faucet -1.371 0.809 3.985 0 180 0 86 NorthWall 87 EastWall 88 SouthWall 89 WestWall
[ "STEP 1: turn right to face gold bin | STEP 2: pick up apple from gold bin | STEP 3: turn around, go to microwave above sink to the right | STEP 4: open microwave, place apple on left side of plate in microwave, microwave apple, take apple out of microwave, close microwave | STEP 5: look down to sink below microwave | STEP 6: place apple in sink on the right | END" ]
[ [ "STEP 1: turn right to face gold bin ", " STEP 2: pick up apple from gold bin ", " STEP 3: turn around, go to microwave above sink to the right ", " STEP 4: open microwave, place apple on left side of plate in microwave, microwave apple, take apple out of microwave, close microwave ", " STEP 5: look down to sink below microwave ", " STEP 6: place apple in sink on the right ", " END" ] ]
seen
trial_T20190909_001555_348694-1
Put a microwaved apple into a sink
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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 0.900 3.25 0 180 0 1 Potato -1.486 1.402 3.901 0 180 0 70 2 Potato -1.317 0.943 1.143 0 90 0 82 3 ButterKnife -1.317 0.900 1.452 0 90 0 82 4 Pot 0.642 0.850 1.375 0 0 0 58 5 Spatula -0.657 0.915 1.040 0 180 0 82 6 Fork 0.703 0.691 1.016 0 270 0 52 7 Plate -2.786 1.402 3.897 0 0 0 55 8 Cup 0.875 0.822 2.198 0 0 0 46 9 Tomato -1.317 0.969 1.555 0 90 0 82 10 Bowl -1.817 0.126 3.713 0 0 0 63 11 Bread -2.577 0.820 2.221 0 90 0 73 12 Apple 1.024 0.884 2.371 0 0 0 46 13 Plate 0.860 0.812 0.975 0 0 0 41 14 Fork 0.635 0.691 0.944 0 90 0 52 15 Bread 0.827 0.861 2.449 0 0 0 41 16 Spatula -0.789 0.915 1.349 0 270 0 82 17 PaperTowelRoll -1.317 1.004 0.937 0 90 0 82 18 Potato -2.636 1.038 2.389 0 90 0 73 19 SoapBottle -1.317 0.900 1.246 0 90 0 82 20 Egg -0.921 0.936 1.246 0 90 0 82 21 Cup -0.921 0.900 1.349 0 90 0 82 22 Pot 0.642 0.850 1.768 0 0 0 68 23 SaltShaker -2.705 0.123 3.273 0 0 0 65 24 Pan -2.667 0.812 3.74 0 137.145 0 64 25 PepperShaker -0.921 0.896 1.452 0 90 0 82 26 ButterKnife -2.172 0.812 3.552 0 0 0 64 27 Tomato -0.524 0.969 1.555 0 90 0 82 28 DishSponge -2.619 1.634 3.025 0 0 0 60 29 Lettuce -0.580 0.956 1.358 31.822 0 0 82 30 Spoon 0.635 0.693 2.199 0 90 0 35 31 Apple 0.960 0.085 2.918 0 0 0 75 32 Knife -2.779 0.846 3.479 0 0 0 64 33 Mug -2.577 1.185 2.333 0 90 0 73 34 Bowl 0.781 0.124 2.572 0 0 0 48 35 Drawer 0.729 0.703 2.199 0 0 0 36 Cabinet -1.962 1.926 3.733 0 0 0 37 Cabinet -2.377 2.014 1.058 0 0 0 38 Drawer 0.729 0.703 2.532 0 0 0 39 Cabinet -2.622 1.925 3.733 0 0 0 40 StoveBurner 0.913 0.843 1.375 0 0 0 41 CounterTop 0.864 0.858 0.984 0 0 0 42 Cabinet -1.976 1.779 3.734 0 0 0 43 Cabinet 0.580 0.385 0.819 0 0 0 44 Cabinet -2.379 1.408 1.677 0 0 0 45 Cabinet -0.419 1.703 3.736 0 0 0 46 CounterTop 0.864 0.858 2.371 0 0 0 47 Sink -1.702 0.726 3.828 0 180 0 48 Cabinet 0.580 0.385 2.694 0 0 0 49 Cabinet -2.379 0.637 1.677 0 0 0 50 Cabinet -0.419 0.674 3.736 0 0 0 51 Cabinet -2.377 2.014 2.558 0 0 0 52 Drawer 0.729 0.703 0.980 0 0 0 53 Drawer -2.114 0.706 3.657 0 0 0 54 Cabinet -2.377 1.691 2.572 0 0 0 55 Cabinet -2.951 1.925 3.733 0 0 0 56 Cabinet 0.580 0.385 2.360 0 0 0 57 Cabinet -2.426 0.435 3.421 0 0 0 58 StoveBurner 0.642 0.843 1.375 0 0 0 59 Cabinet -2.377 1.927 1.686 0 0 0 60 Cabinet -2.377 2.013 3.177 0 0 0 61 Cabinet -1.136 0.385 3.516 0 0 0 62 StoveBurner 0.913 0.843 1.768 0 0 0 63 Cabinet -1.974 0.385 3.516 0 0 0 64 CounterTop -2.081 0.858 3.799 0 0 0 65 Cabinet -2.426 0.435 3.174 0 0 0 66 Cabinet -2.377 2.014 1.693 0 0 0 67 Cabinet -1.986 0.385 3.511 0 0 0 68 StoveBurner 0.642 0.843 1.768 0 0 0 69 Cabinet -1.098 1.926 3.729 0 0 0 70 Microwave -1.529 1.250 3.881 1.622 180 0 71 CoffeeMachine 1.000 0.812 2.492 0 270 0 72 LightSwitch 0.825 1.396 4.082 0 180 0 73 Fridge -2.642 0.0 2.134 0 180 0 74 Window -1.131 1.673 0.808 90 0 0 75 GarbageCan 0.931 -0.000 2.918 0 0 0 76 SinkBasin -1.601 0.686 3.774 0 0 0 77 StoveKnob 1.104 1.002 1.886 0 0 70.346 78 StoveKnob 1.104 1.002 1.733 0 0 70.346 79 StoveKnob 1.104 1.002 1.321 0 0 70.346 80 StoveKnob 1.104 1.002 1.481 0 0 70.346 81 Toaster -2.247 0.812 3.862 0 180 0 82 DiningTable -0.917 -0.000 1.203 0 0 0 83 Stool -0.932 0.000 1.404 1.196 21.715 0 84 Faucet -1.842 0.809 3.984 0 180 0 85 Faucet -1.371 0.809 3.985 0 180 0 86 NorthWall 87 EastWall 88 SouthWall 89 WestWall
[ "STEP 1: Turn left and go towards the garbage bin on the floor next to the counter | STEP 2: Take the apple out of the garbage bin | STEP 3: Turn around and go towards the oven, then turn right and go to the sink | STEP 4: Cook the apple in the microwave above the sink then take the apple out of the microwave | STEP 5: Turn left then turn right to face the sinks | STEP 6: Put the apple in the larger sink on the right | END" ]
[ [ "STEP 1: Turn left and go towards the garbage bin on the floor next to the counter ", " STEP 2: Take the apple out of the garbage bin ", " STEP 3: Turn around and go towards the oven, then turn right and go to the sink ", " STEP 4: Cook the apple in the microwave above the sink then take the apple out of the microwave ", " STEP 5: Turn left then turn right to face the sinks ", " STEP 6: Put the apple in the larger sink on the right ", " END" ] ]
seen
trial_T20190909_001555_348694-2
To heat an apple and place it in the sink.
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0.686", " 3.774", " 0", " 0", " 0", "" ], [ "77", " StoveKnob", " 1.104", " 1.002", " 1.886", " 0", " 0", " 70.346", "" ], [ "78", " StoveKnob", " 1.104", " 1.002", " 1.733", " 0", " 0", " 70.346", "" ], [ "79", " StoveKnob", " 1.104", " 1.002", " 1.321", " 0", " 0", " 70.346", "" ], [ "80", " StoveKnob", " 1.104", " 1.002", " 1.481", " 0", " 0", " 70.346", "" ], [ "81", " Toaster", " -2.247", " 0.812", " 3.862", " 0", " 180", " 0", "" ], [ "82", " DiningTable", " -0.917", " -0.000", " 1.203", " 0", " 0", " 0", "" ], [ "83", " Stool", " -0.932", " 0.000", " 1.404", " 1.196", " 21.715", " 0", "" ], [ "84", " Faucet", " -1.842", " 0.809", " 3.984", " 0", " 180", " 0", "" ], [ "85", " Faucet", " -1.371", " 0.809", " 3.985", " 0", " 180", " 0", "" ], [ "86", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "89", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 3.25 0 180 0 1 Potato -1.486 1.402 3.901 0 180 0 70 2 Potato -1.317 0.943 1.143 0 90 0 82 3 ButterKnife -1.317 0.900 1.452 0 90 0 82 4 Pot 0.642 0.850 1.375 0 0 0 58 5 Spatula -0.657 0.915 1.040 0 180 0 82 6 Fork 0.703 0.691 1.016 0 270 0 52 7 Plate -2.786 1.402 3.897 0 0 0 55 8 Cup 0.875 0.822 2.198 0 0 0 46 9 Tomato -1.317 0.969 1.555 0 90 0 82 10 Bowl -1.817 0.126 3.713 0 0 0 63 11 Bread -2.577 0.820 2.221 0 90 0 73 12 Apple 1.024 0.884 2.371 0 0 0 46 13 Plate 0.860 0.812 0.975 0 0 0 41 14 Fork 0.635 0.691 0.944 0 90 0 52 15 Bread 0.827 0.861 2.449 0 0 0 41 16 Spatula -0.789 0.915 1.349 0 270 0 82 17 PaperTowelRoll -1.317 1.004 0.937 0 90 0 82 18 Potato -2.636 1.038 2.389 0 90 0 73 19 SoapBottle -1.317 0.900 1.246 0 90 0 82 20 Egg -0.921 0.936 1.246 0 90 0 82 21 Cup -0.921 0.900 1.349 0 90 0 82 22 Pot 0.642 0.850 1.768 0 0 0 68 23 SaltShaker -2.705 0.123 3.273 0 0 0 65 24 Pan -2.667 0.812 3.74 0 137.145 0 64 25 PepperShaker -0.921 0.896 1.452 0 90 0 82 26 ButterKnife -2.172 0.812 3.552 0 0 0 64 27 Tomato -0.524 0.969 1.555 0 90 0 82 28 DishSponge -2.619 1.634 3.025 0 0 0 60 29 Lettuce -0.580 0.956 1.358 31.822 0 0 82 30 Spoon 0.635 0.693 2.199 0 90 0 35 31 Apple 0.960 0.085 2.918 0 0 0 75 32 Knife -2.779 0.846 3.479 0 0 0 64 33 Mug -2.577 1.185 2.333 0 90 0 73 34 Bowl 0.781 0.124 2.572 0 0 0 48 35 Drawer 0.729 0.703 2.199 0 0 0 36 Cabinet -1.962 1.926 3.733 0 0 0 37 Cabinet -2.377 2.014 1.058 0 0 0 38 Drawer 0.729 0.703 2.532 0 0 0 39 Cabinet -2.622 1.925 3.733 0 0 0 40 StoveBurner 0.913 0.843 1.375 0 0 0 41 CounterTop 0.864 0.858 0.984 0 0 0 42 Cabinet -1.976 1.779 3.734 0 0 0 43 Cabinet 0.580 0.385 0.819 0 0 0 44 Cabinet -2.379 1.408 1.677 0 0 0 45 Cabinet -0.419 1.703 3.736 0 0 0 46 CounterTop 0.864 0.858 2.371 0 0 0 47 Sink -1.702 0.726 3.828 0 180 0 48 Cabinet 0.580 0.385 2.694 0 0 0 49 Cabinet -2.379 0.637 1.677 0 0 0 50 Cabinet -0.419 0.674 3.736 0 0 0 51 Cabinet -2.377 2.014 2.558 0 0 0 52 Drawer 0.729 0.703 0.980 0 0 0 53 Drawer -2.114 0.706 3.657 0 0 0 54 Cabinet -2.377 1.691 2.572 0 0 0 55 Cabinet -2.951 1.925 3.733 0 0 0 56 Cabinet 0.580 0.385 2.360 0 0 0 57 Cabinet -2.426 0.435 3.421 0 0 0 58 StoveBurner 0.642 0.843 1.375 0 0 0 59 Cabinet -2.377 1.927 1.686 0 0 0 60 Cabinet -2.377 2.013 3.177 0 0 0 61 Cabinet -1.136 0.385 3.516 0 0 0 62 StoveBurner 0.913 0.843 1.768 0 0 0 63 Cabinet -1.974 0.385 3.516 0 0 0 64 CounterTop -2.081 0.858 3.799 0 0 0 65 Cabinet -2.426 0.435 3.174 0 0 0 66 Cabinet -2.377 2.014 1.693 0 0 0 67 Cabinet -1.986 0.385 3.511 0 0 0 68 StoveBurner 0.642 0.843 1.768 0 0 0 69 Cabinet -1.098 1.926 3.729 0 0 0 70 Microwave -1.529 1.250 3.881 1.622 180 0 71 CoffeeMachine 1.000 0.812 2.492 0 270 0 72 LightSwitch 0.825 1.396 4.082 0 180 0 73 Fridge -2.642 0.0 2.134 0 180 0 74 Window -1.131 1.673 0.808 90 0 0 75 GarbageCan 0.931 -0.000 2.918 0 0 0 76 SinkBasin -1.601 0.686 3.774 0 0 0 77 StoveKnob 1.104 1.002 1.886 0 0 70.346 78 StoveKnob 1.104 1.002 1.733 0 0 70.346 79 StoveKnob 1.104 1.002 1.321 0 0 70.346 80 StoveKnob 1.104 1.002 1.481 0 0 70.346 81 Toaster -2.247 0.812 3.862 0 180 0 82 DiningTable -0.917 -0.000 1.203 0 0 0 83 Stool -0.932 0.000 1.404 1.196 21.715 0 84 Faucet -1.842 0.809 3.984 0 180 0 85 Faucet -1.371 0.809 3.985 0 180 0 86 NorthWall 87 EastWall 88 SouthWall 89 WestWall
[ "STEP 1: Turn left and look down to face the trash can on the floor. | STEP 2: Pick up the apple in the trash can on the floor. | STEP 3: Turn around and walk forward and turn to the right to face the microwave. | STEP 4: Heat the apple in the microwave and then remove it. | STEP 5: Take a step back and look down to face the sink. | STEP 6: Place the apple in the sink. | END" ]
[ [ "STEP 1: Turn left and look down to face the trash can on the floor. ", " STEP 2: Pick up the apple in the trash can on the floor. ", " STEP 3: Turn around and walk forward and turn to the right to face the microwave. ", " STEP 4: Heat the apple in the microwave and then remove it. ", " STEP 5: Take a step back and look down to face the sink. ", " STEP 6: Place the apple in the sink. ", " END" ] ]
seen
trial_T20190906_192916_142208-0
place a sponge in a shelf
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 2.75", " 0.900", " 0.75", " 0", " 90", " 0", "" ], [ "1", " Statue", " -1.278", " 0.920", " 0.241", " 0", " 180", " 0", " 67" ], [ "2", " Potato", " -0.117", " 0.793", " -2.118", " 0", " 0", " 0", " 84" ], [ "3", " Ladle", " -0.319", " 0.733", " 0.181", " 0", " 270", " 0", " 73" ], [ "4", " DishSponge", " 2.002", " 0.062", " 0.138", " 0", " 0", " 0", " 77" ], [ "5", " Pot", " 1.419", " 0.912", " -2.183", " 0", " 0", " 0", " 74" ], [ "6", " Spatula", " -0.152", " 1.146", " 0.573", " 0", " 0", " 0", " 70" ], [ "7", " Egg", " -0.910", " 0.944", " -1.469", " 0", " 0", " 0", " 74" ], [ "8", " Plate", " 1.194", " 0.909", " -1.844", " 0", " 0", " 0", " 74" ], [ "9", " Knife", " -0.376", " 0.786", " -2.063", " 0", " 90", " 0", " 84" ], [ "10", " Bowl", " 1.846", " 1.012", " -1.350", " 0", " 270", " 0", " 79" ], [ "11", " PepperShaker", " 0.012", " 0.691", " 0.263", " 0", " 180", " 0", " 73" ], [ "12", " PepperShaker", " 3.109", " 0.548", " 0.193", " 0", " 180", " 0", " 80" ], [ "13", " Lettuce", " 2.000", " 1.175", " -0.551", " 0", " 270", " 0", " 81" ], [ "14", " Mug", " -0.897", " 0.906", " -2.014", " 0", " 90", " 0", " 74" ], [ "15", " Apple", " 1.845", " 0.111", " 0.138", " 0", " 0", " 0", " 77" ], [ "16", " Pan", " 1.945", " 1.427", " -0.458", " 0", " 0", " 0", " 81" ], [ "17", " Knife", " -0.420", " 0.937", " 0.188", " 0", " 0", " 0", " 67" ], [ "18", " Bowl", " 1.836", " 0.814", " -0.644", " 0", " 270", " 0", " 81" ], [ "19", " Fork", " -0.611", " 0.694", " 0.190", " 0", " 270", " 0", " 68" ], [ "20", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 84" ], [ "21", " Ladle", " -0.031", " 0.800", " -2.063", " 0", " 90", " 0", " 84" ], [ "22", " Apple", " 1.910", " 1.064", " -1.192", " 0", " 270", " 0", " 79" ], [ "23", " Kettle", " -1.056", " 0.956", " -0.672", " 0", " 180", " 0", " 46" ], [ "24", " Vase", " -1.157", " 0.913", " -1.469", " 0", " 0", " 0", " 74" ], [ "25", " Potato", " 2.000", " 0.847", " -0.365", " 0", " 270", " 0", " 81" ], [ "26", " Pot", " -1.289", " 0.957", " -0.756", " 0", " 180", " 0", " 49" ], [ "27", " Bread", " -1.148", " 0.981", " -0.192", " 0", " 0", " 0", " 67" ], [ "28", " Plate", " -0.598", " 1.129", " 0.529", " 0", " 0", " 0", " 70" ], [ "29", " Spatula", " -0.543", " 0.709", " 0.102", " 0", " 90", " 0", " 68" ], [ "30", " PaperTowelRoll", " 3.005", " 0.656", " 0.142", " 0", " 180", " 0", " 80" ], [ "31", " Vase", " -0.777", " 0.917", " -1.845", " 0", " 0", " 0", " 74" ], [ "32", " Egg", " 1.945", " 1.132", " -0.644", " 0", " 270", " 0", " 81" ], [ "33", " SoapBottle", " 2.900", " 0.879", " 0.195", " 0", " 180", " 0", " 78" ], [ "34", " SaltShaker", " 2.491", " 0.876", " 0.168", " 0", " 180", " 0", " 78" ], [ "35", " Lettuce", " -0.256", " 0.867", " -1.969", " 327.984", " 40.845", " 31.472", " 84" ], [ "36", " PepperShaker", " -0.691", " 0.690", " -1.802", " 0", " 0", " 0", " 44" ], [ "37", " ButterKnife", " -0.375", " 1.131", " 0.662", " 0", " 0", " 0", " 70" ], [ "38", " DishSponge", " -1.259", " 0.910", " -1.760", " 0", " 0", " 0", " 74" ], [ "39", " Vase", " -0.993", " 0.908", " -1.806", " 0", " 0", " 0", " 74" ], [ "40", " Spoon", " 0.071", " 1.132", " 0.529", " 0", " 0", " 0", " 70" ], [ "41", " Tomato", " -0.822", " 1.181", " 0.573", " 0", " 0", " 0", " 70" ], [ "42", " Mug", " 1.945", " 0.812", " -0.458", " 0", " 270", " 0", " 81" ], [ "43", " Statue", " -1.330", " 0.920", " -0.170", " 0", " 0", " 0", " 67" ], [ "44", " Drawer", " -0.819", " 0.75", " -1.690", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -1.149", " 2.264", " -0.838", " 0", " 90", " 0", "" ], [ "46", " StoveBurner", " -1.056", " 0.949", " -0.671", " 0", " 180", " 0", "" ], [ "47", " Cabinet", " 1.738", " 2.019", " -2.000", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " 1.389", " 0.469", " -1.059", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -1.289", " 0.949", " -0.755", " 0", " 180", " 0", "" ], [ "50", " Faucet", " -0.157", " 1.052", " -2.196", " 0", " 270", " 0", "" ], [ "51", " Cabinet", " 1.75", " 2.019", " -1.029", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 1.75", " 2.019", " -1.399", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 1.179", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.199", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -1.100", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -1.149", " 2.019", " -1.979", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -1.149", " 2.019", " -0.770", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -1.149", " 2.019", " 0.380", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.819", " 0.469", " -1.689", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.839", " 0.469", " -1.664", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.839", " 0.469", " -0.049", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.414", " 0.370", " -0.009", " 0", " 0", " 0", "" ], [ "63", " Sink", " -0.118", " 0.875", " -2.009", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " -1.289", " 0.949", " -1.019", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.119", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.459", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "67", " CounterTop", " -0.665", " 0.949", " 0.188", " 0", " 0", " 0", "" ], [ "68", " Drawer", " -0.449", " 0.75", " -0.010", " 0", " 180", " 0", "" ], [ "69", " Cabinet", " -0.450", " 0.469", " -0.009", " 0", " 0", " 0", "" ], [ "70", " CounterTop", " -0.630", " 1.167", " 0.573", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " -1.056", " 0.949", " -1.126", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 1.376", " 0.460", " -1.685", " 0", " 0", " 0", "" ], [ "73", " Drawer", " -0.070", " 0.75", " -0.009", " 0", " 180", " 0", "" ], [ "74", " CounterTop", " 1.159", " 0.946", " -2.013", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -1.150", " 2.264", " -1.418", " 0", " 90", " 0", "" ], [ "76", " HousePlant", " -1.246", " 1.108", " 0.606", " 0", " 0", " 0", "" ], [ "77", " GarbageCan", " 1.923", " -0.010", " 0.137", " 0", " 0", " 0", "" ], [ "78", " Shelf", " 2.759", " 0.880", " 0.144", " 0", " 0", " 0", "" ], [ "79", " Microwave", " 1.827", " 0.900", " -1.354", " 0", " 270", " 0", "" ], [ "80", " Shelf", " 2.759", " 0.552", " 0.145", " 0", " 0", " 0", "" ], [ "81", " Fridge", " 1.975", " 0.0", " -0.537", " 0", " 0", " 0", "" ], [ "82", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "83", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "84", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "85", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "86", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "87", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "88", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "89", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "90", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "91", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "92", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "93", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "94", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "95", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.75 0.900 0.75 0 90 0 1 Statue -1.278 0.920 0.241 0 180 0 67 2 Potato -0.117 0.793 -2.118 0 0 0 84 3 Ladle -0.319 0.733 0.181 0 270 0 73 4 DishSponge 2.002 0.062 0.138 0 0 0 77 5 Pot 1.419 0.912 -2.183 0 0 0 74 6 Spatula -0.152 1.146 0.573 0 0 0 70 7 Egg -0.910 0.944 -1.469 0 0 0 74 8 Plate 1.194 0.909 -1.844 0 0 0 74 9 Knife -0.376 0.786 -2.063 0 90 0 84 10 Bowl 1.846 1.012 -1.350 0 270 0 79 11 PepperShaker 0.012 0.691 0.263 0 180 0 73 12 PepperShaker 3.109 0.548 0.193 0 180 0 80 13 Lettuce 2.000 1.175 -0.551 0 270 0 81 14 Mug -0.897 0.906 -2.014 0 90 0 74 15 Apple 1.845 0.111 0.138 0 0 0 77 16 Pan 1.945 1.427 -0.458 0 0 0 81 17 Knife -0.420 0.937 0.188 0 0 0 67 18 Bowl 1.836 0.814 -0.644 0 270 0 81 19 Fork -0.611 0.694 0.190 0 270 0 68 20 Cup 0.101 0.750 -1.938 0 0 0 84 21 Ladle -0.031 0.800 -2.063 0 90 0 84 22 Apple 1.910 1.064 -1.192 0 270 0 79 23 Kettle -1.056 0.956 -0.672 0 180 0 46 24 Vase -1.157 0.913 -1.469 0 0 0 74 25 Potato 2.000 0.847 -0.365 0 270 0 81 26 Pot -1.289 0.957 -0.756 0 180 0 49 27 Bread -1.148 0.981 -0.192 0 0 0 67 28 Plate -0.598 1.129 0.529 0 0 0 70 29 Spatula -0.543 0.709 0.102 0 90 0 68 30 PaperTowelRoll 3.005 0.656 0.142 0 180 0 80 31 Vase -0.777 0.917 -1.845 0 0 0 74 32 Egg 1.945 1.132 -0.644 0 270 0 81 33 SoapBottle 2.900 0.879 0.195 0 180 0 78 34 SaltShaker 2.491 0.876 0.168 0 180 0 78 35 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 84 36 PepperShaker -0.691 0.690 -1.802 0 0 0 44 37 ButterKnife -0.375 1.131 0.662 0 0 0 70 38 DishSponge -1.259 0.910 -1.760 0 0 0 74 39 Vase -0.993 0.908 -1.806 0 0 0 74 40 Spoon 0.071 1.132 0.529 0 0 0 70 41 Tomato -0.822 1.181 0.573 0 0 0 70 42 Mug 1.945 0.812 -0.458 0 270 0 81 43 Statue -1.330 0.920 -0.170 0 0 0 67 44 Drawer -0.819 0.75 -1.690 0 0 0 45 Cabinet -1.149 2.264 -0.838 0 90 0 46 StoveBurner -1.056 0.949 -0.671 0 180 0 47 Cabinet 1.738 2.019 -2.000 0 0 0 48 Cabinet 1.389 0.469 -1.059 0 0 0 49 StoveBurner -1.289 0.949 -0.755 0 180 0 50 Faucet -0.157 1.052 -2.196 0 270 0 51 Cabinet 1.75 2.019 -1.029 0 0 0 52 Cabinet 1.75 2.019 -1.399 0 0 0 53 Cabinet 1.179 2.019 -2.0 0 0 0 54 Cabinet 0.199 2.019 -2.0 0 0 0 55 Cabinet -1.100 2.019 -2.0 0 0 0 56 Cabinet -1.149 2.019 -1.979 0 0 0 57 Cabinet -1.149 2.019 -0.770 0 0 0 58 Cabinet -1.149 2.019 0.380 0 0 0 59 Cabinet -0.819 0.469 -1.689 0 0 0 60 Cabinet -0.839 0.469 -1.664 0 0 0 61 Cabinet -0.839 0.469 -0.049 0 0 0 62 Cabinet -0.414 0.370 -0.009 0 0 0 63 Sink -0.118 0.875 -2.009 0 0 0 64 StoveBurner -1.289 0.949 -1.019 0 0 0 65 Cabinet 0.119 2.264 -2.0 0 0 0 66 Cabinet -0.459 2.264 -2.0 0 0 0 67 CounterTop -0.665 0.949 0.188 0 0 0 68 Drawer -0.449 0.75 -0.010 0 180 0 69 Cabinet -0.450 0.469 -0.009 0 0 0 70 CounterTop -0.630 1.167 0.573 0 0 0 71 StoveBurner -1.056 0.949 -1.126 0 0 0 72 Cabinet 1.376 0.460 -1.685 0 0 0 73 Drawer -0.070 0.75 -0.009 0 180 0 74 CounterTop 1.159 0.946 -2.013 0 0 0 75 Cabinet -1.150 2.264 -1.418 0 90 0 76 HousePlant -1.246 1.108 0.606 0 0 0 77 GarbageCan 1.923 -0.010 0.137 0 0 0 78 Shelf 2.759 0.880 0.144 0 0 0 79 Microwave 1.827 0.900 -1.354 0 270 0 80 Shelf 2.759 0.552 0.145 0 0 0 81 Fridge 1.975 0.0 -0.537 0 0 0 82 LightSwitch 0.404 1.297 2.0 0 180 0 83 Shelf 2.760 0.172 0.145 0 0 0 84 SinkBasin -0.129 0.752 -2.007 0 0 0 85 StoveKnob -0.873 0.903 -0.827 45 90 0 86 StoveKnob -0.873 0.903 -0.676 45 90 0 87 StoveKnob -0.873 0.903 -0.966 45 90 0 88 StoveKnob -0.873 0.903 -1.123 45 90 0 89 Toaster 0.840 0.900 -2.057 0 0 0 90 CoffeeMachine 0.501 0.900 -2.125 0 0 0 91 ShelvingUnit 2.760 0.006 0.144 0 0 0 92 Stool -0.826 0.010 0.908 0 347.513 0 93 Stool -0.132 0.010 0.883 0 71.555 0 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: turn around, head towards the shelf, turn left and locate the gas cooker | STEP 2: pick up the sponge from the gas cooker | STEP 3: turn right and head towards the table | STEP 4: open the shelf beneath it and place the sponge in it | END" ]
[ [ "STEP 1: turn around, head towards the shelf, turn left and locate the gas cooker ", " STEP 2: pick up the sponge from the gas cooker ", " STEP 3: turn right and head towards the table ", " STEP 4: open the shelf beneath it and place the sponge in it ", " END" ] ]
seen
trial_T20190906_192916_142208-1
Move the green sponge by the stove to the cabinet in the corner
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0.012", " 0.691", " 0.263", " 0", " 180", " 0", " 73" ], [ "12", " PepperShaker", " 3.109", " 0.548", " 0.193", " 0", " 180", " 0", " 80" ], [ "13", " Lettuce", " 2.000", " 1.175", " -0.551", " 0", " 270", " 0", " 81" ], [ "14", " Mug", " -0.897", " 0.906", " -2.014", " 0", " 90", " 0", " 74" ], [ "15", " Apple", " 1.845", " 0.111", " 0.138", " 0", " 0", " 0", " 77" ], [ "16", " Pan", " 1.945", " 1.427", " -0.458", " 0", " 0", " 0", " 81" ], [ "17", " Knife", " -0.420", " 0.937", " 0.188", " 0", " 0", " 0", " 67" ], [ "18", " Bowl", " 1.836", " 0.814", " -0.644", " 0", " 270", " 0", " 81" ], [ "19", " Fork", " -0.611", " 0.694", " 0.190", " 0", " 270", " 0", " 68" ], [ "20", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 84" ], [ "21", " Ladle", " -0.031", " 0.800", " -2.063", " 0", " 90", " 0", " 84" ], [ "22", " Apple", " 1.910", " 1.064", " -1.192", " 0", " 270", " 0", " 79" ], [ "23", " Kettle", " -1.056", " 0.956", " -0.672", " 0", " 180", " 0", " 46" ], [ "24", " Vase", " -1.157", " 0.913", " -1.469", " 0", " 0", " 0", " 74" ], [ "25", " Potato", " 2.000", " 0.847", " -0.365", " 0", " 270", " 0", " 81" ], [ "26", " Pot", " -1.289", " 0.957", " -0.756", " 0", " 180", " 0", " 49" ], [ "27", " Bread", " -1.148", " 0.981", " -0.192", " 0", " 0", " 0", " 67" ], [ "28", " Plate", " -0.598", " 1.129", " 0.529", " 0", " 0", " 0", " 70" ], [ "29", " Spatula", " -0.543", " 0.709", " 0.102", " 0", " 90", " 0", " 68" ], [ "30", " PaperTowelRoll", " 3.005", " 0.656", " 0.142", " 0", " 180", " 0", " 80" ], [ "31", " Vase", " -0.777", " 0.917", " -1.845", " 0", " 0", " 0", " 74" ], [ "32", " Egg", " 1.945", " 1.132", " -0.644", " 0", " 270", " 0", " 81" ], [ "33", " SoapBottle", " 2.900", " 0.879", " 0.195", " 0", " 180", " 0", " 78" ], [ "34", " SaltShaker", " 2.491", " 0.876", " 0.168", " 0", " 180", " 0", " 78" ], [ "35", " Lettuce", " -0.256", " 0.867", " -1.969", " 327.984", " 40.845", " 31.472", " 84" ], [ "36", " PepperShaker", " -0.691", " 0.690", " -1.802", " 0", " 0", " 0", " 44" ], [ "37", " ButterKnife", " -0.375", " 1.131", " 0.662", " 0", " 0", " 0", " 70" ], [ "38", " DishSponge", " -1.259", " 0.910", " -1.760", " 0", " 0", " 0", " 74" ], [ "39", " Vase", " -0.993", " 0.908", " -1.806", " 0", " 0", " 0", " 74" ], [ "40", " Spoon", " 0.071", " 1.132", " 0.529", " 0", " 0", " 0", " 70" ], [ "41", " Tomato", " -0.822", " 1.181", " 0.573", " 0", " 0", " 0", " 70" ], [ "42", " Mug", " 1.945", " 0.812", " -0.458", " 0", " 270", " 0", " 81" ], [ "43", " Statue", " -1.330", " 0.920", " -0.170", " 0", " 0", " 0", " 67" ], [ "44", " Drawer", " -0.819", " 0.75", " -1.690", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -1.149", " 2.264", " -0.838", " 0", " 90", " 0", "" ], [ "46", " StoveBurner", " -1.056", " 0.949", " -0.671", " 0", " 180", " 0", "" ], [ "47", " Cabinet", " 1.738", " 2.019", " -2.000", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " 1.389", " 0.469", " -1.059", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -1.289", " 0.949", " -0.755", " 0", " 180", " 0", "" ], [ "50", " Faucet", " -0.157", " 1.052", " -2.196", " 0", " 270", " 0", "" ], [ "51", " Cabinet", " 1.75", " 2.019", " -1.029", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 1.75", " 2.019", " -1.399", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 1.179", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.199", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -1.100", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -1.149", " 2.019", " -1.979", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -1.149", " 2.019", " -0.770", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -1.149", " 2.019", " 0.380", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.819", " 0.469", " -1.689", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.839", " 0.469", " -1.664", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.839", " 0.469", " -0.049", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.414", " 0.370", " -0.009", " 0", " 0", " 0", "" ], [ "63", " Sink", " -0.118", " 0.875", " -2.009", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " -1.289", " 0.949", " -1.019", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.119", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.459", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "67", " CounterTop", " -0.665", " 0.949", " 0.188", " 0", " 0", " 0", "" ], [ "68", " Drawer", " -0.449", " 0.75", " -0.010", " 0", " 180", " 0", "" ], [ "69", " Cabinet", " -0.450", " 0.469", " -0.009", " 0", " 0", " 0", "" ], [ "70", " CounterTop", " -0.630", " 1.167", " 0.573", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " -1.056", " 0.949", " -1.126", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 1.376", " 0.460", " -1.685", " 0", " 0", " 0", "" ], [ "73", " Drawer", " -0.070", " 0.75", " -0.009", " 0", " 180", " 0", "" ], [ "74", " CounterTop", " 1.159", " 0.946", " -2.013", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -1.150", " 2.264", " -1.418", " 0", " 90", " 0", "" ], [ "76", " HousePlant", " -1.246", " 1.108", " 0.606", " 0", " 0", " 0", "" ], [ "77", " GarbageCan", " 1.923", " -0.010", " 0.137", " 0", " 0", " 0", "" ], [ "78", " Shelf", " 2.759", " 0.880", " 0.144", " 0", " 0", " 0", "" ], [ "79", " Microwave", " 1.827", " 0.900", " -1.354", " 0", " 270", " 0", "" ], [ "80", " Shelf", " 2.759", " 0.552", " 0.145", " 0", " 0", " 0", "" ], [ "81", " Fridge", " 1.975", " 0.0", " -0.537", " 0", " 0", " 0", "" ], [ "82", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "83", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "84", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "85", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "86", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "87", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "88", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "89", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "90", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "91", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "92", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "93", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "94", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "95", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.75 0.900 0.75 0 90 0 1 Statue -1.278 0.920 0.241 0 180 0 67 2 Potato -0.117 0.793 -2.118 0 0 0 84 3 Ladle -0.319 0.733 0.181 0 270 0 73 4 DishSponge 2.002 0.062 0.138 0 0 0 77 5 Pot 1.419 0.912 -2.183 0 0 0 74 6 Spatula -0.152 1.146 0.573 0 0 0 70 7 Egg -0.910 0.944 -1.469 0 0 0 74 8 Plate 1.194 0.909 -1.844 0 0 0 74 9 Knife -0.376 0.786 -2.063 0 90 0 84 10 Bowl 1.846 1.012 -1.350 0 270 0 79 11 PepperShaker 0.012 0.691 0.263 0 180 0 73 12 PepperShaker 3.109 0.548 0.193 0 180 0 80 13 Lettuce 2.000 1.175 -0.551 0 270 0 81 14 Mug -0.897 0.906 -2.014 0 90 0 74 15 Apple 1.845 0.111 0.138 0 0 0 77 16 Pan 1.945 1.427 -0.458 0 0 0 81 17 Knife -0.420 0.937 0.188 0 0 0 67 18 Bowl 1.836 0.814 -0.644 0 270 0 81 19 Fork -0.611 0.694 0.190 0 270 0 68 20 Cup 0.101 0.750 -1.938 0 0 0 84 21 Ladle -0.031 0.800 -2.063 0 90 0 84 22 Apple 1.910 1.064 -1.192 0 270 0 79 23 Kettle -1.056 0.956 -0.672 0 180 0 46 24 Vase -1.157 0.913 -1.469 0 0 0 74 25 Potato 2.000 0.847 -0.365 0 270 0 81 26 Pot -1.289 0.957 -0.756 0 180 0 49 27 Bread -1.148 0.981 -0.192 0 0 0 67 28 Plate -0.598 1.129 0.529 0 0 0 70 29 Spatula -0.543 0.709 0.102 0 90 0 68 30 PaperTowelRoll 3.005 0.656 0.142 0 180 0 80 31 Vase -0.777 0.917 -1.845 0 0 0 74 32 Egg 1.945 1.132 -0.644 0 270 0 81 33 SoapBottle 2.900 0.879 0.195 0 180 0 78 34 SaltShaker 2.491 0.876 0.168 0 180 0 78 35 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 84 36 PepperShaker -0.691 0.690 -1.802 0 0 0 44 37 ButterKnife -0.375 1.131 0.662 0 0 0 70 38 DishSponge -1.259 0.910 -1.760 0 0 0 74 39 Vase -0.993 0.908 -1.806 0 0 0 74 40 Spoon 0.071 1.132 0.529 0 0 0 70 41 Tomato -0.822 1.181 0.573 0 0 0 70 42 Mug 1.945 0.812 -0.458 0 270 0 81 43 Statue -1.330 0.920 -0.170 0 0 0 67 44 Drawer -0.819 0.75 -1.690 0 0 0 45 Cabinet -1.149 2.264 -0.838 0 90 0 46 StoveBurner -1.056 0.949 -0.671 0 180 0 47 Cabinet 1.738 2.019 -2.000 0 0 0 48 Cabinet 1.389 0.469 -1.059 0 0 0 49 StoveBurner -1.289 0.949 -0.755 0 180 0 50 Faucet -0.157 1.052 -2.196 0 270 0 51 Cabinet 1.75 2.019 -1.029 0 0 0 52 Cabinet 1.75 2.019 -1.399 0 0 0 53 Cabinet 1.179 2.019 -2.0 0 0 0 54 Cabinet 0.199 2.019 -2.0 0 0 0 55 Cabinet -1.100 2.019 -2.0 0 0 0 56 Cabinet -1.149 2.019 -1.979 0 0 0 57 Cabinet -1.149 2.019 -0.770 0 0 0 58 Cabinet -1.149 2.019 0.380 0 0 0 59 Cabinet -0.819 0.469 -1.689 0 0 0 60 Cabinet -0.839 0.469 -1.664 0 0 0 61 Cabinet -0.839 0.469 -0.049 0 0 0 62 Cabinet -0.414 0.370 -0.009 0 0 0 63 Sink -0.118 0.875 -2.009 0 0 0 64 StoveBurner -1.289 0.949 -1.019 0 0 0 65 Cabinet 0.119 2.264 -2.0 0 0 0 66 Cabinet -0.459 2.264 -2.0 0 0 0 67 CounterTop -0.665 0.949 0.188 0 0 0 68 Drawer -0.449 0.75 -0.010 0 180 0 69 Cabinet -0.450 0.469 -0.009 0 0 0 70 CounterTop -0.630 1.167 0.573 0 0 0 71 StoveBurner -1.056 0.949 -1.126 0 0 0 72 Cabinet 1.376 0.460 -1.685 0 0 0 73 Drawer -0.070 0.75 -0.009 0 180 0 74 CounterTop 1.159 0.946 -2.013 0 0 0 75 Cabinet -1.150 2.264 -1.418 0 90 0 76 HousePlant -1.246 1.108 0.606 0 0 0 77 GarbageCan 1.923 -0.010 0.137 0 0 0 78 Shelf 2.759 0.880 0.144 0 0 0 79 Microwave 1.827 0.900 -1.354 0 270 0 80 Shelf 2.759 0.552 0.145 0 0 0 81 Fridge 1.975 0.0 -0.537 0 0 0 82 LightSwitch 0.404 1.297 2.0 0 180 0 83 Shelf 2.760 0.172 0.145 0 0 0 84 SinkBasin -0.129 0.752 -2.007 0 0 0 85 StoveKnob -0.873 0.903 -0.827 45 90 0 86 StoveKnob -0.873 0.903 -0.676 45 90 0 87 StoveKnob -0.873 0.903 -0.966 45 90 0 88 StoveKnob -0.873 0.903 -1.123 45 90 0 89 Toaster 0.840 0.900 -2.057 0 0 0 90 CoffeeMachine 0.501 0.900 -2.125 0 0 0 91 ShelvingUnit 2.760 0.006 0.144 0 0 0 92 Stool -0.826 0.010 0.908 0 347.513 0 93 Stool -0.132 0.010 0.883 0 71.555 0 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Turn around and walk to the stove in the kitchen | STEP 2: Grab the green sponge by the grey bottle | STEP 3: Turn right to the cabinet in the corner | STEP 4: open the cabinet, put the sponge in it, close the cabinet | END" ]
[ [ "STEP 1: Turn around and walk to the stove in the kitchen ", " STEP 2: Grab the green sponge by the grey bottle ", " STEP 3: Turn right to the cabinet in the corner ", " STEP 4: open the cabinet, put the sponge in it, close the cabinet ", " END" ] ]
seen
trial_T20190906_192916_142208-2
Place the sponge from the counter into the cabinet.
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0.012", " 0.691", " 0.263", " 0", " 180", " 0", " 73" ], [ "12", " PepperShaker", " 3.109", " 0.548", " 0.193", " 0", " 180", " 0", " 80" ], [ "13", " Lettuce", " 2.000", " 1.175", " -0.551", " 0", " 270", " 0", " 81" ], [ "14", " Mug", " -0.897", " 0.906", " -2.014", " 0", " 90", " 0", " 74" ], [ "15", " Apple", " 1.845", " 0.111", " 0.138", " 0", " 0", " 0", " 77" ], [ "16", " Pan", " 1.945", " 1.427", " -0.458", " 0", " 0", " 0", " 81" ], [ "17", " Knife", " -0.420", " 0.937", " 0.188", " 0", " 0", " 0", " 67" ], [ "18", " Bowl", " 1.836", " 0.814", " -0.644", " 0", " 270", " 0", " 81" ], [ "19", " Fork", " -0.611", " 0.694", " 0.190", " 0", " 270", " 0", " 68" ], [ "20", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 84" ], [ "21", " Ladle", " -0.031", " 0.800", " -2.063", " 0", " 90", " 0", " 84" ], [ "22", " Apple", " 1.910", " 1.064", " -1.192", " 0", " 270", " 0", " 79" ], [ "23", " Kettle", " -1.056", " 0.956", " -0.672", " 0", " 180", " 0", " 46" ], [ "24", " Vase", " -1.157", " 0.913", " -1.469", " 0", " 0", " 0", " 74" ], [ "25", " Potato", " 2.000", " 0.847", " -0.365", " 0", " 270", " 0", " 81" ], [ "26", " Pot", " -1.289", " 0.957", " -0.756", " 0", " 180", " 0", " 49" ], [ "27", " Bread", " -1.148", " 0.981", " -0.192", " 0", " 0", " 0", " 67" ], [ "28", " Plate", " -0.598", " 1.129", " 0.529", " 0", " 0", " 0", " 70" ], [ "29", " Spatula", " -0.543", " 0.709", " 0.102", " 0", " 90", " 0", " 68" ], [ "30", " PaperTowelRoll", " 3.005", " 0.656", " 0.142", " 0", " 180", " 0", " 80" ], [ "31", " Vase", " -0.777", " 0.917", " -1.845", " 0", " 0", " 0", " 74" ], [ "32", " Egg", " 1.945", " 1.132", " -0.644", " 0", " 270", " 0", " 81" ], [ "33", " SoapBottle", " 2.900", " 0.879", " 0.195", " 0", " 180", " 0", " 78" ], [ "34", " SaltShaker", " 2.491", " 0.876", " 0.168", " 0", " 180", " 0", " 78" ], [ "35", " Lettuce", " -0.256", " 0.867", " -1.969", " 327.984", " 40.845", " 31.472", " 84" ], [ "36", " PepperShaker", " -0.691", " 0.690", " -1.802", " 0", " 0", " 0", " 44" ], [ "37", " ButterKnife", " -0.375", " 1.131", " 0.662", " 0", " 0", " 0", " 70" ], [ "38", " DishSponge", " -1.259", " 0.910", " -1.760", " 0", " 0", " 0", " 74" ], [ "39", " Vase", " -0.993", " 0.908", " -1.806", " 0", " 0", " 0", " 74" ], [ "40", " Spoon", " 0.071", " 1.132", " 0.529", " 0", " 0", " 0", " 70" ], [ "41", " Tomato", " -0.822", " 1.181", " 0.573", " 0", " 0", " 0", " 70" ], [ "42", " Mug", " 1.945", " 0.812", " -0.458", " 0", " 270", " 0", " 81" ], [ "43", " Statue", " -1.330", " 0.920", " -0.170", " 0", " 0", " 0", " 67" ], [ "44", " Drawer", " -0.819", " 0.75", " -1.690", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -1.149", " 2.264", " -0.838", " 0", " 90", " 0", "" ], [ "46", " StoveBurner", " -1.056", " 0.949", " -0.671", " 0", " 180", " 0", "" ], [ "47", " Cabinet", " 1.738", " 2.019", " -2.000", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " 1.389", " 0.469", " -1.059", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -1.289", " 0.949", " -0.755", " 0", " 180", " 0", "" ], [ "50", " Faucet", " -0.157", " 1.052", " -2.196", " 0", " 270", " 0", "" ], [ "51", " Cabinet", " 1.75", " 2.019", " -1.029", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 1.75", " 2.019", " -1.399", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 1.179", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.199", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -1.100", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -1.149", " 2.019", " -1.979", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -1.149", " 2.019", " -0.770", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -1.149", " 2.019", " 0.380", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.819", " 0.469", " -1.689", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.839", " 0.469", " -1.664", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.839", " 0.469", " -0.049", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.414", " 0.370", " -0.009", " 0", " 0", " 0", "" ], [ "63", " Sink", " -0.118", " 0.875", " -2.009", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " -1.289", " 0.949", " -1.019", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.119", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.459", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "67", " CounterTop", " -0.665", " 0.949", " 0.188", " 0", " 0", " 0", "" ], [ "68", " Drawer", " -0.449", " 0.75", " -0.010", " 0", " 180", " 0", "" ], [ "69", " Cabinet", " -0.450", " 0.469", " -0.009", " 0", " 0", " 0", "" ], [ "70", " CounterTop", " -0.630", " 1.167", " 0.573", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " -1.056", " 0.949", " -1.126", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 1.376", " 0.460", " -1.685", " 0", " 0", " 0", "" ], [ "73", " Drawer", " -0.070", " 0.75", " -0.009", " 0", " 180", " 0", "" ], [ "74", " CounterTop", " 1.159", " 0.946", " -2.013", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -1.150", " 2.264", " -1.418", " 0", " 90", " 0", "" ], [ "76", " HousePlant", " -1.246", " 1.108", " 0.606", " 0", " 0", " 0", "" ], [ "77", " GarbageCan", " 1.923", " -0.010", " 0.137", " 0", " 0", " 0", "" ], [ "78", " Shelf", " 2.759", " 0.880", " 0.144", " 0", " 0", " 0", "" ], [ "79", " Microwave", " 1.827", " 0.900", " -1.354", " 0", " 270", " 0", "" ], [ "80", " Shelf", " 2.759", " 0.552", " 0.145", " 0", " 0", " 0", "" ], [ "81", " Fridge", " 1.975", " 0.0", " -0.537", " 0", " 0", " 0", "" ], [ "82", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "83", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "84", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "85", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "86", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "87", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "88", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "89", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "90", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "91", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "92", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "93", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "94", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "95", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.75 0.900 0.75 0 90 0 1 Statue -1.278 0.920 0.241 0 180 0 67 2 Potato -0.117 0.793 -2.118 0 0 0 84 3 Ladle -0.319 0.733 0.181 0 270 0 73 4 DishSponge 2.002 0.062 0.138 0 0 0 77 5 Pot 1.419 0.912 -2.183 0 0 0 74 6 Spatula -0.152 1.146 0.573 0 0 0 70 7 Egg -0.910 0.944 -1.469 0 0 0 74 8 Plate 1.194 0.909 -1.844 0 0 0 74 9 Knife -0.376 0.786 -2.063 0 90 0 84 10 Bowl 1.846 1.012 -1.350 0 270 0 79 11 PepperShaker 0.012 0.691 0.263 0 180 0 73 12 PepperShaker 3.109 0.548 0.193 0 180 0 80 13 Lettuce 2.000 1.175 -0.551 0 270 0 81 14 Mug -0.897 0.906 -2.014 0 90 0 74 15 Apple 1.845 0.111 0.138 0 0 0 77 16 Pan 1.945 1.427 -0.458 0 0 0 81 17 Knife -0.420 0.937 0.188 0 0 0 67 18 Bowl 1.836 0.814 -0.644 0 270 0 81 19 Fork -0.611 0.694 0.190 0 270 0 68 20 Cup 0.101 0.750 -1.938 0 0 0 84 21 Ladle -0.031 0.800 -2.063 0 90 0 84 22 Apple 1.910 1.064 -1.192 0 270 0 79 23 Kettle -1.056 0.956 -0.672 0 180 0 46 24 Vase -1.157 0.913 -1.469 0 0 0 74 25 Potato 2.000 0.847 -0.365 0 270 0 81 26 Pot -1.289 0.957 -0.756 0 180 0 49 27 Bread -1.148 0.981 -0.192 0 0 0 67 28 Plate -0.598 1.129 0.529 0 0 0 70 29 Spatula -0.543 0.709 0.102 0 90 0 68 30 PaperTowelRoll 3.005 0.656 0.142 0 180 0 80 31 Vase -0.777 0.917 -1.845 0 0 0 74 32 Egg 1.945 1.132 -0.644 0 270 0 81 33 SoapBottle 2.900 0.879 0.195 0 180 0 78 34 SaltShaker 2.491 0.876 0.168 0 180 0 78 35 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 84 36 PepperShaker -0.691 0.690 -1.802 0 0 0 44 37 ButterKnife -0.375 1.131 0.662 0 0 0 70 38 DishSponge -1.259 0.910 -1.760 0 0 0 74 39 Vase -0.993 0.908 -1.806 0 0 0 74 40 Spoon 0.071 1.132 0.529 0 0 0 70 41 Tomato -0.822 1.181 0.573 0 0 0 70 42 Mug 1.945 0.812 -0.458 0 270 0 81 43 Statue -1.330 0.920 -0.170 0 0 0 67 44 Drawer -0.819 0.75 -1.690 0 0 0 45 Cabinet -1.149 2.264 -0.838 0 90 0 46 StoveBurner -1.056 0.949 -0.671 0 180 0 47 Cabinet 1.738 2.019 -2.000 0 0 0 48 Cabinet 1.389 0.469 -1.059 0 0 0 49 StoveBurner -1.289 0.949 -0.755 0 180 0 50 Faucet -0.157 1.052 -2.196 0 270 0 51 Cabinet 1.75 2.019 -1.029 0 0 0 52 Cabinet 1.75 2.019 -1.399 0 0 0 53 Cabinet 1.179 2.019 -2.0 0 0 0 54 Cabinet 0.199 2.019 -2.0 0 0 0 55 Cabinet -1.100 2.019 -2.0 0 0 0 56 Cabinet -1.149 2.019 -1.979 0 0 0 57 Cabinet -1.149 2.019 -0.770 0 0 0 58 Cabinet -1.149 2.019 0.380 0 0 0 59 Cabinet -0.819 0.469 -1.689 0 0 0 60 Cabinet -0.839 0.469 -1.664 0 0 0 61 Cabinet -0.839 0.469 -0.049 0 0 0 62 Cabinet -0.414 0.370 -0.009 0 0 0 63 Sink -0.118 0.875 -2.009 0 0 0 64 StoveBurner -1.289 0.949 -1.019 0 0 0 65 Cabinet 0.119 2.264 -2.0 0 0 0 66 Cabinet -0.459 2.264 -2.0 0 0 0 67 CounterTop -0.665 0.949 0.188 0 0 0 68 Drawer -0.449 0.75 -0.010 0 180 0 69 Cabinet -0.450 0.469 -0.009 0 0 0 70 CounterTop -0.630 1.167 0.573 0 0 0 71 StoveBurner -1.056 0.949 -1.126 0 0 0 72 Cabinet 1.376 0.460 -1.685 0 0 0 73 Drawer -0.070 0.75 -0.009 0 180 0 74 CounterTop 1.159 0.946 -2.013 0 0 0 75 Cabinet -1.150 2.264 -1.418 0 90 0 76 HousePlant -1.246 1.108 0.606 0 0 0 77 GarbageCan 1.923 -0.010 0.137 0 0 0 78 Shelf 2.759 0.880 0.144 0 0 0 79 Microwave 1.827 0.900 -1.354 0 270 0 80 Shelf 2.759 0.552 0.145 0 0 0 81 Fridge 1.975 0.0 -0.537 0 0 0 82 LightSwitch 0.404 1.297 2.0 0 180 0 83 Shelf 2.760 0.172 0.145 0 0 0 84 SinkBasin -0.129 0.752 -2.007 0 0 0 85 StoveKnob -0.873 0.903 -0.827 45 90 0 86 StoveKnob -0.873 0.903 -0.676 45 90 0 87 StoveKnob -0.873 0.903 -0.966 45 90 0 88 StoveKnob -0.873 0.903 -1.123 45 90 0 89 Toaster 0.840 0.900 -2.057 0 0 0 90 CoffeeMachine 0.501 0.900 -2.125 0 0 0 91 ShelvingUnit 2.760 0.006 0.144 0 0 0 92 Stool -0.826 0.010 0.908 0 347.513 0 93 Stool -0.132 0.010 0.883 0 71.555 0 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Turn around, head towards the kitchen counter, turn left towards the dishwasher, then turn right towards the stove. | STEP 2: Pick up the green sponger next to the vase on the counter. | STEP 3: Turn right and head towards the cabinet below the knife on the counter and open the cabinet. | STEP 4: Place the sponge inside the cabinet and close the door. | END" ]
[ [ "STEP 1: Turn around, head towards the kitchen counter, turn left towards the dishwasher, then turn right towards the stove. ", " STEP 2: Pick up the green sponger next to the vase on the counter. ", " STEP 3: Turn right and head towards the cabinet below the knife on the counter and open the cabinet. ", " STEP 4: Place the sponge inside the cabinet and close the door. ", " END" ] ]
seen
trial_T20190907_094410_444756-0
pick up cup while turning on lamp that is on dresser
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 1.25 0 180 0 1 Bowl 0.937 0.576 -2.592 0 0 0 46 2 Bowl -1.394 0.699 -2.046 0 0 0 51 3 Bowl -1.582 0.699 -2.191 0 0 0 51 4 CD 1.293 1.410 0.195 0 270 0 39 5 CD 1.121 0.504 -1.983 0 270 0 29 6 Pen 1.219 0.510 -1.874 0 270 0 29 7 CellPhone 1.172 0.239 -1.674 0 0 0 34 8 CellPhone -1.269 0.700 -2.046 0 0 0 51 9 CreditCard 1.260 0.911 0.039 0 270 0 37 10 CreditCard -1.332 0.696 -1.755 0 0 0 51 11 Laptop -1.203 0.609 -1.065 0 0 0 28 12 Book 0.623 0.569 -2.471 0 350.999 0 35 13 KeyChain 1.224 0.106 -1.929 0 0 0 27 14 BaseballBat 1.436 0.636 1.985 21.882 0 0 15 BasketBall 1.270 0.12 -1.290 0 345.557 0 16 Pencil -0.003 0.582 -2.373 0 0 0 46 17 CellPhone 1.226 1.411 -0.671 0 270 0 39 18 CreditCard 1.172 0.370 -1.963 0 0 0 26 19 Laptop -1.082 0.609 -0.223 0 0 0 28 20 Pillow -1.323 0.713 0.337 0 0 0 28 21 Boots 1.288 0.000 -0.961 0 177.912 0 22 Pen 0.309 0.582 -2.592 0 0 0 46 23 AlarmClock 0.309 0.576 -2.427 0 0 0 46 24 CD -1.394 0.699 -1.900 0 0 0 51 25 Bowl -1.611 1.521 -1.571 0 270 0 40 26 Drawer 0.980 0.271 -1.963 0 0 0 27 Drawer 0.980 0.139 -1.963 0 0 0 28 Bed -1.209 0.016 -0.266 0 180 1.624 29 Shelf 1.220 0.859 -1.802 0 270 0 30 Drawer 0.980 0.404 -1.963 0 0 0 31 Drawer 0.980 0.272 -1.639 0 0 0 32 Mirror 0.740 1.491 2.099 0 0 0 33 Drawer 0.980 0.139 -1.639 0 0 0 34 Drawer 0.980 0.404 -1.639 0 0 0 35 Chair 0.280 -0.001 -2.264 0 180 0 36 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 37 Shelf 1.259 0.903 -0.269 0 270 0 38 Shelf 1.259 0.375 -0.263 0 270 0 39 Shelf 1.259 1.402 -0.259 0 270 0 40 Shelf -1.577 1.513 -2.025 0 270 0 41 LightSwitch -0.755 1.176 2.099 0 180 0 42 DeskLamp -1.489 0.669 -2.419 0 0 0 43 Window 0.243 0.963 -2.678 90 0 0 44 Window -0.361 0.963 -2.679 90 0 0 45 Window -0.962 0.963 -2.678 90 0 0 46 Desk 0.445 0.001 -2.430 0 0 0 47 Blinds -0.349 2.186 -2.685 0 0 0 48 Blinds 0.250 2.186 -2.685 0 0 0 49 Blinds -0.952 2.186 -2.685 0 0 0 50 Drawer -1.314 0.163 -2.051 0 90 0 51 SideTable -1.444 -0.001 -2.051 0 90 0 52 Drawer -1.314 0.455 -2.051 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: walk straight and turn right when getting to the white desk. Stop at the dresser | STEP 2: Pick up the cup that is in the back from the dresser | STEP 3: turn around and then turn back around facing the dresser | STEP 4: turn the lamp on that is on the dresser | END" ]
[ [ "STEP 1: walk straight and turn right when getting to the white desk. Stop at the dresser ", " STEP 2: Pick up the cup that is in the back from the dresser ", " STEP 3: turn around and then turn back around facing the dresser ", " STEP 4: turn the lamp on that is on the dresser ", " END" ] ]
seen
trial_T20190907_094410_444756-1
Grab the bowl from the dresser, turn on the lamp
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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 0.900 1.25 0 180 0 1 Bowl 0.937 0.576 -2.592 0 0 0 46 2 Bowl -1.394 0.699 -2.046 0 0 0 51 3 Bowl -1.582 0.699 -2.191 0 0 0 51 4 CD 1.293 1.410 0.195 0 270 0 39 5 CD 1.121 0.504 -1.983 0 270 0 29 6 Pen 1.219 0.510 -1.874 0 270 0 29 7 CellPhone 1.172 0.239 -1.674 0 0 0 34 8 CellPhone -1.269 0.700 -2.046 0 0 0 51 9 CreditCard 1.260 0.911 0.039 0 270 0 37 10 CreditCard -1.332 0.696 -1.755 0 0 0 51 11 Laptop -1.203 0.609 -1.065 0 0 0 28 12 Book 0.623 0.569 -2.471 0 350.999 0 35 13 KeyChain 1.224 0.106 -1.929 0 0 0 27 14 BaseballBat 1.436 0.636 1.985 21.882 0 0 15 BasketBall 1.270 0.12 -1.290 0 345.557 0 16 Pencil -0.003 0.582 -2.373 0 0 0 46 17 CellPhone 1.226 1.411 -0.671 0 270 0 39 18 CreditCard 1.172 0.370 -1.963 0 0 0 26 19 Laptop -1.082 0.609 -0.223 0 0 0 28 20 Pillow -1.323 0.713 0.337 0 0 0 28 21 Boots 1.288 0.000 -0.961 0 177.912 0 22 Pen 0.309 0.582 -2.592 0 0 0 46 23 AlarmClock 0.309 0.576 -2.427 0 0 0 46 24 CD -1.394 0.699 -1.900 0 0 0 51 25 Bowl -1.611 1.521 -1.571 0 270 0 40 26 Drawer 0.980 0.271 -1.963 0 0 0 27 Drawer 0.980 0.139 -1.963 0 0 0 28 Bed -1.209 0.016 -0.266 0 180 1.624 29 Shelf 1.220 0.859 -1.802 0 270 0 30 Drawer 0.980 0.404 -1.963 0 0 0 31 Drawer 0.980 0.272 -1.639 0 0 0 32 Mirror 0.740 1.491 2.099 0 0 0 33 Drawer 0.980 0.139 -1.639 0 0 0 34 Drawer 0.980 0.404 -1.639 0 0 0 35 Chair 0.280 -0.001 -2.264 0 180 0 36 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 37 Shelf 1.259 0.903 -0.269 0 270 0 38 Shelf 1.259 0.375 -0.263 0 270 0 39 Shelf 1.259 1.402 -0.259 0 270 0 40 Shelf -1.577 1.513 -2.025 0 270 0 41 LightSwitch -0.755 1.176 2.099 0 180 0 42 DeskLamp -1.489 0.669 -2.419 0 0 0 43 Window 0.243 0.963 -2.678 90 0 0 44 Window -0.361 0.963 -2.679 90 0 0 45 Window -0.962 0.963 -2.678 90 0 0 46 Desk 0.445 0.001 -2.430 0 0 0 47 Blinds -0.349 2.186 -2.685 0 0 0 48 Blinds 0.250 2.186 -2.685 0 0 0 49 Blinds -0.952 2.186 -2.685 0 0 0 50 Drawer -1.314 0.163 -2.051 0 90 0 51 SideTable -1.444 -0.001 -2.051 0 90 0 52 Drawer -1.314 0.455 -2.051 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Walk straight to the table, turn right and walk to the dresser | STEP 2: Grab the bowl in the back | STEP 3: Walk to the left a little | STEP 4: Turn on the lamp on the dresser | END" ]
[ [ "STEP 1: Walk straight to the table, turn right and walk to the dresser ", " STEP 2: Grab the bowl in the back ", " STEP 3: Walk to the left a little ", " STEP 4: Turn on the lamp on the dresser ", " END" ] ]
seen
trial_T20190907_094410_444756-2
Picking up a bowl from a dresser.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 1.25 0 180 0 1 Bowl 0.937 0.576 -2.592 0 0 0 46 2 Bowl -1.394 0.699 -2.046 0 0 0 51 3 Bowl -1.582 0.699 -2.191 0 0 0 51 4 CD 1.293 1.410 0.195 0 270 0 39 5 CD 1.121 0.504 -1.983 0 270 0 29 6 Pen 1.219 0.510 -1.874 0 270 0 29 7 CellPhone 1.172 0.239 -1.674 0 0 0 34 8 CellPhone -1.269 0.700 -2.046 0 0 0 51 9 CreditCard 1.260 0.911 0.039 0 270 0 37 10 CreditCard -1.332 0.696 -1.755 0 0 0 51 11 Laptop -1.203 0.609 -1.065 0 0 0 28 12 Book 0.623 0.569 -2.471 0 350.999 0 35 13 KeyChain 1.224 0.106 -1.929 0 0 0 27 14 BaseballBat 1.436 0.636 1.985 21.882 0 0 15 BasketBall 1.270 0.12 -1.290 0 345.557 0 16 Pencil -0.003 0.582 -2.373 0 0 0 46 17 CellPhone 1.226 1.411 -0.671 0 270 0 39 18 CreditCard 1.172 0.370 -1.963 0 0 0 26 19 Laptop -1.082 0.609 -0.223 0 0 0 28 20 Pillow -1.323 0.713 0.337 0 0 0 28 21 Boots 1.288 0.000 -0.961 0 177.912 0 22 Pen 0.309 0.582 -2.592 0 0 0 46 23 AlarmClock 0.309 0.576 -2.427 0 0 0 46 24 CD -1.394 0.699 -1.900 0 0 0 51 25 Bowl -1.611 1.521 -1.571 0 270 0 40 26 Drawer 0.980 0.271 -1.963 0 0 0 27 Drawer 0.980 0.139 -1.963 0 0 0 28 Bed -1.209 0.016 -0.266 0 180 1.624 29 Shelf 1.220 0.859 -1.802 0 270 0 30 Drawer 0.980 0.404 -1.963 0 0 0 31 Drawer 0.980 0.272 -1.639 0 0 0 32 Mirror 0.740 1.491 2.099 0 0 0 33 Drawer 0.980 0.139 -1.639 0 0 0 34 Drawer 0.980 0.404 -1.639 0 0 0 35 Chair 0.280 -0.001 -2.264 0 180 0 36 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 37 Shelf 1.259 0.903 -0.269 0 270 0 38 Shelf 1.259 0.375 -0.263 0 270 0 39 Shelf 1.259 1.402 -0.259 0 270 0 40 Shelf -1.577 1.513 -2.025 0 270 0 41 LightSwitch -0.755 1.176 2.099 0 180 0 42 DeskLamp -1.489 0.669 -2.419 0 0 0 43 Window 0.243 0.963 -2.678 90 0 0 44 Window -0.361 0.963 -2.679 90 0 0 45 Window -0.962 0.963 -2.678 90 0 0 46 Desk 0.445 0.001 -2.430 0 0 0 47 Blinds -0.349 2.186 -2.685 0 0 0 48 Blinds 0.250 2.186 -2.685 0 0 0 49 Blinds -0.952 2.186 -2.685 0 0 0 50 Drawer -1.314 0.163 -2.051 0 90 0 51 SideTable -1.444 -0.001 -2.051 0 90 0 52 Drawer -1.314 0.455 -2.051 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Walk straight toward the desk and then make a right at the end of the bed and walk to the dresser at the end of the bed. | STEP 2: Pick up the bowl that is beside the lamp. | STEP 3: Turn around to the left and face the window letting sunlight shine into the bowl. | STEP 4: Turn back to the dresser with the bowl in hand. | END" ]
[ [ "STEP 1: Walk straight toward the desk and then make a right at the end of the bed and walk to the dresser at the end of the bed. ", " STEP 2: Pick up the bowl that is beside the lamp. ", " STEP 3: Turn around to the left and face the window letting sunlight shine into the bowl. ", " STEP 4: Turn back to the dresser with the bowl in hand. ", " END" ] ]
seen
trial_T20190910_084726_610116-0
Place a soap bottle into a cabinet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.75", " 0.901", " -2.0", " 0", " 90", " 0", "" ], [ "1", " Candle", " -2.618", " 0.080", " -1.170", " 0", " 0", " 0", " 19" ], [ "2", " SoapBar", " -2.821", " 0.079", " -1.978", " 0", " 0", " 0", " 17" ], [ "3", " SoapBar", " -0.679", " 1.045", " -3.887", " 0", " 0", " 0", " 31" ], [ "4", " Towel", " -1.051", " 1.535", " -2.887", " 0", " 90", " 0", " 24" ], [ "5", " HandTowel", " -2.591", " 1.635", " -0.047", " 0", " 0", " 0", " 26" ], [ "6", " SoapBar", " -2.707", " 0.927", " -1.686", " 351.180", " 90", " 0", " 30" ], [ "7", " ToiletPaper", " -2.640", " 0.069", " -1.888", " 0", " 0", " 0", " 17" ], [ "8", " ToiletPaper", " -2.87", " 0.992", " -1.285", " 0", " 0", " 0", " 18" ], [ "9", " SoapBottle", " -2.807", " 0.998", " -1.177", " 0", " 0", " 0", " 18" ], [ "10", " Candle", " -2.618", " 0.080", " -1.116", " 0", " 0", " 0", " 19" ], [ "11", " ScrubBrush", " -1.048", " 0.000", " -3.830", " 0", " 0", " 0", " 27" ], [ "12", " Plunger", " -1.066", " 0.000", " -3.527", " 0", " 0", " 0", " Floor|-00.04|" ], [ "13", " Cloth", " -2.668", " 0.078", " -1.435", " 0", " 0", " 0", " 23" ], [ "14", " SprayBottle", " -0.614", " 1.046", " -3.765", " 0", " 0", " 0", " 31" ], [ "15", " ShowerDoor", " -2.204", " 1.044", " -2.503", " 0", " 0", " 0", "" ], [ "16", " Mirror", " -2.947", " 1.559", " -1.194", " 0", " 0", " 0", "" ], [ "17", " Cabinet", " -2.504", " 0.400", " -2.208", " 0", " 0", " 0", "" ], [ "18", " CounterTop", " -2.744", " 0.986", " -1.243", " 0", " 0", " 0", "" ], [ "19", " Cabinet", " -2.504", " 0.400", " -1.238", " 0", " 0", " 0", "" ], [ "20", " ShowerGlass", " -2.079", " 1.482", " -3.264", " 0", " 0", " 0", "" ], [ "21", " Cabinet", " -2.508", " 0.426", " -0.290", " 0", " 0", " 0", "" ], [ "22", " Sink", " -2.907", " 0.986", " -1.761", " 0", " 90", " 0", "" ], [ "23", " Cabinet", " -2.508", " 0.426", " -1.260", " 0", " 0", " 0", "" ], [ "24", " TowelHolder", " -1.158", " 1.521", " -2.887", " 0", " 90", " 0", "" ], [ "25", " ToiletPaperHanger", " 0.0", " 0.984", " -2.651", " 0", " 270", " 0", "" ], [ "26", " HandTowelHolder", " -2.591", " 1.737", " -0.009", " 0", " 90", " 0", "" ], [ "27", " GarbageCan", " -0.908", " -0.031", " -3.646", " 0", " 90", " 0", "" ], [ "28", " Window", " -0.566", " 1.730", " -4.102", " 90", " 0", " 0", "" ], [ "29", " LightSwitch", " -1.332", " 1.391", " 0.001", " 0", " 180", " 0", "" ], [ "30", " SinkBasin", " -2.724", " 0.916", " -1.755", " 351.180", " 90", " 0", "" ], [ "31", " Toilet", " -0.319", " 0.000", " -3.533", " 0", " 90", " 0", "" ], [ "32", " Faucet", " -2.907", " 0.993", " -1.761", " 0", " 90", " 0", "" ], [ "33", " SinkBasin", " -2.724", " 0.916", " -0.726", " 351.180", " 90", " 0", "" ], [ "34", " Sink", " -2.907", " 0.986", " -0.732", " 0", " 90", " 0", "" ], [ "35", " Faucet", " -2.907", " 0.993", " -0.731", " 0", " 90", " 0", "" ], [ "36", " ShowerHead", " -2.868", " 1.219", " -3.223", " 0", " 180", " 0", "" ], [ "37", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "38", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "39", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.901 -2.0 0 90 0 1 Candle -2.618 0.080 -1.170 0 0 0 19 2 SoapBar -2.821 0.079 -1.978 0 0 0 17 3 SoapBar -0.679 1.045 -3.887 0 0 0 31 4 Towel -1.051 1.535 -2.887 0 90 0 24 5 HandTowel -2.591 1.635 -0.047 0 0 0 26 6 SoapBar -2.707 0.927 -1.686 351.180 90 0 30 7 ToiletPaper -2.640 0.069 -1.888 0 0 0 17 8 ToiletPaper -2.87 0.992 -1.285 0 0 0 18 9 SoapBottle -2.807 0.998 -1.177 0 0 0 18 10 Candle -2.618 0.080 -1.116 0 0 0 19 11 ScrubBrush -1.048 0.000 -3.830 0 0 0 27 12 Plunger -1.066 0.000 -3.527 0 0 0 Floor|-00.04| 13 Cloth -2.668 0.078 -1.435 0 0 0 23 14 SprayBottle -0.614 1.046 -3.765 0 0 0 31 15 ShowerDoor -2.204 1.044 -2.503 0 0 0 16 Mirror -2.947 1.559 -1.194 0 0 0 17 Cabinet -2.504 0.400 -2.208 0 0 0 18 CounterTop -2.744 0.986 -1.243 0 0 0 19 Cabinet -2.504 0.400 -1.238 0 0 0 20 ShowerGlass -2.079 1.482 -3.264 0 0 0 21 Cabinet -2.508 0.426 -0.290 0 0 0 22 Sink -2.907 0.986 -1.761 0 90 0 23 Cabinet -2.508 0.426 -1.260 0 0 0 24 TowelHolder -1.158 1.521 -2.887 0 90 0 25 ToiletPaperHanger 0.0 0.984 -2.651 0 270 0 26 HandTowelHolder -2.591 1.737 -0.009 0 90 0 27 GarbageCan -0.908 -0.031 -3.646 0 90 0 28 Window -0.566 1.730 -4.102 90 0 0 29 LightSwitch -1.332 1.391 0.001 0 180 0 30 SinkBasin -2.724 0.916 -1.755 351.180 90 0 31 Toilet -0.319 0.000 -3.533 0 90 0 32 Faucet -2.907 0.993 -1.761 0 90 0 33 SinkBasin -2.724 0.916 -0.726 351.180 90 0 34 Sink -2.907 0.986 -0.732 0 90 0 35 Faucet -2.907 0.993 -0.731 0 90 0 36 ShowerHead -2.868 1.219 -3.223 0 180 0 37 EastWall 38 EastWall 39 SouthWall
[ "STEP 1: Turn around and walk to the vanity with the two sinks | STEP 2: Pick up the soap bottle that is sitting between the two sinks | STEP 3: Turn around and take a step forward then turn back around to face the vanity | STEP 4: Open the cabinet that is under the right sink and place the soap bottle into the cabinet, then close the cabinet | END" ]
[ [ "STEP 1: Turn around and walk to the vanity with the two sinks ", " STEP 2: Pick up the soap bottle that is sitting between the two sinks ", " STEP 3: Turn around and take a step forward then turn back around to face the vanity ", " STEP 4: Open the cabinet that is under the right sink and place the soap bottle into the cabinet, then close the cabinet ", " END" ] ]
seen
trial_T20190910_084726_610116-1
move the bottle in between the two sinks to the cabinet on the right bottom
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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 0.901 -2.0 0 90 0 1 Candle -2.618 0.080 -1.170 0 0 0 19 2 SoapBar -2.821 0.079 -1.978 0 0 0 17 3 SoapBar -0.679 1.045 -3.887 0 0 0 31 4 Towel -1.051 1.535 -2.887 0 90 0 24 5 HandTowel -2.591 1.635 -0.047 0 0 0 26 6 SoapBar -2.707 0.927 -1.686 351.180 90 0 30 7 ToiletPaper -2.640 0.069 -1.888 0 0 0 17 8 ToiletPaper -2.87 0.992 -1.285 0 0 0 18 9 SoapBottle -2.807 0.998 -1.177 0 0 0 18 10 Candle -2.618 0.080 -1.116 0 0 0 19 11 ScrubBrush -1.048 0.000 -3.830 0 0 0 27 12 Plunger -1.066 0.000 -3.527 0 0 0 Floor|-00.04| 13 Cloth -2.668 0.078 -1.435 0 0 0 23 14 SprayBottle -0.614 1.046 -3.765 0 0 0 31 15 ShowerDoor -2.204 1.044 -2.503 0 0 0 16 Mirror -2.947 1.559 -1.194 0 0 0 17 Cabinet -2.504 0.400 -2.208 0 0 0 18 CounterTop -2.744 0.986 -1.243 0 0 0 19 Cabinet -2.504 0.400 -1.238 0 0 0 20 ShowerGlass -2.079 1.482 -3.264 0 0 0 21 Cabinet -2.508 0.426 -0.290 0 0 0 22 Sink -2.907 0.986 -1.761 0 90 0 23 Cabinet -2.508 0.426 -1.260 0 0 0 24 TowelHolder -1.158 1.521 -2.887 0 90 0 25 ToiletPaperHanger 0.0 0.984 -2.651 0 270 0 26 HandTowelHolder -2.591 1.737 -0.009 0 90 0 27 GarbageCan -0.908 -0.031 -3.646 0 90 0 28 Window -0.566 1.730 -4.102 90 0 0 29 LightSwitch -1.332 1.391 0.001 0 180 0 30 SinkBasin -2.724 0.916 -1.755 351.180 90 0 31 Toilet -0.319 0.000 -3.533 0 90 0 32 Faucet -2.907 0.993 -1.761 0 90 0 33 SinkBasin -2.724 0.916 -0.726 351.180 90 0 34 Sink -2.907 0.986 -0.732 0 90 0 35 Faucet -2.907 0.993 -0.731 0 90 0 36 ShowerHead -2.868 1.219 -3.223 0 180 0 37 EastWall 38 EastWall 39 SouthWall
[ "STEP 1: turn around to the vanity | STEP 2: grab the bottle in between the two sinks | STEP 3: turn around and turn around | STEP 4: open the cabinet on the right bottom of the vanity, put the bottle in, close the cabinet | END" ]
[ [ "STEP 1: turn around to the vanity ", " STEP 2: grab the bottle in between the two sinks ", " STEP 3: turn around and turn around ", " STEP 4: open the cabinet on the right bottom of the vanity, put the bottle in, close the cabinet ", " END" ] ]
seen
trial_T20190910_084726_610116-2
Move the pump bottle from next to the sink to inside 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 -1.75 0.901 -2.0 0 90 0 1 Candle -2.618 0.080 -1.170 0 0 0 19 2 SoapBar -2.821 0.079 -1.978 0 0 0 17 3 SoapBar -0.679 1.045 -3.887 0 0 0 31 4 Towel -1.051 1.535 -2.887 0 90 0 24 5 HandTowel -2.591 1.635 -0.047 0 0 0 26 6 SoapBar -2.707 0.927 -1.686 351.180 90 0 30 7 ToiletPaper -2.640 0.069 -1.888 0 0 0 17 8 ToiletPaper -2.87 0.992 -1.285 0 0 0 18 9 SoapBottle -2.807 0.998 -1.177 0 0 0 18 10 Candle -2.618 0.080 -1.116 0 0 0 19 11 ScrubBrush -1.048 0.000 -3.830 0 0 0 27 12 Plunger -1.066 0.000 -3.527 0 0 0 Floor|-00.04| 13 Cloth -2.668 0.078 -1.435 0 0 0 23 14 SprayBottle -0.614 1.046 -3.765 0 0 0 31 15 ShowerDoor -2.204 1.044 -2.503 0 0 0 16 Mirror -2.947 1.559 -1.194 0 0 0 17 Cabinet -2.504 0.400 -2.208 0 0 0 18 CounterTop -2.744 0.986 -1.243 0 0 0 19 Cabinet -2.504 0.400 -1.238 0 0 0 20 ShowerGlass -2.079 1.482 -3.264 0 0 0 21 Cabinet -2.508 0.426 -0.290 0 0 0 22 Sink -2.907 0.986 -1.761 0 90 0 23 Cabinet -2.508 0.426 -1.260 0 0 0 24 TowelHolder -1.158 1.521 -2.887 0 90 0 25 ToiletPaperHanger 0.0 0.984 -2.651 0 270 0 26 HandTowelHolder -2.591 1.737 -0.009 0 90 0 27 GarbageCan -0.908 -0.031 -3.646 0 90 0 28 Window -0.566 1.730 -4.102 90 0 0 29 LightSwitch -1.332 1.391 0.001 0 180 0 30 SinkBasin -2.724 0.916 -1.755 351.180 90 0 31 Toilet -0.319 0.000 -3.533 0 90 0 32 Faucet -2.907 0.993 -1.761 0 90 0 33 SinkBasin -2.724 0.916 -0.726 351.180 90 0 34 Sink -2.907 0.986 -0.732 0 90 0 35 Faucet -2.907 0.993 -0.731 0 90 0 36 ShowerHead -2.868 1.219 -3.223 0 180 0 37 EastWall 38 EastWall 39 SouthWall
[ "STEP 1: Turn right, then turn right again and move to the sinks. | STEP 2: Pick up the pump bottle to the left of the rightmost sink. | STEP 3: Turn around and take a step forward, then turn back around to face the sinks again. | STEP 4: Open the right cabinet door on the rightmost cabinet under the sink and put the pump bottle inside, then close the door. | END" ]
[ [ "STEP 1: Turn right, then turn right again and move to the sinks. ", " STEP 2: Pick up the pump bottle to the left of the rightmost sink. ", " STEP 3: Turn around and take a step forward, then turn back around to face the sinks again. ", " STEP 4: Open the right cabinet door on the rightmost cabinet under the sink and put the pump bottle inside, then close the door. ", " END" ] ]
seen
trial_T20190910_084726_610116-3
Place the soap dispenser in the bottom right cabinet.
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[ "STEP 1: Face down, turn left, walk towards the red trash can, turn left to face the double sink, face straight. | STEP 2: Take the soap dispenser on the vanity in between the sinks. | STEP 3: Keep turning right until the double sinks are in front of you again. | STEP 4: Open the bottom right cabinet door and place the soap dispenser inside, then close the door. | END" ]
[ [ "STEP 1: Face down, turn left, walk towards the red trash can, turn left to face the double sink, face straight. ", " STEP 2: Take the soap dispenser on the vanity in between the sinks. ", " STEP 3: Keep turning right until the double sinks are in front of you again. ", " STEP 4: Open the bottom right cabinet door and place the soap dispenser inside, then close the door. ", " END" ] ]
seen
trial_T20190910_084726_610116-4
Put the lotion in the right cabinet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.901 -2.0 0 90 0 1 Candle -2.618 0.080 -1.170 0 0 0 19 2 SoapBar -2.821 0.079 -1.978 0 0 0 17 3 SoapBar -0.679 1.045 -3.887 0 0 0 31 4 Towel -1.051 1.535 -2.887 0 90 0 24 5 HandTowel -2.591 1.635 -0.047 0 0 0 26 6 SoapBar -2.707 0.927 -1.686 351.180 90 0 30 7 ToiletPaper -2.640 0.069 -1.888 0 0 0 17 8 ToiletPaper -2.87 0.992 -1.285 0 0 0 18 9 SoapBottle -2.807 0.998 -1.177 0 0 0 18 10 Candle -2.618 0.080 -1.116 0 0 0 19 11 ScrubBrush -1.048 0.000 -3.830 0 0 0 27 12 Plunger -1.066 0.000 -3.527 0 0 0 Floor|-00.04| 13 Cloth -2.668 0.078 -1.435 0 0 0 23 14 SprayBottle -0.614 1.046 -3.765 0 0 0 31 15 ShowerDoor -2.204 1.044 -2.503 0 0 0 16 Mirror -2.947 1.559 -1.194 0 0 0 17 Cabinet -2.504 0.400 -2.208 0 0 0 18 CounterTop -2.744 0.986 -1.243 0 0 0 19 Cabinet -2.504 0.400 -1.238 0 0 0 20 ShowerGlass -2.079 1.482 -3.264 0 0 0 21 Cabinet -2.508 0.426 -0.290 0 0 0 22 Sink -2.907 0.986 -1.761 0 90 0 23 Cabinet -2.508 0.426 -1.260 0 0 0 24 TowelHolder -1.158 1.521 -2.887 0 90 0 25 ToiletPaperHanger 0.0 0.984 -2.651 0 270 0 26 HandTowelHolder -2.591 1.737 -0.009 0 90 0 27 GarbageCan -0.908 -0.031 -3.646 0 90 0 28 Window -0.566 1.730 -4.102 90 0 0 29 LightSwitch -1.332 1.391 0.001 0 180 0 30 SinkBasin -2.724 0.916 -1.755 351.180 90 0 31 Toilet -0.319 0.000 -3.533 0 90 0 32 Faucet -2.907 0.993 -1.761 0 90 0 33 SinkBasin -2.724 0.916 -0.726 351.180 90 0 34 Sink -2.907 0.986 -0.732 0 90 0 35 Faucet -2.907 0.993 -0.731 0 90 0 36 ShowerHead -2.868 1.219 -3.223 0 180 0 37 EastWall 38 EastWall 39 SouthWall
[ "STEP 1: Turn around and go to the sinks. | STEP 2: Pick up the lotion on the counter. | STEP 3: Open the cabinet on the far right. | STEP 4: Put the lotion in the cabinet. | END" ]
[ [ "STEP 1: Turn around and go to the sinks. ", " STEP 2: Pick up the lotion on the counter. ", " STEP 3: Open the cabinet on the far right. ", " STEP 4: Put the lotion in the cabinet. ", " END" ] ]
seen
trial_T20190907_125528_464872-0
Put a cooked 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 1.25 0.900 1.25 0 90 0 1 Pan -2.455 0.910 1.530 0 90 0 75 2 Potato 1.604 0.221 0.651 0 0 0 86 3 Kettle -2.609 1.934 -1.092 0 0 0 74 4 Kettle 1.411 0.929 0.064 0 0 0 76 5 Fork -2.621 0.911 0.631 0 0 0 75 6 Fork -2.455 0.911 1.230 0 0 0 75 7 Spoon -2.318 0.774 1.322 0 90 0 78 8 Spoon -2.621 0.912 0.331 0 0 0 75 9 Spatula -0.341 0.925 1.764 0 90 0 47 10 Spatula -2.455 0.925 0.031 0 0 0 75 11 Pot 1.412 0.929 -0.335 0 0 0 48 12 Plate -0.341 0.913 0.870 0 0 0 47 13 Knife -2.348 0.798 1.322 0 90 0 78 14 Bowl 0.048 0.908 0.647 0 0 0 47 15 Bowl 1.770 0.908 -0.684 0 0 0 57 16 PepperShaker -2.538 0.905 0.631 0 0 0 75 17 SaltShaker 1.428 0.905 -0.642 0 0 0 57 18 SaltShaker -2.599 1.533 0.774 0 0 0 71 19 Lettuce -0.471 0.994 1.764 0 0 0 47 20 Lettuce -0.081 0.994 1.317 0 0 0 47 21 Bread -2.485 1.175 -0.979 0 90 0 79 22 Mug 1.345 0.915 -1.177 0 225 0 61 23 Apple -2.485 1.150 -0.696 0 90 0 79 24 Pan 0.0 0.9 0.948 0 29.999 0 47 25 Knife -2.257 0.798 0.857 0 90 0 52 26 Apple -2.485 1.150 -0.507 0 90 0 79 27 Bowl -2.642 1.935 -0.634 0 0 0 69 28 Fork 0.048 0.911 1.317 0 0 0 47 29 Bread -0.081 0.996 1.540 0 0 0 47 30 Plate -2.485 1.302 -0.602 0 90 0 79 31 Egg -0.601 0.941 1.317 0 0 0 47 32 Kettle 1.494 0.911 -0.841 0 45 0 57 33 Potato 1.450 0.957 -1.282 0 225 0 61 34 SaltShaker -2.605 1.532 1.265 0 0 0 60 35 Lettuce -2.289 0.994 1.230 0 0 0 75 36 Cup 1.734 1.654 0.387 0 0 0 66 37 SoapBottle -0.601 0.912 1.540 0 0 0 47 38 Spatula -2.372 0.925 0.631 0 0 0 75 39 PaperTowelRoll 1.855 1.015 0.465 0 0 0 56 40 ButterKnife -0.211 0.910 0.423 0 0 0 47 41 PepperShaker -2.621 0.905 0.931 0 0 0 75 42 DishSponge 1.734 1.656 0.018 0 0 0 66 43 Pot 1.691 0.929 0.064 0 0 0 58 44 Spoon -2.289 0.912 0.931 0 0 0 75 45 Tomato -2.289 0.953 1.830 0 0 0 75 46 Mug 0.464 0.955 -1.593 0 0 0 57 47 CounterTop -0.360 0.946 1.093 0 0 0 48 StoveBurner 1.412 0.923 -0.335 0 0 0 49 StoveKnob 1.878 1.093 0.018 287.989 90 0 50 StoveKnob 1.878 1.093 -0.306 287.989 90 0 51 Cabinet -2.446 1.948 2.924 0 0 0 52 Drawer -2.276 0.792 0.902 0 0 0 53 Cabinet -2.145 0.402 1.578 0 0 0 54 Cabinet 0.149 2.008 -1.603 0 90 0 55 StoveBurner 1.691 0.923 -0.335 0 0 0 56 CounterTop 1.585 0.946 0.405 0 0 0 57 CounterTop 0.474 0.946 -1.625 0 0 0 58 StoveBurner 1.691 0.923 0.064 0 0 0 59 Cabinet -2.446 1.948 1.687 0 0 0 60 Cabinet -2.446 1.948 1.640 0 0 0 61 Sink 1.381 0.810 -1.271 0 225 0 62 StoveKnob 1.878 1.093 0.150 287.989 90 0 63 Cabinet -2.145 0.402 -0.236 0 0 0 64 Drawer -2.276 0.792 0.437 0 0 0 65 Drawer -2.276 0.792 -0.027 0 0 0 66 Cabinet 1.572 2.008 0.474 0 0 0 67 Cabinet 1.572 2.008 -0.775 0 0 0 68 Cabinet -2.445 2.148 -1.275 0 0 0 69 Cabinet -2.446 2.148 -0.284 0 0 0 70 Cabinet -2.446 1.948 0.355 0 0 0 71 Cabinet -2.446 1.948 0.405 0 0 0 72 Cabinet -2.145 0.402 0.644 0 0 0 73 Cabinet -2.145 0.402 0.695 0 0 0 74 Cabinet -2.285 1.968 -1.325 0 180 0 75 CounterTop -1.485 0.946 1.319 0 0 0 76 StoveBurner 1.411 0.923 0.064 0 0 0 77 StoveKnob 1.878 1.093 -0.441 287.989 90 0 78 Drawer -2.276 0.792 1.368 0 0 0 79 Fridge -2.475 0.0 -0.782 0 90 0 80 LightSwitch -0.929 1.350 -1.950 0 0 0 81 Toaster -2.564 0.900 1.876 0 90 0 82 CoffeeMachine 0.464 0.900 -1.810 0 0 0 83 Window 1.508 1.534 -1.496 90 135 0 84 Window 1.973 1.521 1.121 90 90 0 85 SinkBasin 1.149 0.753 -1.380 0 225 0 86 GarbageCan 1.646 -0.000 0.679 0 0 0 87 Microwave -2.580 0.900 2.440 0 90 0 88 Stool 0.439 0.010 0.747 0 0 0 89 Stool -2.303 0.010 1.839 0 0 0 90 Faucet 1.235 1.138 -1.473 0 225 0 91 NorthWall 92 EastWall 93 SouthWall 94 WestWall
[ "STEP 1: Turn around and face the white trash can on the floor next to the counter. | STEP 2: Pick the potato up out of the trash can. | STEP 3: Turn around and face the microwave on the counter. | STEP 4: Put the potato in the microwave, turn it on, take the potato out and shut the door. | STEP 5: Go left and stand in front of the fridge. | STEP 6: Put the potato in the fridge and shut the door. | END" ]
[ [ "STEP 1: Turn around and face the white trash can on the floor next to the counter. ", " STEP 2: Pick the potato up out of the trash can. ", " STEP 3: Turn around and face the microwave on the counter. ", " STEP 4: Put the potato in the microwave, turn it on, take the potato out and shut the door. ", " STEP 5: Go left and stand in front of the fridge. ", " STEP 6: Put the potato in the fridge and shut the door. ", " END" ] ]
seen
trial_T20190907_125528_464872-1
Put the cooked potato into 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 0.900 1.25 0 90 0 1 Pan -2.455 0.910 1.530 0 90 0 75 2 Potato 1.604 0.221 0.651 0 0 0 86 3 Kettle -2.609 1.934 -1.092 0 0 0 74 4 Kettle 1.411 0.929 0.064 0 0 0 76 5 Fork -2.621 0.911 0.631 0 0 0 75 6 Fork -2.455 0.911 1.230 0 0 0 75 7 Spoon -2.318 0.774 1.322 0 90 0 78 8 Spoon -2.621 0.912 0.331 0 0 0 75 9 Spatula -0.341 0.925 1.764 0 90 0 47 10 Spatula -2.455 0.925 0.031 0 0 0 75 11 Pot 1.412 0.929 -0.335 0 0 0 48 12 Plate -0.341 0.913 0.870 0 0 0 47 13 Knife -2.348 0.798 1.322 0 90 0 78 14 Bowl 0.048 0.908 0.647 0 0 0 47 15 Bowl 1.770 0.908 -0.684 0 0 0 57 16 PepperShaker -2.538 0.905 0.631 0 0 0 75 17 SaltShaker 1.428 0.905 -0.642 0 0 0 57 18 SaltShaker -2.599 1.533 0.774 0 0 0 71 19 Lettuce -0.471 0.994 1.764 0 0 0 47 20 Lettuce -0.081 0.994 1.317 0 0 0 47 21 Bread -2.485 1.175 -0.979 0 90 0 79 22 Mug 1.345 0.915 -1.177 0 225 0 61 23 Apple -2.485 1.150 -0.696 0 90 0 79 24 Pan 0.0 0.9 0.948 0 29.999 0 47 25 Knife -2.257 0.798 0.857 0 90 0 52 26 Apple -2.485 1.150 -0.507 0 90 0 79 27 Bowl -2.642 1.935 -0.634 0 0 0 69 28 Fork 0.048 0.911 1.317 0 0 0 47 29 Bread -0.081 0.996 1.540 0 0 0 47 30 Plate -2.485 1.302 -0.602 0 90 0 79 31 Egg -0.601 0.941 1.317 0 0 0 47 32 Kettle 1.494 0.911 -0.841 0 45 0 57 33 Potato 1.450 0.957 -1.282 0 225 0 61 34 SaltShaker -2.605 1.532 1.265 0 0 0 60 35 Lettuce -2.289 0.994 1.230 0 0 0 75 36 Cup 1.734 1.654 0.387 0 0 0 66 37 SoapBottle -0.601 0.912 1.540 0 0 0 47 38 Spatula -2.372 0.925 0.631 0 0 0 75 39 PaperTowelRoll 1.855 1.015 0.465 0 0 0 56 40 ButterKnife -0.211 0.910 0.423 0 0 0 47 41 PepperShaker -2.621 0.905 0.931 0 0 0 75 42 DishSponge 1.734 1.656 0.018 0 0 0 66 43 Pot 1.691 0.929 0.064 0 0 0 58 44 Spoon -2.289 0.912 0.931 0 0 0 75 45 Tomato -2.289 0.953 1.830 0 0 0 75 46 Mug 0.464 0.955 -1.593 0 0 0 57 47 CounterTop -0.360 0.946 1.093 0 0 0 48 StoveBurner 1.412 0.923 -0.335 0 0 0 49 StoveKnob 1.878 1.093 0.018 287.989 90 0 50 StoveKnob 1.878 1.093 -0.306 287.989 90 0 51 Cabinet -2.446 1.948 2.924 0 0 0 52 Drawer -2.276 0.792 0.902 0 0 0 53 Cabinet -2.145 0.402 1.578 0 0 0 54 Cabinet 0.149 2.008 -1.603 0 90 0 55 StoveBurner 1.691 0.923 -0.335 0 0 0 56 CounterTop 1.585 0.946 0.405 0 0 0 57 CounterTop 0.474 0.946 -1.625 0 0 0 58 StoveBurner 1.691 0.923 0.064 0 0 0 59 Cabinet -2.446 1.948 1.687 0 0 0 60 Cabinet -2.446 1.948 1.640 0 0 0 61 Sink 1.381 0.810 -1.271 0 225 0 62 StoveKnob 1.878 1.093 0.150 287.989 90 0 63 Cabinet -2.145 0.402 -0.236 0 0 0 64 Drawer -2.276 0.792 0.437 0 0 0 65 Drawer -2.276 0.792 -0.027 0 0 0 66 Cabinet 1.572 2.008 0.474 0 0 0 67 Cabinet 1.572 2.008 -0.775 0 0 0 68 Cabinet -2.445 2.148 -1.275 0 0 0 69 Cabinet -2.446 2.148 -0.284 0 0 0 70 Cabinet -2.446 1.948 0.355 0 0 0 71 Cabinet -2.446 1.948 0.405 0 0 0 72 Cabinet -2.145 0.402 0.644 0 0 0 73 Cabinet -2.145 0.402 0.695 0 0 0 74 Cabinet -2.285 1.968 -1.325 0 180 0 75 CounterTop -1.485 0.946 1.319 0 0 0 76 StoveBurner 1.411 0.923 0.064 0 0 0 77 StoveKnob 1.878 1.093 -0.441 287.989 90 0 78 Drawer -2.276 0.792 1.368 0 0 0 79 Fridge -2.475 0.0 -0.782 0 90 0 80 LightSwitch -0.929 1.350 -1.950 0 0 0 81 Toaster -2.564 0.900 1.876 0 90 0 82 CoffeeMachine 0.464 0.900 -1.810 0 0 0 83 Window 1.508 1.534 -1.496 90 135 0 84 Window 1.973 1.521 1.121 90 90 0 85 SinkBasin 1.149 0.753 -1.380 0 225 0 86 GarbageCan 1.646 -0.000 0.679 0 0 0 87 Microwave -2.580 0.900 2.440 0 90 0 88 Stool 0.439 0.010 0.747 0 0 0 89 Stool -2.303 0.010 1.839 0 0 0 90 Faucet 1.235 1.138 -1.473 0 225 0 91 NorthWall 92 EastWall 93 SouthWall 94 WestWall
[ "STEP 1: Turn in a circle and look down at the trash can near the counter | STEP 2: Pick up the potato from the trash can | STEP 3: Turn left and walk around the kitchen island to the microwave | STEP 4: Cook the potato in the microwave then remove it | STEP 5: Turn left and walk forward to the fridge | STEP 6: Put the potato in the fridge just right of the bread loaf | END" ]
[ [ "STEP 1: Turn in a circle and look down at the trash can near the counter ", " STEP 2: Pick up the potato from the trash can ", " STEP 3: Turn left and walk around the kitchen island to the microwave ", " STEP 4: Cook the potato in the microwave then remove it ", " STEP 5: Turn left and walk forward to the fridge ", " STEP 6: Put the potato in the fridge just right of the bread loaf ", " END" ] ]
seen
trial_T20190907_125528_464872-2
Put a cooked 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 1.25 0.900 1.25 0 90 0 1 Pan -2.455 0.910 1.530 0 90 0 75 2 Potato 1.604 0.221 0.651 0 0 0 86 3 Kettle -2.609 1.934 -1.092 0 0 0 74 4 Kettle 1.411 0.929 0.064 0 0 0 76 5 Fork -2.621 0.911 0.631 0 0 0 75 6 Fork -2.455 0.911 1.230 0 0 0 75 7 Spoon -2.318 0.774 1.322 0 90 0 78 8 Spoon -2.621 0.912 0.331 0 0 0 75 9 Spatula -0.341 0.925 1.764 0 90 0 47 10 Spatula -2.455 0.925 0.031 0 0 0 75 11 Pot 1.412 0.929 -0.335 0 0 0 48 12 Plate -0.341 0.913 0.870 0 0 0 47 13 Knife -2.348 0.798 1.322 0 90 0 78 14 Bowl 0.048 0.908 0.647 0 0 0 47 15 Bowl 1.770 0.908 -0.684 0 0 0 57 16 PepperShaker -2.538 0.905 0.631 0 0 0 75 17 SaltShaker 1.428 0.905 -0.642 0 0 0 57 18 SaltShaker -2.599 1.533 0.774 0 0 0 71 19 Lettuce -0.471 0.994 1.764 0 0 0 47 20 Lettuce -0.081 0.994 1.317 0 0 0 47 21 Bread -2.485 1.175 -0.979 0 90 0 79 22 Mug 1.345 0.915 -1.177 0 225 0 61 23 Apple -2.485 1.150 -0.696 0 90 0 79 24 Pan 0.0 0.9 0.948 0 29.999 0 47 25 Knife -2.257 0.798 0.857 0 90 0 52 26 Apple -2.485 1.150 -0.507 0 90 0 79 27 Bowl -2.642 1.935 -0.634 0 0 0 69 28 Fork 0.048 0.911 1.317 0 0 0 47 29 Bread -0.081 0.996 1.540 0 0 0 47 30 Plate -2.485 1.302 -0.602 0 90 0 79 31 Egg -0.601 0.941 1.317 0 0 0 47 32 Kettle 1.494 0.911 -0.841 0 45 0 57 33 Potato 1.450 0.957 -1.282 0 225 0 61 34 SaltShaker -2.605 1.532 1.265 0 0 0 60 35 Lettuce -2.289 0.994 1.230 0 0 0 75 36 Cup 1.734 1.654 0.387 0 0 0 66 37 SoapBottle -0.601 0.912 1.540 0 0 0 47 38 Spatula -2.372 0.925 0.631 0 0 0 75 39 PaperTowelRoll 1.855 1.015 0.465 0 0 0 56 40 ButterKnife -0.211 0.910 0.423 0 0 0 47 41 PepperShaker -2.621 0.905 0.931 0 0 0 75 42 DishSponge 1.734 1.656 0.018 0 0 0 66 43 Pot 1.691 0.929 0.064 0 0 0 58 44 Spoon -2.289 0.912 0.931 0 0 0 75 45 Tomato -2.289 0.953 1.830 0 0 0 75 46 Mug 0.464 0.955 -1.593 0 0 0 57 47 CounterTop -0.360 0.946 1.093 0 0 0 48 StoveBurner 1.412 0.923 -0.335 0 0 0 49 StoveKnob 1.878 1.093 0.018 287.989 90 0 50 StoveKnob 1.878 1.093 -0.306 287.989 90 0 51 Cabinet -2.446 1.948 2.924 0 0 0 52 Drawer -2.276 0.792 0.902 0 0 0 53 Cabinet -2.145 0.402 1.578 0 0 0 54 Cabinet 0.149 2.008 -1.603 0 90 0 55 StoveBurner 1.691 0.923 -0.335 0 0 0 56 CounterTop 1.585 0.946 0.405 0 0 0 57 CounterTop 0.474 0.946 -1.625 0 0 0 58 StoveBurner 1.691 0.923 0.064 0 0 0 59 Cabinet -2.446 1.948 1.687 0 0 0 60 Cabinet -2.446 1.948 1.640 0 0 0 61 Sink 1.381 0.810 -1.271 0 225 0 62 StoveKnob 1.878 1.093 0.150 287.989 90 0 63 Cabinet -2.145 0.402 -0.236 0 0 0 64 Drawer -2.276 0.792 0.437 0 0 0 65 Drawer -2.276 0.792 -0.027 0 0 0 66 Cabinet 1.572 2.008 0.474 0 0 0 67 Cabinet 1.572 2.008 -0.775 0 0 0 68 Cabinet -2.445 2.148 -1.275 0 0 0 69 Cabinet -2.446 2.148 -0.284 0 0 0 70 Cabinet -2.446 1.948 0.355 0 0 0 71 Cabinet -2.446 1.948 0.405 0 0 0 72 Cabinet -2.145 0.402 0.644 0 0 0 73 Cabinet -2.145 0.402 0.695 0 0 0 74 Cabinet -2.285 1.968 -1.325 0 180 0 75 CounterTop -1.485 0.946 1.319 0 0 0 76 StoveBurner 1.411 0.923 0.064 0 0 0 77 StoveKnob 1.878 1.093 -0.441 287.989 90 0 78 Drawer -2.276 0.792 1.368 0 0 0 79 Fridge -2.475 0.0 -0.782 0 90 0 80 LightSwitch -0.929 1.350 -1.950 0 0 0 81 Toaster -2.564 0.900 1.876 0 90 0 82 CoffeeMachine 0.464 0.900 -1.810 0 0 0 83 Window 1.508 1.534 -1.496 90 135 0 84 Window 1.973 1.521 1.121 90 90 0 85 SinkBasin 1.149 0.753 -1.380 0 225 0 86 GarbageCan 1.646 -0.000 0.679 0 0 0 87 Microwave -2.580 0.900 2.440 0 90 0 88 Stool 0.439 0.010 0.747 0 0 0 89 Stool -2.303 0.010 1.839 0 0 0 90 Faucet 1.235 1.138 -1.473 0 225 0 91 NorthWall 92 EastWall 93 SouthWall 94 WestWall
[ "STEP 1: Turn around and go to the trash can near the counter. | STEP 2: Take the potato from the trash can. | STEP 3: Go to your left, then left again to go around the kitchen island, and go straight to the microwave. | STEP 4: Cook the potato in the microwave. | STEP 5: Go to the fridge to your left. | STEP 6: Put the potato in the fridge. | END" ]
[ [ "STEP 1: Turn around and go to the trash can near the counter. ", " STEP 2: Take the potato from the trash can. ", " STEP 3: Go to your left, then left again to go around the kitchen island, and go straight to the microwave. ", " STEP 4: Cook the potato in the microwave. ", " STEP 5: Go to the fridge to your left. ", " STEP 6: Put the potato in the fridge. ", " END" ] ]
seen
trial_T20190908_050908_013328-0
Move a pan with a slice of lettuce to a white table.
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Knife", " 0.671", " 0.782", " -0.252", " 0", " 90", " 0", " 42" ], [ "12", " Tomato", " -1.261", " 0.100", " -3.574", " 0", " 270", " 0", " 58" ], [ "13", " Bowl", " 0.858", " 1.462", " 0.411", " 0", " 0", " 0", " 55" ], [ "14", " PepperShaker", " 0.842", " 0.012", " -0.315", " 0", " 0", " 0", " 53" ], [ "15", " SaltShaker", " 0.877", " 0.879", " -0.176", " 0", " 0", " 0", " 43" ], [ "16", " SaltShaker", " 1.040", " 0.879", " -0.460", " 0", " 0", " 0", " 43" ], [ "17", " Lettuce", " 0.757", " 0.859", " -0.735", " 0", " 270", " 0", " 66" ], [ "18", " Lettuce", " -1.719", " 0.788", " -1.199", " 0", " 0", " 0", " 79" ], [ "19", " Apple", " 0.669", " 0.718", " -1.880", " 0", " 270", " 0", " 63" ], [ "20", " Apple", " -2.002", " 0.852", " -3.738", " 0", " 0", " 0", " 65" ], [ "21", " Pot", " -1.552", " 0.930", " 0.785", " 0", " 0", " 0", " 47" ], [ "22", " Plate", " -2.023", " 0.692", " -1.447", " 0", " 0", " 0", " 79" ], [ "23", " Fork", " 0.817", " 0.760", " 0.002", " 0", " 270", " 0", " 42" ], [ "24", " SoapBottle", " 0.66", " -0.008", " -0.11", " 0", " 0", " 0", " 53" ], [ "25", " Apple", " -1.599", " 0.753", " -3.614", " 0", " 0", " 0", " 70" ], [ "26", " Pan", " 0.740", " -0.007", " -0.596", " 0", " 0", " 0", " 46" ], [ "27", " Egg", " 0.901", " 0.702", " 0.569", " 0", " 0", " 0", " 48" ], [ "28", " Spatula", " 0.574", " 0.775", " -0.188", " 0", " 90", " 0", " 42" ], [ "29", " Potato", " 0.803", " 0.916", " -0.245", " 0", " 0", " 0", " 43" ], [ "30", " Cup", " 0.824", " 1.373", " -2.190", " 0", " 270", " 0", " 63" ], [ "31", " SaltShaker", " 1.040", " 1.460", " -0.207", " 0", " 0", " 0", " 54" ], [ "32", " PepperShaker", " 0.961", " 0.660", " 0.448", " 0", " 0", " 0", " 48" ], [ "33", " ButterKnife", " 0.721", " 0.665", " 0.569", " 0", " 0", " 0", " 48" ], [ "34", " DishSponge", " 0.672", " 0.772", " -0.570", " 0", " 270", " 0", " 66" ], [ "35", " Bread", " -0.873", " 0.931", " 0.978", " 0", " 24.231", " 0", " 69" ], [ "36", " Lettuce", " 0.721", " 0.752", " 0.387", " 0", " 0", " 0", " 48" ], [ "37", " Tomato", " 0.669", " 0.713", " -2.113", " 0", " 270", " 0", " 63" ], [ "38", " Spoon", " 0.877", " 0.884", " 0.029", " 0", " 0", " 0", " 43" ], [ "39", " Knife", " -1.717", " 0.715", " -1.524", " 0", " 0", " 354.476", " 79" ], [ "40", " Mug", " 0.698", " 0.941", " -1.360", " 0", " 270", " 0", " 56" ], [ "41", " Bowl", " -2.038", " 0.691", " -1.003", " 0", " 0", " 0", " 79" ], [ "42", " Drawer", " 0.706", " 0.766", " -0.125", " 0", " 0", " 0", "" ], [ "43", " CounterTop", " 0.792", " 0.919", " -0.108", " 0", " 0", " 0", "" ], [ "44", " Mirror", " 1.093", " 1.602", " -0.643", " 0", " 0", " 0", "" ], [ "45", " StoveBurner", " -2.096", " 0.890", " 0.785", " 0", " 0", " 0", "" ], [ "46", " Cabinet", " 0.507", " 0.345", " -0.426", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -1.552", " 0.890", " 0.785", " 0", " 0", " 0", "" ], [ "48", " SideTable", " 0.770", " -0.030", " 0.443", " 0", " 0", " 0", "" ], [ "49", " Sink", " 0.753", " 0.882", " -0.680", " 0", " 0", " 0", "" ], [ "50", " StoveBurner", " -2.096", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "51", " GarbageBag", " -0.770", " 0.287", " -3.541", " 270", " 73.521", " 83.489", "" ], [ "52", " StoveBurner", " -1.554", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 0.507", " 0.345", " 0.156", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.717", " 1.822", " -0.398", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 0.717", " 1.822", " 0.669", " 0", " 0", " 0", "" ], [ "56", " CoffeeMachine", " 0.873", " 0.865", " -1.256", " 0", " 270", " 0", "" ], [ "57", " Toaster", " -0.522", " 0.886", " 1.081", " 0", " 180", " 0", "" ], [ "58", " GarbageCan", " -1.261", " -0.031", " -3.610", " 0", " 270", " 0", "" ], [ "59", " StoveKnob", " -1.898", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "60", " StoveKnob", " -1.754", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "61", " StoveKnob", " -2.058", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "62", " StoveKnob", " -1.600", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "63", " Fridge", " 0.680", " -0.031", " -1.957", " 0", " 0", " 0", "" ], [ "64", " Window", " -2.424", " 1.639", " -2.453", " 90", " 270", " 0", "" ], [ "65", " Microwave", " -1.994", " 0.690", " -3.651", " 0", " 0", " 0", "" ], [ "66", " SinkBasin", " 0.757", " 0.762", " -0.688", " 0", " 270", " 0", "" ], [ "67", " LightSwitch", " 1.102", " 1.368", " -3.737", " 0", " 270", " 0", "" ], [ "68", " Shelf", " -0.350", " 0.124", " 0.857", " 0", " 0", " 0", "" ], [ "69", " DiningTable", " -0.350", " -0.025", " 0.857", " 0", " 0", " 0", "" ], [ "70", " DiningTable", " -1.909", " -0.032", " -3.507", " 0", " 0", " 0", "" ], [ "71", " Blinds", " -2.343", " 2.151", " -2.437", " 0", " 270", " 0", "" ], [ "72", " AluminumFoil", " 0.762", " 0.224", " 0.337", " 0", " 184.594", " 0", "" ], [ "73", " AluminumFoil", " 0.751", " 0.225", " 0.287", " 0", " 0", " 0", "" ], [ "74", " AluminumFoil", " 0.839", " 0.224", " 0.392", " 0", " 195.128", " 0", "" ], [ "75", " Shelf", " 0.771", " 0.226", " 0.445", " 0", " 0", " 0", "" ], [ "76", " Shelf", " 0.771", " 0.456", " 0.446", " 0", " 0", " 0", "" ], [ "77", " Faucet", " 1.025", " 0.873", " -0.678", " 270", " 180", " 0", "" ], [ "78", " Shelf", " -0.350", " 0.497", " 0.857", " 0", " 0", " 0", "" ], [ "79", " DiningTable", " -1.929", " -0.035", " -1.398", " 0", " 90", " 0", "" ], [ "80", " Chair", " -1.610", " -0.024", " -1.424", " 358.454", " 297.426", " 0", "" ], [ "81", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.869 -2.5 0 0 0 1 DishSponge -1.620 0.699 -3.361 0 0 0 70 2 DishSponge -1.620 0.699 -3.698 0 0 0 70 3 ButterKnife 0.661 0.665 0.387 0 90 0 48 4 ButterKnife -1.886 0.701 -0.875 0 0 0 79 5 Spatula 0.672 0.787 -0.845 0 180 0 66 6 Fork 0.720 0.760 -0.252 0 90 0 42 7 Fork 0.769 0.760 -0.061 0 0 0 42 8 Pot -2.097 0.930 1.049 0 0 0 50 9 Egg -1.790 0.836 -3.705 0 0 0 65 10 Knife -1.535 0.723 -3.529 0 90 0 70 11 Knife 0.671 0.782 -0.252 0 90 0 42 12 Tomato -1.261 0.100 -3.574 0 270 0 58 13 Bowl 0.858 1.462 0.411 0 0 0 55 14 PepperShaker 0.842 0.012 -0.315 0 0 0 53 15 SaltShaker 0.877 0.879 -0.176 0 0 0 43 16 SaltShaker 1.040 0.879 -0.460 0 0 0 43 17 Lettuce 0.757 0.859 -0.735 0 270 0 66 18 Lettuce -1.719 0.788 -1.199 0 0 0 79 19 Apple 0.669 0.718 -1.880 0 270 0 63 20 Apple -2.002 0.852 -3.738 0 0 0 65 21 Pot -1.552 0.930 0.785 0 0 0 47 22 Plate -2.023 0.692 -1.447 0 0 0 79 23 Fork 0.817 0.760 0.002 0 270 0 42 24 SoapBottle 0.66 -0.008 -0.11 0 0 0 53 25 Apple -1.599 0.753 -3.614 0 0 0 70 26 Pan 0.740 -0.007 -0.596 0 0 0 46 27 Egg 0.901 0.702 0.569 0 0 0 48 28 Spatula 0.574 0.775 -0.188 0 90 0 42 29 Potato 0.803 0.916 -0.245 0 0 0 43 30 Cup 0.824 1.373 -2.190 0 270 0 63 31 SaltShaker 1.040 1.460 -0.207 0 0 0 54 32 PepperShaker 0.961 0.660 0.448 0 0 0 48 33 ButterKnife 0.721 0.665 0.569 0 0 0 48 34 DishSponge 0.672 0.772 -0.570 0 270 0 66 35 Bread -0.873 0.931 0.978 0 24.231 0 69 36 Lettuce 0.721 0.752 0.387 0 0 0 48 37 Tomato 0.669 0.713 -2.113 0 270 0 63 38 Spoon 0.877 0.884 0.029 0 0 0 43 39 Knife -1.717 0.715 -1.524 0 0 354.476 79 40 Mug 0.698 0.941 -1.360 0 270 0 56 41 Bowl -2.038 0.691 -1.003 0 0 0 79 42 Drawer 0.706 0.766 -0.125 0 0 0 43 CounterTop 0.792 0.919 -0.108 0 0 0 44 Mirror 1.093 1.602 -0.643 0 0 0 45 StoveBurner -2.096 0.890 0.785 0 0 0 46 Cabinet 0.507 0.345 -0.426 0 0 0 47 StoveBurner -1.552 0.890 0.785 0 0 0 48 SideTable 0.770 -0.030 0.443 0 0 0 49 Sink 0.753 0.882 -0.680 0 0 0 50 StoveBurner -2.096 0.890 1.049 0 0 0 51 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 52 StoveBurner -1.554 0.890 1.049 0 0 0 53 Cabinet 0.507 0.345 0.156 0 0 0 54 Cabinet 0.717 1.822 -0.398 0 0 0 55 Cabinet 0.717 1.822 0.669 0 0 0 56 CoffeeMachine 0.873 0.865 -1.256 0 270 0 57 Toaster -0.522 0.886 1.081 0 180 0 58 GarbageCan -1.261 -0.031 -3.610 0 270 0 59 StoveKnob -1.898 0.866 0.519 311.864 0 180 60 StoveKnob -1.754 0.866 0.519 311.864 0 180 61 StoveKnob -2.058 0.866 0.519 311.864 0 180 62 StoveKnob -1.600 0.866 0.519 311.864 0 180 63 Fridge 0.680 -0.031 -1.957 0 0 0 64 Window -2.424 1.639 -2.453 90 270 0 65 Microwave -1.994 0.690 -3.651 0 0 0 66 SinkBasin 0.757 0.762 -0.688 0 270 0 67 LightSwitch 1.102 1.368 -3.737 0 270 0 68 Shelf -0.350 0.124 0.857 0 0 0 69 DiningTable -0.350 -0.025 0.857 0 0 0 70 DiningTable -1.909 -0.032 -3.507 0 0 0 71 Blinds -2.343 2.151 -2.437 0 270 0 72 AluminumFoil 0.762 0.224 0.337 0 184.594 0 73 AluminumFoil 0.751 0.225 0.287 0 0 0 74 AluminumFoil 0.839 0.224 0.392 0 195.128 0 75 Shelf 0.771 0.226 0.445 0 0 0 76 Shelf 0.771 0.456 0.446 0 0 0 77 Faucet 1.025 0.873 -0.678 270 180 0 78 Shelf -0.350 0.497 0.857 0 0 0 79 DiningTable -1.929 -0.035 -1.398 0 90 0 80 Chair -1.610 -0.024 -1.424 358.454 297.426 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Move to stand in front of the small black table between the counter and trash bin. | STEP 2: Pick up the butter knife that's positioned horizontally from the black table. | STEP 3: Use the butter knife to slice the head of lettuce. | STEP 4: Carry the butter knife to long white table with the toaster on top. | STEP 5: Place the butter knife on the table, right of the toaster. | STEP 6: Move back to the black table with the lettuce. | STEP 7: Pick up a slice of lettuce from the table. | STEP 8: Carry the slice of the lettuce to the stove. | STEP 9: Place the slice of lettuce in the pan on the right side of the stove. | STEP 10: Pick up the pan with the lettuce in it from the stove. | STEP 11: Carry the pan with the lettuce to the white table where you left the butter knife. | STEP 12: Place the pan with lettuce on the table and the back right corner. | END" ]
[ [ "STEP 1: Move to stand in front of the small black table between the counter and trash bin. ", " STEP 2: Pick up the butter knife that's positioned horizontally from the black table. ", " STEP 3: Use the butter knife to slice the head of lettuce. ", " STEP 4: Carry the butter knife to long white table with the toaster on top. ", " STEP 5: Place the butter knife on the table, right of the toaster. ", " STEP 6: Move back to the black table with the lettuce. ", " STEP 7: Pick up a slice of lettuce from the table. ", " STEP 8: Carry the slice of the lettuce to the stove. ", " STEP 9: Place the slice of lettuce in the pan on the right side of the stove. ", " STEP 10: Pick up the pan with the lettuce in it from the stove. ", " STEP 11: Carry the pan with the lettuce to the white table where you left the butter knife. ", " STEP 12: Place the pan with lettuce on the table and the back right corner. ", " END" ] ]
seen
trial_T20190908_050908_013328-1
Place a pot with a piece of lettuce in it on the white table next to the trash bag.
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-0.680", " 0", " 0", " 0", "" ], [ "50", " StoveBurner", " -2.096", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "51", " GarbageBag", " -0.770", " 0.287", " -3.541", " 270", " 73.521", " 83.489", "" ], [ "52", " StoveBurner", " -1.554", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 0.507", " 0.345", " 0.156", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.717", " 1.822", " -0.398", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 0.717", " 1.822", " 0.669", " 0", " 0", " 0", "" ], [ "56", " CoffeeMachine", " 0.873", " 0.865", " -1.256", " 0", " 270", " 0", "" ], [ "57", " Toaster", " -0.522", " 0.886", " 1.081", " 0", " 180", " 0", "" ], [ "58", " GarbageCan", " -1.261", " -0.031", " -3.610", " 0", " 270", " 0", "" ], [ "59", " StoveKnob", " -1.898", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "60", " StoveKnob", " -1.754", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "61", " StoveKnob", " -2.058", " 0.866", " 0.519", " 311.864", " 0", " 180", "" 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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 0.869 -2.5 0 0 0 1 DishSponge -1.620 0.699 -3.361 0 0 0 70 2 DishSponge -1.620 0.699 -3.698 0 0 0 70 3 ButterKnife 0.661 0.665 0.387 0 90 0 48 4 ButterKnife -1.886 0.701 -0.875 0 0 0 79 5 Spatula 0.672 0.787 -0.845 0 180 0 66 6 Fork 0.720 0.760 -0.252 0 90 0 42 7 Fork 0.769 0.760 -0.061 0 0 0 42 8 Pot -2.097 0.930 1.049 0 0 0 50 9 Egg -1.790 0.836 -3.705 0 0 0 65 10 Knife -1.535 0.723 -3.529 0 90 0 70 11 Knife 0.671 0.782 -0.252 0 90 0 42 12 Tomato -1.261 0.100 -3.574 0 270 0 58 13 Bowl 0.858 1.462 0.411 0 0 0 55 14 PepperShaker 0.842 0.012 -0.315 0 0 0 53 15 SaltShaker 0.877 0.879 -0.176 0 0 0 43 16 SaltShaker 1.040 0.879 -0.460 0 0 0 43 17 Lettuce 0.757 0.859 -0.735 0 270 0 66 18 Lettuce -1.719 0.788 -1.199 0 0 0 79 19 Apple 0.669 0.718 -1.880 0 270 0 63 20 Apple -2.002 0.852 -3.738 0 0 0 65 21 Pot -1.552 0.930 0.785 0 0 0 47 22 Plate -2.023 0.692 -1.447 0 0 0 79 23 Fork 0.817 0.760 0.002 0 270 0 42 24 SoapBottle 0.66 -0.008 -0.11 0 0 0 53 25 Apple -1.599 0.753 -3.614 0 0 0 70 26 Pan 0.740 -0.007 -0.596 0 0 0 46 27 Egg 0.901 0.702 0.569 0 0 0 48 28 Spatula 0.574 0.775 -0.188 0 90 0 42 29 Potato 0.803 0.916 -0.245 0 0 0 43 30 Cup 0.824 1.373 -2.190 0 270 0 63 31 SaltShaker 1.040 1.460 -0.207 0 0 0 54 32 PepperShaker 0.961 0.660 0.448 0 0 0 48 33 ButterKnife 0.721 0.665 0.569 0 0 0 48 34 DishSponge 0.672 0.772 -0.570 0 270 0 66 35 Bread -0.873 0.931 0.978 0 24.231 0 69 36 Lettuce 0.721 0.752 0.387 0 0 0 48 37 Tomato 0.669 0.713 -2.113 0 270 0 63 38 Spoon 0.877 0.884 0.029 0 0 0 43 39 Knife -1.717 0.715 -1.524 0 0 354.476 79 40 Mug 0.698 0.941 -1.360 0 270 0 56 41 Bowl -2.038 0.691 -1.003 0 0 0 79 42 Drawer 0.706 0.766 -0.125 0 0 0 43 CounterTop 0.792 0.919 -0.108 0 0 0 44 Mirror 1.093 1.602 -0.643 0 0 0 45 StoveBurner -2.096 0.890 0.785 0 0 0 46 Cabinet 0.507 0.345 -0.426 0 0 0 47 StoveBurner -1.552 0.890 0.785 0 0 0 48 SideTable 0.770 -0.030 0.443 0 0 0 49 Sink 0.753 0.882 -0.680 0 0 0 50 StoveBurner -2.096 0.890 1.049 0 0 0 51 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 52 StoveBurner -1.554 0.890 1.049 0 0 0 53 Cabinet 0.507 0.345 0.156 0 0 0 54 Cabinet 0.717 1.822 -0.398 0 0 0 55 Cabinet 0.717 1.822 0.669 0 0 0 56 CoffeeMachine 0.873 0.865 -1.256 0 270 0 57 Toaster -0.522 0.886 1.081 0 180 0 58 GarbageCan -1.261 -0.031 -3.610 0 270 0 59 StoveKnob -1.898 0.866 0.519 311.864 0 180 60 StoveKnob -1.754 0.866 0.519 311.864 0 180 61 StoveKnob -2.058 0.866 0.519 311.864 0 180 62 StoveKnob -1.600 0.866 0.519 311.864 0 180 63 Fridge 0.680 -0.031 -1.957 0 0 0 64 Window -2.424 1.639 -2.453 90 270 0 65 Microwave -1.994 0.690 -3.651 0 0 0 66 SinkBasin 0.757 0.762 -0.688 0 270 0 67 LightSwitch 1.102 1.368 -3.737 0 270 0 68 Shelf -0.350 0.124 0.857 0 0 0 69 DiningTable -0.350 -0.025 0.857 0 0 0 70 DiningTable -1.909 -0.032 -3.507 0 0 0 71 Blinds -2.343 2.151 -2.437 0 270 0 72 AluminumFoil 0.762 0.224 0.337 0 184.594 0 73 AluminumFoil 0.751 0.225 0.287 0 0 0 74 AluminumFoil 0.839 0.224 0.392 0 195.128 0 75 Shelf 0.771 0.226 0.445 0 0 0 76 Shelf 0.771 0.456 0.446 0 0 0 77 Faucet 1.025 0.873 -0.678 270 180 0 78 Shelf -0.350 0.497 0.857 0 0 0 79 DiningTable -1.929 -0.035 -1.398 0 90 0 80 Chair -1.610 -0.024 -1.424 358.454 297.426 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Walk to the small black table to the right of the black trash bag. | STEP 2: Pick up the knife in front of the lettuce on the black table. | STEP 3: Cut up the lettuce on the black table. | STEP 4: Turn left and walk to the white table. | STEP 5: Place the knife on the white table. | STEP 6: Turn right and walk to the lettuce on the black table. | STEP 7: Pick up a piece of lettuce on the black table. | STEP 8: Turn around and walk to the stove in the corner. | STEP 9: Place the piece of lettuce in the pot closest to you on the stove. | STEP 10: Pick up the pot closest to you on the stove. | STEP 11: Turn right and walk to the white table to the left of the black trash bag. | STEP 12: Place the pot on the upper right corner of the white table. | END" ]
[ [ "STEP 1: Walk to the small black table to the right of the black trash bag. ", " STEP 2: Pick up the knife in front of the lettuce on the black table. ", " STEP 3: Cut up the lettuce on the black table. ", " STEP 4: Turn left and walk to the white table. ", " STEP 5: Place the knife on the white table. ", " STEP 6: Turn right and walk to the lettuce on the black table. ", " STEP 7: Pick up a piece of lettuce on the black table. ", " STEP 8: Turn around and walk to the stove in the corner. ", " STEP 9: Place the piece of lettuce in the pot closest to you on the stove. ", " STEP 10: Pick up the pot closest to you on the stove. ", " STEP 11: Turn right and walk to the white table to the left of the black trash bag. ", " STEP 12: Place the pot on the upper right corner of the white table. ", " END" ] ]
seen
trial_T20190908_050908_013328-2
Place green melon slice in pan, place pan on back, right corner of table
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0.392", " 0", " 195.128", " 0", "" ], [ "75", " Shelf", " 0.771", " 0.226", " 0.445", " 0", " 0", " 0", "" ], [ "76", " Shelf", " 0.771", " 0.456", " 0.446", " 0", " 0", " 0", "" ], [ "77", " Faucet", " 1.025", " 0.873", " -0.678", " 270", " 180", " 0", "" ], [ "78", " Shelf", " -0.350", " 0.497", " 0.857", " 0", " 0", " 0", "" ], [ "79", " DiningTable", " -1.929", " -0.035", " -1.398", " 0", " 90", " 0", "" ], [ "80", " Chair", " -1.610", " -0.024", " -1.424", " 358.454", " 297.426", " 0", "" ], [ "81", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.869 -2.5 0 0 0 1 DishSponge -1.620 0.699 -3.361 0 0 0 70 2 DishSponge -1.620 0.699 -3.698 0 0 0 70 3 ButterKnife 0.661 0.665 0.387 0 90 0 48 4 ButterKnife -1.886 0.701 -0.875 0 0 0 79 5 Spatula 0.672 0.787 -0.845 0 180 0 66 6 Fork 0.720 0.760 -0.252 0 90 0 42 7 Fork 0.769 0.760 -0.061 0 0 0 42 8 Pot -2.097 0.930 1.049 0 0 0 50 9 Egg -1.790 0.836 -3.705 0 0 0 65 10 Knife -1.535 0.723 -3.529 0 90 0 70 11 Knife 0.671 0.782 -0.252 0 90 0 42 12 Tomato -1.261 0.100 -3.574 0 270 0 58 13 Bowl 0.858 1.462 0.411 0 0 0 55 14 PepperShaker 0.842 0.012 -0.315 0 0 0 53 15 SaltShaker 0.877 0.879 -0.176 0 0 0 43 16 SaltShaker 1.040 0.879 -0.460 0 0 0 43 17 Lettuce 0.757 0.859 -0.735 0 270 0 66 18 Lettuce -1.719 0.788 -1.199 0 0 0 79 19 Apple 0.669 0.718 -1.880 0 270 0 63 20 Apple -2.002 0.852 -3.738 0 0 0 65 21 Pot -1.552 0.930 0.785 0 0 0 47 22 Plate -2.023 0.692 -1.447 0 0 0 79 23 Fork 0.817 0.760 0.002 0 270 0 42 24 SoapBottle 0.66 -0.008 -0.11 0 0 0 53 25 Apple -1.599 0.753 -3.614 0 0 0 70 26 Pan 0.740 -0.007 -0.596 0 0 0 46 27 Egg 0.901 0.702 0.569 0 0 0 48 28 Spatula 0.574 0.775 -0.188 0 90 0 42 29 Potato 0.803 0.916 -0.245 0 0 0 43 30 Cup 0.824 1.373 -2.190 0 270 0 63 31 SaltShaker 1.040 1.460 -0.207 0 0 0 54 32 PepperShaker 0.961 0.660 0.448 0 0 0 48 33 ButterKnife 0.721 0.665 0.569 0 0 0 48 34 DishSponge 0.672 0.772 -0.570 0 270 0 66 35 Bread -0.873 0.931 0.978 0 24.231 0 69 36 Lettuce 0.721 0.752 0.387 0 0 0 48 37 Tomato 0.669 0.713 -2.113 0 270 0 63 38 Spoon 0.877 0.884 0.029 0 0 0 43 39 Knife -1.717 0.715 -1.524 0 0 354.476 79 40 Mug 0.698 0.941 -1.360 0 270 0 56 41 Bowl -2.038 0.691 -1.003 0 0 0 79 42 Drawer 0.706 0.766 -0.125 0 0 0 43 CounterTop 0.792 0.919 -0.108 0 0 0 44 Mirror 1.093 1.602 -0.643 0 0 0 45 StoveBurner -2.096 0.890 0.785 0 0 0 46 Cabinet 0.507 0.345 -0.426 0 0 0 47 StoveBurner -1.552 0.890 0.785 0 0 0 48 SideTable 0.770 -0.030 0.443 0 0 0 49 Sink 0.753 0.882 -0.680 0 0 0 50 StoveBurner -2.096 0.890 1.049 0 0 0 51 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 52 StoveBurner -1.554 0.890 1.049 0 0 0 53 Cabinet 0.507 0.345 0.156 0 0 0 54 Cabinet 0.717 1.822 -0.398 0 0 0 55 Cabinet 0.717 1.822 0.669 0 0 0 56 CoffeeMachine 0.873 0.865 -1.256 0 270 0 57 Toaster -0.522 0.886 1.081 0 180 0 58 GarbageCan -1.261 -0.031 -3.610 0 270 0 59 StoveKnob -1.898 0.866 0.519 311.864 0 180 60 StoveKnob -1.754 0.866 0.519 311.864 0 180 61 StoveKnob -2.058 0.866 0.519 311.864 0 180 62 StoveKnob -1.600 0.866 0.519 311.864 0 180 63 Fridge 0.680 -0.031 -1.957 0 0 0 64 Window -2.424 1.639 -2.453 90 270 0 65 Microwave -1.994 0.690 -3.651 0 0 0 66 SinkBasin 0.757 0.762 -0.688 0 270 0 67 LightSwitch 1.102 1.368 -3.737 0 270 0 68 Shelf -0.350 0.124 0.857 0 0 0 69 DiningTable -0.350 -0.025 0.857 0 0 0 70 DiningTable -1.909 -0.032 -3.507 0 0 0 71 Blinds -2.343 2.151 -2.437 0 270 0 72 AluminumFoil 0.762 0.224 0.337 0 184.594 0 73 AluminumFoil 0.751 0.225 0.287 0 0 0 74 AluminumFoil 0.839 0.224 0.392 0 195.128 0 75 Shelf 0.771 0.226 0.445 0 0 0 76 Shelf 0.771 0.456 0.446 0 0 0 77 Faucet 1.025 0.873 -0.678 270 180 0 78 Shelf -0.350 0.497 0.857 0 0 0 79 DiningTable -1.929 -0.035 -1.398 0 90 0 80 Chair -1.610 -0.024 -1.424 358.454 297.426 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: go forward to end of counter to black table on the right with green melon | STEP 2: pick up knife in front of green melon | STEP 3: slice melon on black table | STEP 4: turn left, face table with toaster | STEP 5: place knife on table to the right of the toaster | STEP 6: turn left, face black table with green melon | STEP 7: pick up slice of green melon from black table | STEP 8: turn around, go to stove on the right | STEP 9: place green melon slice in square pan on front burner of stove | STEP 10: pick up square pan with melon slice | STEP 11: turn right, go to table with toaster, face knife on white table | STEP 12: place pan on back, right corner of white table | END" ]
[ [ "STEP 1: go forward to end of counter to black table on the right with green melon ", " STEP 2: pick up knife in front of green melon ", " STEP 3: slice melon on black table ", " STEP 4: turn left, face table with toaster ", " STEP 5: place knife on table to the right of the toaster ", " STEP 6: turn left, face black table with green melon ", " STEP 7: pick up slice of green melon from black table ", " STEP 8: turn around, go to stove on the right ", " STEP 9: place green melon slice in square pan on front burner of stove ", " STEP 10: pick up square pan with melon slice ", " STEP 11: turn right, go to table with toaster, face knife on white table ", " STEP 12: place pan on back, right corner of white table ", " END" ] ]
seen
trial_T20190908_182413_239334-0
Move the white pan from the stove to the white table.
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SoapBottle", " -3.368", " 0.915", " 1.440", " 0", " 0", " 0", " 51" ], [ "12", " Bowl", " -3.537", " 1.545", " 2.224", " 0", " 90", " 0", " 73" ], [ "13", " SaltShaker", " -1.439", " 0.911", " 4.214", " 0", " 0", " 0", " 42" ], [ "14", " SaltShaker", " -1.815", " 0.911", " 4.273", " 0", " 0", " 0", " 42" ], [ "15", " PepperShaker", " -3.185", " 0.741", " 1.125", " 0", " 0", " 0", " 43" ], [ "16", " Lettuce", " -3.559", " 1.001", " 1.357", " 0", " 0", " 0", " 51" ], [ "17", " Mug", " -3.081", " 0.910", " 3.336", " 0", " 0", " 0", " 42" ], [ "18", " Apple", " -0.673", " 1.046", " 4.114", " 0", " 180", " 0", " 68" ], [ "19", " Egg", " -0.790", " 0.758", " 3.869", " 0", " 180", " 0", " 68" ], [ "20", " Knife", " -3.038", " 0.770", " 2.972", " 0", " 270", " 0", " 44" ], [ "21", " Fork", " -3.068", " 0.745", " 1.433", " 0", " 90", " 0", " 43" ], [ "22", " Bread", " -3.176", " 0.997", " 1.524", " 0", " 0", " 0", " 51" ], [ "23", " Potato", " -3.473", " 1.578", " 2.068", " 0", " 90", " 0", " 73" ], [ "24", " Plate", " -3.005", " 0.904", " 3.677", " 0", " 0", " 0", " 42" ], [ "25", " Pot", " -3.144", " 0.963", " 2.374", " 0", " 0", " 0", " 45" ], [ "26", " Kettle", " -3.145", " 0.069", " 2.920", " 0", " 270", " 0", " 55" ], [ "27", " WineBottle", " -1.129", " 0.087", " 3.820", " 0", " 270", " 0", " 74" ], [ "28", " Bowl", " -2.800", " 0.079", " 3.586", " 0", " 0", " 0", " 54" ], [ "29", " Tomato", " -1.793", " 0.858", " 3.662", " 0", " 0", " 0", " 72" ], [ "30", " Cup", " -0.323", " 0.722", " 3.869", " 0", " 180", " 0", " 68" ], [ "31", " Spatula", " -3.126", " 0.762", " 2.806", " 0", " 90", " 0", " 44" ], [ "32", " SoapBottle", " -2.022", " 0.915", " 4.188", " 0", " 0", " 0", " 42" ], [ "33", " Lettuce", " -1.759", " 0.974", " 0.085", " 0", " 0", " 0", " 78" ], [ "34", " Pan", " -3.424", " 0.966", " 1.971", " 0", " 0", " 0", " 50" ], [ "35", " Apple", " -1.666", " 0.849", " 3.625", " 0", " 0", " 0", " 72" ], [ "36", " SaltShaker", " -3.097", " 0.742", " 1.279", " 0", " 0", " 0", " 43" ], [ "37", " PepperShaker", " -3.271", " 0.077", " 2.808", " 0", " 0", " 0", " 55" ], [ "38", " ButterKnife", " -3.463", " 0.915", " 1.273", " 0", " 0", " 0", " 51" ], [ "39", " DishSponge", " -3.157", " 0.746", " 3.296", " 0", " 0", " 0", " 52" ], [ "40", " Spoon", " -1.608", " 0.916", " 4.104", " 0", " 0", " 0", " 42" ], [ "41", " Mug", " -1.921", " 0.784", " 3.737", " 0", " 0", " 0", " 72" ], [ "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 -1.0 0.914 2.5 0 270 0 1 Potato -3.368 0.948 1.607 0 0 0 51 2 WineBottle -3.368 0.916 1.106 0 0 0 51 3 WineBottle -1.224 0.088 3.724 0 270 0 74 4 Spatula -2.302 0.930 3.890 0 0 0 42 5 Spatula -2.804 0.930 3.567 0 90 0 42 6 Spoon -3.559 0.916 1.524 0 0 0 51 7 Spoon -3.176 0.916 1.273 0 0 0 51 8 Fork -3.214 0.745 1.510 0 90 0 43 9 Tomato -0.206 1.054 3.801 0 180 0 68 10 Tomato -0.439 1.054 3.801 0 180 0 68 11 SoapBottle -3.368 0.915 1.440 0 0 0 51 12 Bowl -3.537 1.545 2.224 0 90 0 73 13 SaltShaker -1.439 0.911 4.214 0 0 0 42 14 SaltShaker -1.815 0.911 4.273 0 0 0 42 15 PepperShaker -3.185 0.741 1.125 0 0 0 43 16 Lettuce -3.559 1.001 1.357 0 0 0 51 17 Mug -3.081 0.910 3.336 0 0 0 42 18 Apple -0.673 1.046 4.114 0 180 0 68 19 Egg -0.790 0.758 3.869 0 180 0 68 20 Knife -3.038 0.770 2.972 0 270 0 44 21 Fork -3.068 0.745 1.433 0 90 0 43 22 Bread -3.176 0.997 1.524 0 0 0 51 23 Potato -3.473 1.578 2.068 0 90 0 73 24 Plate -3.005 0.904 3.677 0 0 0 42 25 Pot -3.144 0.963 2.374 0 0 0 45 26 Kettle -3.145 0.069 2.920 0 270 0 55 27 WineBottle -1.129 0.087 3.820 0 270 0 74 28 Bowl -2.800 0.079 3.586 0 0 0 54 29 Tomato -1.793 0.858 3.662 0 0 0 72 30 Cup -0.323 0.722 3.869 0 180 0 68 31 Spatula -3.126 0.762 2.806 0 90 0 44 32 SoapBottle -2.022 0.915 4.188 0 0 0 42 33 Lettuce -1.759 0.974 0.085 0 0 0 78 34 Pan -3.424 0.966 1.971 0 0 0 50 35 Apple -1.666 0.849 3.625 0 0 0 72 36 SaltShaker -3.097 0.742 1.279 0 0 0 43 37 PepperShaker -3.271 0.077 2.808 0 0 0 55 38 ButterKnife -3.463 0.915 1.273 0 0 0 51 39 DishSponge -3.157 0.746 3.296 0 0 0 52 40 Spoon -1.608 0.916 4.104 0 0 0 42 41 Mug -1.921 0.784 3.737 0 0 0 72 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 to the stove. | STEP 2: Pick up the white pan with the circular pattern from the stovetop. | STEP 3: Turn around and make your way across the room to the white table. | STEP 4: Set the white pan down on the table. | END" ]
[ [ "STEP 1: Walk to the stove. ", " STEP 2: Pick up the white pan with the circular pattern from the stovetop. ", " STEP 3: Turn around and make your way across the room to the white table. ", " STEP 4: Set the white pan down on the table. ", " END" ] ]
seen
trial_T20190908_182413_239334-1
Move the frying pan from the stove to the table.
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SoapBottle", " -3.368", " 0.915", " 1.440", " 0", " 0", " 0", " 51" ], [ "12", " Bowl", " -3.537", " 1.545", " 2.224", " 0", " 90", " 0", " 73" ], [ "13", " SaltShaker", " -1.439", " 0.911", " 4.214", " 0", " 0", " 0", " 42" ], [ "14", " SaltShaker", " -1.815", " 0.911", " 4.273", " 0", " 0", " 0", " 42" ], [ "15", " PepperShaker", " -3.185", " 0.741", " 1.125", " 0", " 0", " 0", " 43" ], [ "16", " Lettuce", " -3.559", " 1.001", " 1.357", " 0", " 0", " 0", " 51" ], [ "17", " Mug", " -3.081", " 0.910", " 3.336", " 0", " 0", " 0", " 42" ], [ "18", " Apple", " -0.673", " 1.046", " 4.114", " 0", " 180", " 0", " 68" ], [ "19", " Egg", " -0.790", " 0.758", " 3.869", " 0", " 180", " 0", " 68" ], [ "20", " Knife", " -3.038", " 0.770", " 2.972", " 0", " 270", " 0", " 44" ], [ "21", " Fork", " -3.068", " 0.745", " 1.433", " 0", " 90", " 0", " 43" ], [ "22", " Bread", " -3.176", " 0.997", " 1.524", " 0", " 0", " 0", " 51" ], [ "23", " Potato", " -3.473", " 1.578", " 2.068", " 0", " 90", " 0", " 73" ], [ "24", " Plate", " -3.005", " 0.904", " 3.677", " 0", " 0", " 0", " 42" ], [ "25", " Pot", " -3.144", " 0.963", " 2.374", " 0", " 0", " 0", " 45" ], [ "26", " Kettle", " -3.145", " 0.069", " 2.920", " 0", " 270", " 0", " 55" ], [ "27", " WineBottle", " -1.129", " 0.087", " 3.820", " 0", " 270", " 0", " 74" ], [ "28", " Bowl", " -2.800", " 0.079", " 3.586", " 0", " 0", " 0", " 54" ], [ "29", " Tomato", " -1.793", " 0.858", " 3.662", " 0", " 0", " 0", " 72" ], [ "30", " Cup", " -0.323", " 0.722", " 3.869", " 0", " 180", " 0", " 68" ], [ "31", " Spatula", " -3.126", " 0.762", " 2.806", " 0", " 90", " 0", " 44" ], [ "32", " SoapBottle", " -2.022", " 0.915", " 4.188", " 0", " 0", " 0", " 42" ], [ "33", " Lettuce", " -1.759", " 0.974", " 0.085", " 0", " 0", " 0", " 78" ], [ "34", " Pan", " -3.424", " 0.966", " 1.971", " 0", " 0", " 0", " 50" ], [ "35", " Apple", " -1.666", " 0.849", " 3.625", " 0", " 0", " 0", " 72" ], [ "36", " SaltShaker", " -3.097", " 0.742", " 1.279", " 0", " 0", " 0", " 43" ], [ "37", " PepperShaker", " -3.271", " 0.077", " 2.808", " 0", " 0", " 0", " 55" ], [ "38", " ButterKnife", " -3.463", " 0.915", " 1.273", " 0", " 0", " 0", " 51" ], [ "39", " DishSponge", " -3.157", " 0.746", " 3.296", " 0", " 0", " 0", " 52" ], [ "40", " Spoon", " -1.608", " 0.916", " 4.104", " 0", " 0", " 0", " 42" ], [ "41", " Mug", " -1.921", " 0.784", " 3.737", " 0", " 0", " 0", " 72" ], [ "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 -1.0 0.914 2.5 0 270 0 1 Potato -3.368 0.948 1.607 0 0 0 51 2 WineBottle -3.368 0.916 1.106 0 0 0 51 3 WineBottle -1.224 0.088 3.724 0 270 0 74 4 Spatula -2.302 0.930 3.890 0 0 0 42 5 Spatula -2.804 0.930 3.567 0 90 0 42 6 Spoon -3.559 0.916 1.524 0 0 0 51 7 Spoon -3.176 0.916 1.273 0 0 0 51 8 Fork -3.214 0.745 1.510 0 90 0 43 9 Tomato -0.206 1.054 3.801 0 180 0 68 10 Tomato -0.439 1.054 3.801 0 180 0 68 11 SoapBottle -3.368 0.915 1.440 0 0 0 51 12 Bowl -3.537 1.545 2.224 0 90 0 73 13 SaltShaker -1.439 0.911 4.214 0 0 0 42 14 SaltShaker -1.815 0.911 4.273 0 0 0 42 15 PepperShaker -3.185 0.741 1.125 0 0 0 43 16 Lettuce -3.559 1.001 1.357 0 0 0 51 17 Mug -3.081 0.910 3.336 0 0 0 42 18 Apple -0.673 1.046 4.114 0 180 0 68 19 Egg -0.790 0.758 3.869 0 180 0 68 20 Knife -3.038 0.770 2.972 0 270 0 44 21 Fork -3.068 0.745 1.433 0 90 0 43 22 Bread -3.176 0.997 1.524 0 0 0 51 23 Potato -3.473 1.578 2.068 0 90 0 73 24 Plate -3.005 0.904 3.677 0 0 0 42 25 Pot -3.144 0.963 2.374 0 0 0 45 26 Kettle -3.145 0.069 2.920 0 270 0 55 27 WineBottle -1.129 0.087 3.820 0 270 0 74 28 Bowl -2.800 0.079 3.586 0 0 0 54 29 Tomato -1.793 0.858 3.662 0 0 0 72 30 Cup -0.323 0.722 3.869 0 180 0 68 31 Spatula -3.126 0.762 2.806 0 90 0 44 32 SoapBottle -2.022 0.915 4.188 0 0 0 42 33 Lettuce -1.759 0.974 0.085 0 0 0 78 34 Pan -3.424 0.966 1.971 0 0 0 50 35 Apple -1.666 0.849 3.625 0 0 0 72 36 SaltShaker -3.097 0.742 1.279 0 0 0 43 37 PepperShaker -3.271 0.077 2.808 0 0 0 55 38 ButterKnife -3.463 0.915 1.273 0 0 0 51 39 DishSponge -3.157 0.746 3.296 0 0 0 52 40 Spoon -1.608 0.916 4.104 0 0 0 42 41 Mug -1.921 0.784 3.737 0 0 0 72 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 left, take a step, turn right and walk to the stove. | STEP 2: Pick up the frying pan on the back left burner of the stove top. | STEP 3: Turn completely around, walk to the wall, turn right, walk to the wall, turn right and face the table. | STEP 4: Put the frying pan on the table in front of the stool. | END" ]
[ [ "STEP 1: Turn left, take a step, turn right and walk to the stove. ", " STEP 2: Pick up the frying pan on the back left burner of the stove top. ", " STEP 3: Turn completely around, walk to the wall, turn right, walk to the wall, turn right and face the table. ", " STEP 4: Put the frying pan on the table in front of the stool. ", " END" ] ]
seen
trial_T20190908_182413_239334-2
Move the pan that's on the stove top to the white kitchen table.
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73" ], [ "24", " Plate", " -3.005", " 0.904", " 3.677", " 0", " 0", " 0", " 42" ], [ "25", " Pot", " -3.144", " 0.963", " 2.374", " 0", " 0", " 0", " 45" ], [ "26", " Kettle", " -3.145", " 0.069", " 2.920", " 0", " 270", " 0", " 55" ], [ "27", " WineBottle", " -1.129", " 0.087", " 3.820", " 0", " 270", " 0", " 74" ], [ "28", " Bowl", " -2.800", " 0.079", " 3.586", " 0", " 0", " 0", " 54" ], [ "29", " Tomato", " -1.793", " 0.858", " 3.662", " 0", " 0", " 0", " 72" ], [ "30", " Cup", " -0.323", " 0.722", " 3.869", " 0", " 180", " 0", " 68" ], [ "31", " Spatula", " -3.126", " 0.762", " 2.806", " 0", " 90", " 0", " 44" ], [ "32", " SoapBottle", " -2.022", " 0.915", " 4.188", " 0", " 0", " 0", " 42" ], [ "33", " Lettuce", " -1.759", " 0.974", " 0.085", " 0", " 0", " 0", " 78" ], [ "34", " Pan", " -3.424", " 0.966", " 1.971", " 0", " 0", " 0", " 50" ], [ "35", " Apple", " -1.666", " 0.849", " 3.625", " 0", " 0", " 0", " 72" ], [ "36", " SaltShaker", " -3.097", " 0.742", " 1.279", " 0", " 0", 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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", "" ], 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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 0.914 2.5 0 270 0 1 Potato -3.368 0.948 1.607 0 0 0 51 2 WineBottle -3.368 0.916 1.106 0 0 0 51 3 WineBottle -1.224 0.088 3.724 0 270 0 74 4 Spatula -2.302 0.930 3.890 0 0 0 42 5 Spatula -2.804 0.930 3.567 0 90 0 42 6 Spoon -3.559 0.916 1.524 0 0 0 51 7 Spoon -3.176 0.916 1.273 0 0 0 51 8 Fork -3.214 0.745 1.510 0 90 0 43 9 Tomato -0.206 1.054 3.801 0 180 0 68 10 Tomato -0.439 1.054 3.801 0 180 0 68 11 SoapBottle -3.368 0.915 1.440 0 0 0 51 12 Bowl -3.537 1.545 2.224 0 90 0 73 13 SaltShaker -1.439 0.911 4.214 0 0 0 42 14 SaltShaker -1.815 0.911 4.273 0 0 0 42 15 PepperShaker -3.185 0.741 1.125 0 0 0 43 16 Lettuce -3.559 1.001 1.357 0 0 0 51 17 Mug -3.081 0.910 3.336 0 0 0 42 18 Apple -0.673 1.046 4.114 0 180 0 68 19 Egg -0.790 0.758 3.869 0 180 0 68 20 Knife -3.038 0.770 2.972 0 270 0 44 21 Fork -3.068 0.745 1.433 0 90 0 43 22 Bread -3.176 0.997 1.524 0 0 0 51 23 Potato -3.473 1.578 2.068 0 90 0 73 24 Plate -3.005 0.904 3.677 0 0 0 42 25 Pot -3.144 0.963 2.374 0 0 0 45 26 Kettle -3.145 0.069 2.920 0 270 0 55 27 WineBottle -1.129 0.087 3.820 0 270 0 74 28 Bowl -2.800 0.079 3.586 0 0 0 54 29 Tomato -1.793 0.858 3.662 0 0 0 72 30 Cup -0.323 0.722 3.869 0 180 0 68 31 Spatula -3.126 0.762 2.806 0 90 0 44 32 SoapBottle -2.022 0.915 4.188 0 0 0 42 33 Lettuce -1.759 0.974 0.085 0 0 0 78 34 Pan -3.424 0.966 1.971 0 0 0 50 35 Apple -1.666 0.849 3.625 0 0 0 72 36 SaltShaker -3.097 0.742 1.279 0 0 0 43 37 PepperShaker -3.271 0.077 2.808 0 0 0 55 38 ButterKnife -3.463 0.915 1.273 0 0 0 51 39 DishSponge -3.157 0.746 3.296 0 0 0 52 40 Spoon -1.608 0.916 4.104 0 0 0 42 41 Mug -1.921 0.784 3.737 0 0 0 72 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: Go straight to face the white stove top. | STEP 2: Pick the pan up from off of the stove top. | STEP 3: Turn around, go straight and then to the right then to the right again to face the end of the white kitchen table. | STEP 4: Place the pan on the white kitchen table. | END" ]
[ [ "STEP 1: Go straight to face the white stove top. ", " STEP 2: Pick the pan up from off of the stove top. ", " STEP 3: Turn around, go straight and then to the right then to the right again to face the end of the white kitchen table. ", " STEP 4: Place the pan on the white kitchen table. ", " END" ] ]
seen
trial_T20190908_225938_152284-0
Place a clean plate with spatula on it on the shelf.
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" Pot", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", " 80" ], [ "12", " Fork", " -1.849", " 0.912", " -0.614", " 0", " 0", " 0", " 62" ], [ "13", " Spoon", " -2.584", " 0.875", " 2.715", " 0", " 0", " 0", " 64" ], [ "14", " Spoon", " -1.516", " 0.913", " 0.037", " 0", " 90", " 0", " 62" ], [ "15", " Cup", " 0.595", " 1.651", " -1.785", " 0", " 0", " 0", " 73" ], [ "16", " Cup", " -2.405", " 0.873", " 2.758", " 0", " 135", " 0", " 64" ], [ "17", " Plate", " -2.644", " 0.878", " 2.997", " 0", " 135", " 0", " 64" ], [ "18", " Plate", " -1.849", " 0.916", " -0.288", " 0", " 0", " 0", " 62" ], [ "19", " Knife", " -1.616", " 0.741", " -0.788", " 0", " 270", " 0", " 77" ], [ "20", " SoapBottle", " -2.321", " 0.879", " 3.296", " 0", " 270", " 0", " 64" ], [ "21", " SoapBottle", " -0.871", " 0.193", " 2.097", " 0", " 90", " 0", " 92" ], [ "22", " Bowl", " -1.444", " 1.655", " -1.710", " 0", " 0", " 0", " 75" ], [ "23", " SaltShaker", " -2.950", " 0.874", " 3.035", " 0", " 225", " 0", " 64" ], [ "24", " PepperShaker", " -2.490", " 0.874", " 3.221", " 0", " 270", " 0", " 64" ], [ "25", " PepperShaker", " -0.943", " 1.650", " -1.674", " 0", " 0", " 0", " 74" ], [ "26", " Bread", " -0.263", " 1.655", " 2.100", " 0", " 180", " 0", " 87" ], [ "27", " Bread", " -0.035", " 1.655", " 2.100", " 0", " 180", " 0", " 87" ], [ "28", " Lettuce", " -2.964", " 0.939", " 3.632", " 0", " 135", " 0", " 64" ], [ "29", " Lettuce", " 0.193", " 1.637", " 2.100", " 0", " 180", " 0", " 87" ], [ "30", " Book", " 0.663", " 0.908", " -1.369", " 0", " 0", " 0", " 62" ], [ "31", " Fork", " -2.300", " 0.879", " 3.580", " 0", " 225", " 0", " 64" ], [ "32", " Tomato", " -1.516", " 0.959", " -1.265", " 0", " 0", " 0", " 62" ], [ "33", " Egg", " -0.149", " 0.414", " 1.967", " 0", " 180", " 0", " 87" ], [ "34", " Kettle", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 61" ], [ "35", " Vase", " -1.516", " 0.913", " -0.288", " 0", " 0", " 0", " 62" ], [ "36", " Cup", " 1.316", " 1.759", " -1.596", " 0", " 0", " 0", " 86" ], [ "37", " WineBottle", " -2.733", " 0.879", " 3.559", " 0", " 0", " 0", " 64" ], [ "38", " Plate", " -2.964", " 0.882", " 2.811", " 0", " 225", " 0", " 64" ], [ "39", " Spatula", " -1.961", " 0.927", " -0.288", " 0", " 0", " 0", " 62" ], [ "40", " Potato", " 0.307", " 0.839", " 2.251", " 0", " 180", " 0", " 87" ], [ "41", " Pot", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", " 65" ], [ "42", " Knife", " -2.152", " 0.900", " 3.147", " 0", " 270", " 0", " 64" ], [ "43", " SaltShaker", " -0.348", " 0.118", " -1.492", " 0", " 0", " 0", " 71" ], [ "44", " PepperShaker", " 1.584", " 0.111", " -1.375", " 0", " 0", " 0", " 68" ], [ "45", " Lettuce", " -3.165", " 0.939", " 3.073", " 0", " 270", " 0", " 64" ], [ "46", " ButterKnife", " -2.584", " 0.874", " 2.715", " 0", " 0", " 0", " 64" ], [ "47", " Bread", " -2.405", " 0.961", " 3.685", " 0", " 225", " 0", " 64" ], [ "48", " Vase", " -1.738", " 0.913", " 0.363", " 0", " 0", " 0", " 62" ], [ "49", " DishSponge", " 1.649", " 0.719", " -1.443", " 0", " 0", " 0", " 78" ], [ "50", " Apple", " -2.996", " 0.929", " 3.370", " 0", " 270", " 0", " 64" ], [ "51", " Pan", " 0.972", " 0.959", " -1.426", " 0", " 0", " 0", " 80" ], [ "52", " Spoon", " -2.510", " 0.879", " 3.053", " 0", " 90", " 0", " 64" ], [ "53", " SoapBottle", " -2.472", " 0.879", " 2.930", " 0", " 135", " 0", " 64" ], [ "54", " Mug", " -1.112", " 0.958", " -1.479", " 0", " 0", " 0", " 99" ], [ "55", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 85" ], [ "56", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 85" ], [ "57", " Bowl", " 0.663", " 0.910", " -1.776", " 0", " 0", " 0", " 62" ], [ "58", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "59", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "60", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "62", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "64", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "65", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "66", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "67", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 1.775", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " 0.524", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " -0.714", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "75", " 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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 1.25 0 90 0 1 Potato 1.104 1.798 -1.562 0 0 0 86 2 Potato 0.307 1.608 2.219 0 180 0 87 3 Book -2.050 0.116 -1.580 0 0 0 63 4 Book -1.516 0.908 -1.591 0 0 0 62 5 DishSponge 0.638 0.718 -1.410 0 0 0 79 6 DishSponge 0.036 0.114 -1.451 0 0 0 70 7 ButterKnife -1.961 0.912 -0.939 0 0 0 62 8 WineBottle 1.614 0.911 -1.437 0 0 0 82 9 WineBottle -2.420 0.875 3.460 0 225 0 64 10 Pot 1.328 0.957 -1.420 0 180 0 66 11 Pot 0.974 0.957 -1.419 0 180 0 80 12 Fork -1.849 0.912 -0.614 0 0 0 62 13 Spoon -2.584 0.875 2.715 0 0 0 64 14 Spoon -1.516 0.913 0.037 0 90 0 62 15 Cup 0.595 1.651 -1.785 0 0 0 73 16 Cup -2.405 0.873 2.758 0 135 0 64 17 Plate -2.644 0.878 2.997 0 135 0 64 18 Plate -1.849 0.916 -0.288 0 0 0 62 19 Knife -1.616 0.741 -0.788 0 270 0 77 20 SoapBottle -2.321 0.879 3.296 0 270 0 64 21 SoapBottle -0.871 0.193 2.097 0 90 0 92 22 Bowl -1.444 1.655 -1.710 0 0 0 75 23 SaltShaker -2.950 0.874 3.035 0 225 0 64 24 PepperShaker -2.490 0.874 3.221 0 270 0 64 25 PepperShaker -0.943 1.650 -1.674 0 0 0 74 26 Bread -0.263 1.655 2.100 0 180 0 87 27 Bread -0.035 1.655 2.100 0 180 0 87 28 Lettuce -2.964 0.939 3.632 0 135 0 64 29 Lettuce 0.193 1.637 2.100 0 180 0 87 30 Book 0.663 0.908 -1.369 0 0 0 62 31 Fork -2.300 0.879 3.580 0 225 0 64 32 Tomato -1.516 0.959 -1.265 0 0 0 62 33 Egg -0.149 0.414 1.967 0 180 0 87 34 Kettle 0.974 0.957 -1.688 0 180 0 61 35 Vase -1.516 0.913 -0.288 0 0 0 62 36 Cup 1.316 1.759 -1.596 0 0 0 86 37 WineBottle -2.733 0.879 3.559 0 0 0 64 38 Plate -2.964 0.882 2.811 0 225 0 64 39 Spatula -1.961 0.927 -0.288 0 0 0 62 40 Potato 0.307 0.839 2.251 0 180 0 87 41 Pot 1.328 0.957 -1.688 0 180 0 65 42 Knife -2.152 0.900 3.147 0 270 0 64 43 SaltShaker -0.348 0.118 -1.492 0 0 0 71 44 PepperShaker 1.584 0.111 -1.375 0 0 0 68 45 Lettuce -3.165 0.939 3.073 0 270 0 64 46 ButterKnife -2.584 0.874 2.715 0 0 0 64 47 Bread -2.405 0.961 3.685 0 225 0 64 48 Vase -1.738 0.913 0.363 0 0 0 62 49 DishSponge 1.649 0.719 -1.443 0 0 0 78 50 Apple -2.996 0.929 3.370 0 270 0 64 51 Pan 0.972 0.959 -1.426 0 0 0 80 52 Spoon -2.510 0.879 3.053 0 90 0 64 53 SoapBottle -2.472 0.879 2.930 0 135 0 64 54 Mug -1.112 0.958 -1.479 0 0 0 99 55 Statue 3.676 0.168 1.410 0 334.521 0 85 56 Statue 3.668 0.540 1.800 0 0 0 85 57 Bowl 0.663 0.910 -1.776 0 0 0 62 58 Cabinet -2.171 2.009 -1.538 0 0 0 59 Sink 0.024 0.771 -1.708 0 270 0 60 Cabinet 1.444 2.259 -1.542 0 0 0 61 StoveBurner 0.974 0.957 -1.688 0 180 0 62 CounterTop -1.866 0.947 -0.614 0 0 0 63 Cabinet -2.217 0.373 -1.874 0 0 0 64 DiningTable -2.663 0.002 3.208 0 0 0 65 StoveBurner 1.328 0.957 -1.688 0 180 0 66 StoveBurner 1.328 0.957 -1.420 0 180 0 67 Cabinet -1.478 0.373 -1.235 0 0 0 68 Cabinet 1.775 0.372 -1.242 0 0 0 69 Cabinet 0.774 0.372 -1.242 0 0 0 70 Cabinet 0.375 0.372 -1.242 0 0 0 71 Cabinet -0.574 0.372 -1.238 0 0 0 72 Cabinet 1.775 2.009 -1.542 0 0 0 73 Cabinet 0.524 2.009 -1.542 0 0 0 74 Cabinet -0.714 2.009 -1.542 0 0 0 75 Cabinet -1.671 2.009 -1.538 0 0 0 76 Cabinet 0.854 2.259 -1.542 0 0 0 77 Drawer -1.636 0.683 -0.930 0 0 0 78 Drawer 1.650 0.682 -1.396 0 0 0 79 Drawer 0.600 0.682 -1.396 0 0 0 80 StoveBurner 0.974 0.957 -1.419 0 180 0 81 Drawer -2.062 0.683 -1.579 0 0 0 82 CounterTop 1.645 0.945 -1.527 0 0 0 83 Shelf 3.725 0.880 1.671 0 90 0 84 LightSwitch 2.830 1.266 -0.748 0 0 0 85 Shelf 3.726 0.552 1.671 0 90 0 86 Microwave 1.150 1.655 -1.614 0 0 0 87 Fridge -0.035 0.0 2.177 0 180 0 88 Window -0.115 1.802 -1.896 90 0 0 89 Window -4.009 1.799 0.310 90 90 0 90 Shelf 3.726 0.172 1.671 0 90 0 91 SinkBasin -0.330 0.686 -1.581 0 270 0 92 GarbageCan -0.870 -0.001 2.136 0 90 0 93 StoveKnob 1.089 0.913 -1.243 45 0 0 94 StoveKnob 1.208 0.913 -1.243 45 0 0 95 StoveKnob 1.340 0.913 -1.243 45 0 0 96 StoveKnob 0.961 0.913 -1.243 45 0 0 97 Toaster 1.637 0.900 -1.673 0 0 0 98 Chair -3.505 0.002 3.290 0 105.736 0 99 CoffeeMachine -1.111 0.900 -1.726 0 0 0 100 HousePlant -2.663 0.835 3.209 0 0 0 101 Faucet -0.187 0.922 -1.75 0 311.166 0 102 ShelvingUnit 3.726 0.006 1.671 0 90 0 103 Stool -2.501 -0.000 0.062 1.223 91.243 0 104 Stool -2.475 -0.000 -0.802 1.209 69.808 0 105 Chair -2.934 0.002 2.437 0 28.531 0 106 Chair -1.698 0.002 3.235 0 245.204 0 107 NorthWall 108 EastWall 109 SouthWall 110 WestWall
[ "STEP 1: Walk straight, turn right and walk to the counter to your right. | STEP 2: Pick up the dirty plate with the spatula on it on the counter. | STEP 3: Turn around and walk to the sink to your right. | STEP 4: Place the dirty plate with the spatula on it in the sink, clean it and remove it from the sink. | STEP 5: Turn around, walk straight to the fridge, when you reach the ridge, turn right and walk to the shelf to your left. | STEP 6: Place the plate with the spatula on it on the shelf. | END" ]
[ [ "STEP 1: Walk straight, turn right and walk to the counter to your right. ", " STEP 2: Pick up the dirty plate with the spatula on it on the counter. ", " STEP 3: Turn around and walk to the sink to your right. ", " STEP 4: Place the dirty plate with the spatula on it in the sink, clean it and remove it from the sink. ", " STEP 5: Turn around, walk straight to the fridge, when you reach the ridge, turn right and walk to the shelf to your left. ", " STEP 6: Place the plate with the spatula on it on the shelf. ", " END" ] ]
seen
trial_T20190908_225938_152284-1
Wash a dish in the sink to put it on the bookshelf.
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" Pot", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", " 80" ], [ "12", " Fork", " -1.849", " 0.912", " -0.614", " 0", " 0", " 0", " 62" ], [ "13", " Spoon", " -2.584", " 0.875", " 2.715", " 0", " 0", " 0", " 64" ], [ "14", " Spoon", " -1.516", " 0.913", " 0.037", " 0", " 90", " 0", " 62" ], [ "15", " Cup", " 0.595", " 1.651", " -1.785", " 0", " 0", " 0", " 73" ], [ "16", " Cup", " -2.405", " 0.873", " 2.758", " 0", " 135", " 0", " 64" ], [ "17", " Plate", " -2.644", " 0.878", " 2.997", " 0", " 135", " 0", " 64" ], [ "18", " Plate", " -1.849", " 0.916", " -0.288", " 0", " 0", " 0", " 62" ], [ "19", " Knife", " -1.616", " 0.741", " -0.788", " 0", " 270", " 0", " 77" ], [ "20", " SoapBottle", " -2.321", " 0.879", " 3.296", " 0", " 270", " 0", " 64" ], [ "21", " SoapBottle", " -0.871", " 0.193", " 2.097", " 0", " 90", " 0", " 92" ], [ "22", " Bowl", " -1.444", " 1.655", " -1.710", " 0", " 0", " 0", " 75" ], [ "23", " SaltShaker", " -2.950", " 0.874", " 3.035", " 0", " 225", " 0", " 64" ], [ "24", " PepperShaker", " -2.490", " 0.874", " 3.221", " 0", " 270", " 0", " 64" ], [ "25", " PepperShaker", " -0.943", " 1.650", " -1.674", " 0", " 0", " 0", " 74" ], [ "26", " Bread", " -0.263", " 1.655", " 2.100", " 0", " 180", " 0", " 87" ], [ "27", " Bread", " -0.035", " 1.655", " 2.100", " 0", " 180", " 0", " 87" ], [ "28", " Lettuce", " -2.964", " 0.939", " 3.632", " 0", " 135", " 0", " 64" ], [ "29", " Lettuce", " 0.193", " 1.637", " 2.100", " 0", " 180", " 0", " 87" ], [ "30", " Book", " 0.663", " 0.908", " -1.369", " 0", " 0", " 0", " 62" ], [ "31", " Fork", " -2.300", " 0.879", " 3.580", " 0", " 225", " 0", " 64" ], [ "32", " Tomato", " -1.516", " 0.959", " -1.265", " 0", " 0", " 0", " 62" ], [ "33", " Egg", " -0.149", " 0.414", " 1.967", " 0", " 180", " 0", " 87" ], [ "34", " Kettle", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 61" ], [ "35", " Vase", " -1.516", " 0.913", " -0.288", " 0", " 0", " 0", " 62" ], [ "36", " Cup", " 1.316", " 1.759", " -1.596", " 0", " 0", " 0", " 86" ], [ "37", " WineBottle", " -2.733", " 0.879", " 3.559", " 0", " 0", " 0", " 64" ], [ "38", " Plate", " -2.964", " 0.882", " 2.811", " 0", " 225", " 0", " 64" ], [ "39", " Spatula", " -1.961", " 0.927", " -0.288", " 0", " 0", " 0", " 62" ], [ "40", " Potato", " 0.307", " 0.839", " 2.251", " 0", " 180", " 0", " 87" ], [ "41", " Pot", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", " 65" ], [ "42", " Knife", " -2.152", " 0.900", " 3.147", " 0", " 270", " 0", " 64" ], [ "43", " SaltShaker", " -0.348", " 0.118", " -1.492", " 0", " 0", " 0", " 71" ], [ "44", " PepperShaker", " 1.584", " 0.111", " -1.375", " 0", " 0", " 0", " 68" ], [ "45", " Lettuce", " -3.165", " 0.939", " 3.073", " 0", " 270", " 0", " 64" ], [ "46", " ButterKnife", " -2.584", " 0.874", " 2.715", " 0", " 0", " 0", " 64" ], [ "47", " Bread", " -2.405", " 0.961", " 3.685", " 0", " 225", " 0", " 64" ], [ "48", " Vase", " -1.738", " 0.913", " 0.363", " 0", " 0", " 0", " 62" ], [ "49", " DishSponge", " 1.649", " 0.719", " -1.443", " 0", " 0", " 0", " 78" ], [ "50", " Apple", " -2.996", " 0.929", " 3.370", " 0", " 270", " 0", " 64" ], [ "51", " Pan", " 0.972", " 0.959", " -1.426", " 0", " 0", " 0", " 80" ], [ "52", " Spoon", " -2.510", " 0.879", " 3.053", " 0", " 90", " 0", " 64" ], [ "53", " SoapBottle", " -2.472", " 0.879", " 2.930", " 0", " 135", " 0", " 64" ], [ "54", " Mug", " -1.112", " 0.958", " -1.479", " 0", " 0", " 0", " 99" ], [ "55", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 85" ], [ "56", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 85" ], [ "57", " Bowl", " 0.663", " 0.910", " -1.776", " 0", " 0", " 0", " 62" ], [ "58", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "59", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "60", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "62", " 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-0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "89", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "90", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "91", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "92", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "93", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "94", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "95", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "96", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "97", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "98", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "99", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "100", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "101", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "102", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "103", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "104", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "105", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "106", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 0", "" ], [ "107", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "108", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "109", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "110", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 1.25 0 90 0 1 Potato 1.104 1.798 -1.562 0 0 0 86 2 Potato 0.307 1.608 2.219 0 180 0 87 3 Book -2.050 0.116 -1.580 0 0 0 63 4 Book -1.516 0.908 -1.591 0 0 0 62 5 DishSponge 0.638 0.718 -1.410 0 0 0 79 6 DishSponge 0.036 0.114 -1.451 0 0 0 70 7 ButterKnife -1.961 0.912 -0.939 0 0 0 62 8 WineBottle 1.614 0.911 -1.437 0 0 0 82 9 WineBottle -2.420 0.875 3.460 0 225 0 64 10 Pot 1.328 0.957 -1.420 0 180 0 66 11 Pot 0.974 0.957 -1.419 0 180 0 80 12 Fork -1.849 0.912 -0.614 0 0 0 62 13 Spoon -2.584 0.875 2.715 0 0 0 64 14 Spoon -1.516 0.913 0.037 0 90 0 62 15 Cup 0.595 1.651 -1.785 0 0 0 73 16 Cup -2.405 0.873 2.758 0 135 0 64 17 Plate -2.644 0.878 2.997 0 135 0 64 18 Plate -1.849 0.916 -0.288 0 0 0 62 19 Knife -1.616 0.741 -0.788 0 270 0 77 20 SoapBottle -2.321 0.879 3.296 0 270 0 64 21 SoapBottle -0.871 0.193 2.097 0 90 0 92 22 Bowl -1.444 1.655 -1.710 0 0 0 75 23 SaltShaker -2.950 0.874 3.035 0 225 0 64 24 PepperShaker -2.490 0.874 3.221 0 270 0 64 25 PepperShaker -0.943 1.650 -1.674 0 0 0 74 26 Bread -0.263 1.655 2.100 0 180 0 87 27 Bread -0.035 1.655 2.100 0 180 0 87 28 Lettuce -2.964 0.939 3.632 0 135 0 64 29 Lettuce 0.193 1.637 2.100 0 180 0 87 30 Book 0.663 0.908 -1.369 0 0 0 62 31 Fork -2.300 0.879 3.580 0 225 0 64 32 Tomato -1.516 0.959 -1.265 0 0 0 62 33 Egg -0.149 0.414 1.967 0 180 0 87 34 Kettle 0.974 0.957 -1.688 0 180 0 61 35 Vase -1.516 0.913 -0.288 0 0 0 62 36 Cup 1.316 1.759 -1.596 0 0 0 86 37 WineBottle -2.733 0.879 3.559 0 0 0 64 38 Plate -2.964 0.882 2.811 0 225 0 64 39 Spatula -1.961 0.927 -0.288 0 0 0 62 40 Potato 0.307 0.839 2.251 0 180 0 87 41 Pot 1.328 0.957 -1.688 0 180 0 65 42 Knife -2.152 0.900 3.147 0 270 0 64 43 SaltShaker -0.348 0.118 -1.492 0 0 0 71 44 PepperShaker 1.584 0.111 -1.375 0 0 0 68 45 Lettuce -3.165 0.939 3.073 0 270 0 64 46 ButterKnife -2.584 0.874 2.715 0 0 0 64 47 Bread -2.405 0.961 3.685 0 225 0 64 48 Vase -1.738 0.913 0.363 0 0 0 62 49 DishSponge 1.649 0.719 -1.443 0 0 0 78 50 Apple -2.996 0.929 3.370 0 270 0 64 51 Pan 0.972 0.959 -1.426 0 0 0 80 52 Spoon -2.510 0.879 3.053 0 90 0 64 53 SoapBottle -2.472 0.879 2.930 0 135 0 64 54 Mug -1.112 0.958 -1.479 0 0 0 99 55 Statue 3.676 0.168 1.410 0 334.521 0 85 56 Statue 3.668 0.540 1.800 0 0 0 85 57 Bowl 0.663 0.910 -1.776 0 0 0 62 58 Cabinet -2.171 2.009 -1.538 0 0 0 59 Sink 0.024 0.771 -1.708 0 270 0 60 Cabinet 1.444 2.259 -1.542 0 0 0 61 StoveBurner 0.974 0.957 -1.688 0 180 0 62 CounterTop -1.866 0.947 -0.614 0 0 0 63 Cabinet -2.217 0.373 -1.874 0 0 0 64 DiningTable -2.663 0.002 3.208 0 0 0 65 StoveBurner 1.328 0.957 -1.688 0 180 0 66 StoveBurner 1.328 0.957 -1.420 0 180 0 67 Cabinet -1.478 0.373 -1.235 0 0 0 68 Cabinet 1.775 0.372 -1.242 0 0 0 69 Cabinet 0.774 0.372 -1.242 0 0 0 70 Cabinet 0.375 0.372 -1.242 0 0 0 71 Cabinet -0.574 0.372 -1.238 0 0 0 72 Cabinet 1.775 2.009 -1.542 0 0 0 73 Cabinet 0.524 2.009 -1.542 0 0 0 74 Cabinet -0.714 2.009 -1.542 0 0 0 75 Cabinet -1.671 2.009 -1.538 0 0 0 76 Cabinet 0.854 2.259 -1.542 0 0 0 77 Drawer -1.636 0.683 -0.930 0 0 0 78 Drawer 1.650 0.682 -1.396 0 0 0 79 Drawer 0.600 0.682 -1.396 0 0 0 80 StoveBurner 0.974 0.957 -1.419 0 180 0 81 Drawer -2.062 0.683 -1.579 0 0 0 82 CounterTop 1.645 0.945 -1.527 0 0 0 83 Shelf 3.725 0.880 1.671 0 90 0 84 LightSwitch 2.830 1.266 -0.748 0 0 0 85 Shelf 3.726 0.552 1.671 0 90 0 86 Microwave 1.150 1.655 -1.614 0 0 0 87 Fridge -0.035 0.0 2.177 0 180 0 88 Window -0.115 1.802 -1.896 90 0 0 89 Window -4.009 1.799 0.310 90 90 0 90 Shelf 3.726 0.172 1.671 0 90 0 91 SinkBasin -0.330 0.686 -1.581 0 270 0 92 GarbageCan -0.870 -0.001 2.136 0 90 0 93 StoveKnob 1.089 0.913 -1.243 45 0 0 94 StoveKnob 1.208 0.913 -1.243 45 0 0 95 StoveKnob 1.340 0.913 -1.243 45 0 0 96 StoveKnob 0.961 0.913 -1.243 45 0 0 97 Toaster 1.637 0.900 -1.673 0 0 0 98 Chair -3.505 0.002 3.290 0 105.736 0 99 CoffeeMachine -1.111 0.900 -1.726 0 0 0 100 HousePlant -2.663 0.835 3.209 0 0 0 101 Faucet -0.187 0.922 -1.75 0 311.166 0 102 ShelvingUnit 3.726 0.006 1.671 0 90 0 103 Stool -2.501 -0.000 0.062 1.223 91.243 0 104 Stool -2.475 -0.000 -0.802 1.209 69.808 0 105 Chair -2.934 0.002 2.437 0 28.531 0 106 Chair -1.698 0.002 3.235 0 245.204 0 107 NorthWall 108 EastWall 109 SouthWall 110 WestWall
[ "STEP 1: Turn right and walk around the counter, stopping at the yellow vase. | STEP 2: Pick up the used dish behind the yellow vase on the counter. | STEP 3: Make a left and walk towards the sink. | STEP 4: Wash the used dish in the sink, removing it again. | STEP 5: Turn around, walk forwards, hanging a right at the fridge, until you reach the bookshelf. | STEP 6: Put the dish down on the second shelf up on the bookshelf. | END" ]
[ [ "STEP 1: Turn right and walk around the counter, stopping at the yellow vase. ", " STEP 2: Pick up the used dish behind the yellow vase on the counter. ", " STEP 3: Make a left and walk towards the sink. ", " STEP 4: Wash the used dish in the sink, removing it again. ", " STEP 5: Turn around, walk forwards, hanging a right at the fridge, until you reach the bookshelf. ", " STEP 6: Put the dish down on the second shelf up on the bookshelf. ", " END" ] ]
seen
trial_T20190908_225938_152284-2
Wash a knife and plate and put them away.
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" Pot", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", " 80" ], [ "12", " Fork", " -1.849", " 0.912", " -0.614", " 0", " 0", " 0", " 62" ], [ "13", " Spoon", " -2.584", " 0.875", " 2.715", " 0", " 0", " 0", " 64" ], [ "14", " Spoon", " -1.516", " 0.913", " 0.037", " 0", " 90", " 0", " 62" ], [ "15", " Cup", " 0.595", " 1.651", " -1.785", " 0", " 0", " 0", " 73" ], [ "16", " Cup", " -2.405", " 0.873", " 2.758", " 0", " 135", " 0", " 64" ], [ "17", " Plate", " -2.644", " 0.878", " 2.997", " 0", " 135", " 0", " 64" ], [ "18", " Plate", " -1.849", " 0.916", " -0.288", " 0", " 0", " 0", " 62" ], [ "19", " Knife", " -1.616", " 0.741", " -0.788", " 0", " 270", " 0", " 77" ], [ "20", " SoapBottle", " -2.321", " 0.879", " 3.296", " 0", " 270", " 0", " 64" ], [ "21", " SoapBottle", " -0.871", " 0.193", " 2.097", " 0", " 90", " 0", " 92" ], [ "22", " Bowl", " -1.444", " 1.655", " -1.710", " 0", " 0", " 0", " 75" ], [ "23", " SaltShaker", " -2.950", " 0.874", " 3.035", " 0", " 225", " 0", " 64" ], [ "24", " PepperShaker", " -2.490", " 0.874", " 3.221", " 0", " 270", " 0", " 64" ], [ "25", " PepperShaker", " -0.943", " 1.650", " -1.674", " 0", " 0", " 0", " 74" ], [ "26", " Bread", " -0.263", " 1.655", " 2.100", " 0", " 180", " 0", " 87" ], [ "27", " Bread", " -0.035", " 1.655", " 2.100", " 0", " 180", " 0", " 87" ], [ "28", " Lettuce", " -2.964", " 0.939", " 3.632", " 0", " 135", " 0", " 64" ], [ "29", " Lettuce", " 0.193", " 1.637", " 2.100", " 0", " 180", " 0", " 87" ], [ "30", " Book", " 0.663", " 0.908", " -1.369", " 0", " 0", " 0", " 62" ], [ "31", " Fork", " -2.300", " 0.879", " 3.580", " 0", " 225", " 0", " 64" ], [ "32", " Tomato", " -1.516", " 0.959", " -1.265", " 0", " 0", " 0", " 62" ], [ "33", " Egg", " -0.149", " 0.414", " 1.967", " 0", " 180", " 0", " 87" ], [ "34", " Kettle", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 61" ], [ "35", " Vase", " -1.516", " 0.913", " -0.288", " 0", " 0", " 0", " 62" ], [ "36", " Cup", " 1.316", " 1.759", " -1.596", " 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-0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "89", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "90", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "91", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "92", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "93", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "94", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "95", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "96", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "97", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "98", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "99", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "100", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "101", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "102", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "103", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "104", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "105", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "106", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 0", "" ], [ "107", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "108", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "109", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "110", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 1.25 0 90 0 1 Potato 1.104 1.798 -1.562 0 0 0 86 2 Potato 0.307 1.608 2.219 0 180 0 87 3 Book -2.050 0.116 -1.580 0 0 0 63 4 Book -1.516 0.908 -1.591 0 0 0 62 5 DishSponge 0.638 0.718 -1.410 0 0 0 79 6 DishSponge 0.036 0.114 -1.451 0 0 0 70 7 ButterKnife -1.961 0.912 -0.939 0 0 0 62 8 WineBottle 1.614 0.911 -1.437 0 0 0 82 9 WineBottle -2.420 0.875 3.460 0 225 0 64 10 Pot 1.328 0.957 -1.420 0 180 0 66 11 Pot 0.974 0.957 -1.419 0 180 0 80 12 Fork -1.849 0.912 -0.614 0 0 0 62 13 Spoon -2.584 0.875 2.715 0 0 0 64 14 Spoon -1.516 0.913 0.037 0 90 0 62 15 Cup 0.595 1.651 -1.785 0 0 0 73 16 Cup -2.405 0.873 2.758 0 135 0 64 17 Plate -2.644 0.878 2.997 0 135 0 64 18 Plate -1.849 0.916 -0.288 0 0 0 62 19 Knife -1.616 0.741 -0.788 0 270 0 77 20 SoapBottle -2.321 0.879 3.296 0 270 0 64 21 SoapBottle -0.871 0.193 2.097 0 90 0 92 22 Bowl -1.444 1.655 -1.710 0 0 0 75 23 SaltShaker -2.950 0.874 3.035 0 225 0 64 24 PepperShaker -2.490 0.874 3.221 0 270 0 64 25 PepperShaker -0.943 1.650 -1.674 0 0 0 74 26 Bread -0.263 1.655 2.100 0 180 0 87 27 Bread -0.035 1.655 2.100 0 180 0 87 28 Lettuce -2.964 0.939 3.632 0 135 0 64 29 Lettuce 0.193 1.637 2.100 0 180 0 87 30 Book 0.663 0.908 -1.369 0 0 0 62 31 Fork -2.300 0.879 3.580 0 225 0 64 32 Tomato -1.516 0.959 -1.265 0 0 0 62 33 Egg -0.149 0.414 1.967 0 180 0 87 34 Kettle 0.974 0.957 -1.688 0 180 0 61 35 Vase -1.516 0.913 -0.288 0 0 0 62 36 Cup 1.316 1.759 -1.596 0 0 0 86 37 WineBottle -2.733 0.879 3.559 0 0 0 64 38 Plate -2.964 0.882 2.811 0 225 0 64 39 Spatula -1.961 0.927 -0.288 0 0 0 62 40 Potato 0.307 0.839 2.251 0 180 0 87 41 Pot 1.328 0.957 -1.688 0 180 0 65 42 Knife -2.152 0.900 3.147 0 270 0 64 43 SaltShaker -0.348 0.118 -1.492 0 0 0 71 44 PepperShaker 1.584 0.111 -1.375 0 0 0 68 45 Lettuce -3.165 0.939 3.073 0 270 0 64 46 ButterKnife -2.584 0.874 2.715 0 0 0 64 47 Bread -2.405 0.961 3.685 0 225 0 64 48 Vase -1.738 0.913 0.363 0 0 0 62 49 DishSponge 1.649 0.719 -1.443 0 0 0 78 50 Apple -2.996 0.929 3.370 0 270 0 64 51 Pan 0.972 0.959 -1.426 0 0 0 80 52 Spoon -2.510 0.879 3.053 0 90 0 64 53 SoapBottle -2.472 0.879 2.930 0 135 0 64 54 Mug -1.112 0.958 -1.479 0 0 0 99 55 Statue 3.676 0.168 1.410 0 334.521 0 85 56 Statue 3.668 0.540 1.800 0 0 0 85 57 Bowl 0.663 0.910 -1.776 0 0 0 62 58 Cabinet -2.171 2.009 -1.538 0 0 0 59 Sink 0.024 0.771 -1.708 0 270 0 60 Cabinet 1.444 2.259 -1.542 0 0 0 61 StoveBurner 0.974 0.957 -1.688 0 180 0 62 CounterTop -1.866 0.947 -0.614 0 0 0 63 Cabinet -2.217 0.373 -1.874 0 0 0 64 DiningTable -2.663 0.002 3.208 0 0 0 65 StoveBurner 1.328 0.957 -1.688 0 180 0 66 StoveBurner 1.328 0.957 -1.420 0 180 0 67 Cabinet -1.478 0.373 -1.235 0 0 0 68 Cabinet 1.775 0.372 -1.242 0 0 0 69 Cabinet 0.774 0.372 -1.242 0 0 0 70 Cabinet 0.375 0.372 -1.242 0 0 0 71 Cabinet -0.574 0.372 -1.238 0 0 0 72 Cabinet 1.775 2.009 -1.542 0 0 0 73 Cabinet 0.524 2.009 -1.542 0 0 0 74 Cabinet -0.714 2.009 -1.542 0 0 0 75 Cabinet -1.671 2.009 -1.538 0 0 0 76 Cabinet 0.854 2.259 -1.542 0 0 0 77 Drawer -1.636 0.683 -0.930 0 0 0 78 Drawer 1.650 0.682 -1.396 0 0 0 79 Drawer 0.600 0.682 -1.396 0 0 0 80 StoveBurner 0.974 0.957 -1.419 0 180 0 81 Drawer -2.062 0.683 -1.579 0 0 0 82 CounterTop 1.645 0.945 -1.527 0 0 0 83 Shelf 3.725 0.880 1.671 0 90 0 84 LightSwitch 2.830 1.266 -0.748 0 0 0 85 Shelf 3.726 0.552 1.671 0 90 0 86 Microwave 1.150 1.655 -1.614 0 0 0 87 Fridge -0.035 0.0 2.177 0 180 0 88 Window -0.115 1.802 -1.896 90 0 0 89 Window -4.009 1.799 0.310 90 90 0 90 Shelf 3.726 0.172 1.671 0 90 0 91 SinkBasin -0.330 0.686 -1.581 0 270 0 92 GarbageCan -0.870 -0.001 2.136 0 90 0 93 StoveKnob 1.089 0.913 -1.243 45 0 0 94 StoveKnob 1.208 0.913 -1.243 45 0 0 95 StoveKnob 1.340 0.913 -1.243 45 0 0 96 StoveKnob 0.961 0.913 -1.243 45 0 0 97 Toaster 1.637 0.900 -1.673 0 0 0 98 Chair -3.505 0.002 3.290 0 105.736 0 99 CoffeeMachine -1.111 0.900 -1.726 0 0 0 100 HousePlant -2.663 0.835 3.209 0 0 0 101 Faucet -0.187 0.922 -1.75 0 311.166 0 102 ShelvingUnit 3.726 0.006 1.671 0 90 0 103 Stool -2.501 -0.000 0.062 1.223 91.243 0 104 Stool -2.475 -0.000 -0.802 1.209 69.808 0 105 Chair -2.934 0.002 2.437 0 28.531 0 106 Chair -1.698 0.002 3.235 0 245.204 0 107 NorthWall 108 EastWall 109 SouthWall 110 WestWall
[ "STEP 1: Turn right and walk forward then right again to face the counter. | STEP 2: Pick up a dirty bowl with a knife in it from the counter top. | STEP 3: Turn around to the left and then turn to the right to face the sink. | STEP 4: Place the bowl and knife in the sink and wash them. Turn off the water and take them out. | STEP 5: Turn around completely and walk to the fridge. Make a right and go forward to the brown shelving unit. | STEP 6: Place the plate and knife on the second shelf of the unit. | END" ]
[ [ "STEP 1: Turn right and walk forward then right again to face the counter. ", " STEP 2: Pick up a dirty bowl with a knife in it from the counter top. ", " STEP 3: Turn around to the left and then turn to the right to face the sink. ", " STEP 4: Place the bowl and knife in the sink and wash them. Turn off the water and take them out. ", " STEP 5: Turn around completely and walk to the fridge. Make a right and go forward to the brown shelving unit. ", " STEP 6: Place the plate and knife on the second shelf of the unit. ", " END" ] ]
seen
trial_T20190907_075911_734431-0
Place the microwaved potato on top of the black shelf in the corner.
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Plate", " -2.962", " 0.908", " -0.376", " 0", " 270", " 0", " 82" ], [ "12", " Plate", " -1.248", " 0.956", " -3.829", " 0", " 0", " 0", " 45" ], [ "13", " Knife", " -1.694", " 0.967", " -3.439", " 0", " 0", " 0", " 45" ], [ "14", " SoapBottle", " -3.704", " 0.758", " -3.500", " 0", " 244.125", " 0", " 81" ], [ "15", " SoapBottle", " -2.387", " 0.097", " -3.571", " 0", " 0", " 0", " 70" ], [ "16", " Tomato", " -0.397", " 1.539", " -0.645", " 0", " 270", " 0", " 75" ], [ "17", " Tomato", " -0.990", " 0.993", " -3.676", " 0", " 45", " 0", " 45" ], [ "18", " Bowl", " -3.203", " 0.758", " -3.118", " 0", " 244.125", " 0", " 81" ], [ "19", " Bowl", " -4.002", " 0.689", " -0.430", " 0", " 0", " 0", " 80" ], [ "20", " Bread", " -3.565", " 0.976", " -0.290", " 0", " 270", " 0", " 82" ], [ "21", " Lettuce", " -0.359", " 1.579", " -0.413", " 0", " 270", " 0", " 75" ], [ "22", " Lettuce", " -4.182", " 0.781", " -0.430", " 0", " 0", " 0", " 80" ], [ "23", " PepperShaker", " -3.364", " 0.890", " -0.633", " 0", " 270", " 0", " 82" ], [ "24", " SoapBottle", " -2.359", " 0.892", " -0.462", " 0", " 270", " 0", " 82" ], [ "25", " Pot", " -0.222", " 0.961", " -1.845", " 0", " 180", " 0", " 47" ], [ "26", " Fork", " -0.495", " 0.747", " -1.413", " 0", " 270", " 0", " 49" ], [ "27", " Cup", " -0.245", " 1.489", " -0.762", " 0", " 270", " 0", " 75" ], [ "28", " Tomato", " -3.163", " 0.945", " -0.119", " 0", " 270", " 0", " 82" ], [ "29", " Pan", " -0.217", " 0.958", " -2.215", " 0", " 45", " 0", " 64" ], [ "30", " Plate", " -0.173", " 1.516", " -2.788", " 0", " 0", " 0", " 62" ], [ "31", " Bread", " -2.560", " 0.976", " -0.290", " 0", " 270", " 0", " 82" ], [ "32", " Spatula", " -0.644", " 0.828", " -3.337", " 0", " 225", " 0", " 74" ], [ "33", " Knife", " -3.565", " 0.920", " -0.462", " 0", " 270", " 0", " 82" ], [ "34", " SaltShaker", " -0.549", " 0.938", " -2.670", " 0", " 0", " 0", " 45" ], [ "35", " PepperShaker", " -3.163", " 0.890", " -0.548", " 0", " 270", " 0", " 82" ], [ "36", " ButterKnife", " -2.560", " 0.894", " -0.548", " 0", " 270", " 0", " 82" ], [ "37", " Apple", " -0.078", " 1.002", " -1.450", " 0", " 0", " 0", " 63" ], [ "38", " DishSponge", " -0.509", " 0.751", " -2.685", " 0", " 0", " 0", " 50" ], [ "39", " Potato", " -0.508", " 0.845", " -3.357", " 0", " 315", " 0", " 74" ], [ "40", " Egg", " -1.694", " 0.983", " -3.751", " 0", " 0", " 0", " 45" ], [ "41", " Spoon", " -3.744", " 0.761", " -3.209", " 0", " 334.125", " 0", " 81" ], [ "42", " Lettuce", " -4.002", " 0.781", " -0.187", " 0", " 0", " 0", " 80" ], [ "43", " Mug", " -0.135", " 1.497", " -2.964", " 0", " 0", " 0", " 62" ], [ "44", " Bowl", " -0.334", " 1.284", " -0.762", " 0", " 270", " 0", " 75" ], [ "45", " CounterTop", " -1.937", " 0.977", " -3.673", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -0.437", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "47", " StoveBurner", " -0.222", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "48", " StoveBurner", " -0.437", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "49", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "63", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "65", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "66", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "67", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "68", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "69", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "70", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "71", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "72", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "73", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "74", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "75", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "76", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "77", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "78", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "79", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "80", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "81", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "82", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "83", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "84", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.5 0 90 0 1 Pan -0.222 0.961 -2.243 0 0 0 64 2 Potato -2.962 0.926 -0.119 0 270 0 82 3 Potato -4.242 0.722 -0.187 0 0 0 80 4 DishSponge -0.721 0.813 -3.491 0 315 0 74 5 ButterKnife -3.364 0.894 -0.548 0 270 0 82 6 Fork -0.299 0.942 -3.074 0 45 0 45 7 Spoon -2.359 0.895 -0.204 0 90 0 82 8 Egg -3.451 0.801 -3.214 0 199.125 0 81 9 Egg -0.315 0.982 -1.581 0 0 0 63 10 Cup -0.136 1.943 -0.713 0 0 0 52 11 Plate -2.962 0.908 -0.376 0 270 0 82 12 Plate -1.248 0.956 -3.829 0 0 0 45 13 Knife -1.694 0.967 -3.439 0 0 0 45 14 SoapBottle -3.704 0.758 -3.500 0 244.125 0 81 15 SoapBottle -2.387 0.097 -3.571 0 0 0 70 16 Tomato -0.397 1.539 -0.645 0 270 0 75 17 Tomato -0.990 0.993 -3.676 0 45 0 45 18 Bowl -3.203 0.758 -3.118 0 244.125 0 81 19 Bowl -4.002 0.689 -0.430 0 0 0 80 20 Bread -3.565 0.976 -0.290 0 270 0 82 21 Lettuce -0.359 1.579 -0.413 0 270 0 75 22 Lettuce -4.182 0.781 -0.430 0 0 0 80 23 PepperShaker -3.364 0.890 -0.633 0 270 0 82 24 SoapBottle -2.359 0.892 -0.462 0 270 0 82 25 Pot -0.222 0.961 -1.845 0 180 0 47 26 Fork -0.495 0.747 -1.413 0 270 0 49 27 Cup -0.245 1.489 -0.762 0 270 0 75 28 Tomato -3.163 0.945 -0.119 0 270 0 82 29 Pan -0.217 0.958 -2.215 0 45 0 64 30 Plate -0.173 1.516 -2.788 0 0 0 62 31 Bread -2.560 0.976 -0.290 0 270 0 82 32 Spatula -0.644 0.828 -3.337 0 225 0 74 33 Knife -3.565 0.920 -0.462 0 270 0 82 34 SaltShaker -0.549 0.938 -2.670 0 0 0 45 35 PepperShaker -3.163 0.890 -0.548 0 270 0 82 36 ButterKnife -2.560 0.894 -0.548 0 270 0 82 37 Apple -0.078 1.002 -1.450 0 0 0 63 38 DishSponge -0.509 0.751 -2.685 0 0 0 50 39 Potato -0.508 0.845 -3.357 0 315 0 74 40 Egg -1.694 0.983 -3.751 0 0 0 45 41 Spoon -3.744 0.761 -3.209 0 334.125 0 81 42 Lettuce -4.002 0.781 -0.187 0 0 0 80 43 Mug -0.135 1.497 -2.964 0 0 0 62 44 Bowl -0.334 1.284 -0.762 0 270 0 75 45 CounterTop -1.937 0.977 -3.673 0 0 0 46 StoveBurner -0.437 0.924 -1.845 0 180 0 47 StoveBurner -0.222 0.924 -1.845 0 180 0 48 StoveBurner -0.437 0.924 -2.243 0 0 0 49 Drawer -0.500 0.779 -1.450 0 0 0 50 Drawer -0.481 0.777 -2.739 0 0 0 51 Drawer -1.154 0.782 -3.499 0 0 0 52 Cabinet -0.337 2.110 -0.390 0 0 0 53 Cabinet -0.337 2.110 -1.272 0 0 0 54 Cabinet -0.337 2.110 -1.631 0 0 0 55 Cabinet -0.337 2.110 -2.497 0 0 0 56 Cabinet -0.337 1.891 -1.286 0 0 0 57 Cabinet -0.346 1.891 -3.293 0 0 0 58 Cabinet -0.629 0.388 -2.513 0 0 0 59 Cabinet -0.633 0.388 -3.008 0 0 0 60 Cabinet -1.010 0.388 -3.368 0 0 0 61 Cabinet -0.629 0.388 -1.614 0 0 0 62 Cabinet -0.327 1.886 -2.513 0 0 0 63 CounterTop -0.326 0.976 -1.450 0 0 0 64 StoveBurner -0.222 0.924 -2.243 0 0 0 65 Sink -0.600 0.929 -3.388 0 0 0 66 StoveKnob -0.617 0.899 -1.833 315 90 180 67 StoveKnob -0.617 0.899 -2.129 315 90 180 68 StoveKnob -0.617 0.899 -2.289 315 90 180 69 StoveKnob -0.617 0.899 -1.975 315 90 180 70 GarbageCan -2.418 -0.032 -3.541 0 0 0 71 CoffeeMachine -2.513 0.930 -3.797 0 0 0 72 Window -1.389 1.610 -4.113 90 0 0 73 LightSwitch -4.372 1.493 -1.031 0 90 0 74 SinkBasin -0.614 0.802 -3.384 0 315 0 75 Fridge -0.314 0.0 -0.646 0 0 0 76 Toaster -1.970 0.930 -3.763 0 0 0 77 Microwave -0.216 1.470 -2.054 0 270 0 78 Blinds -1.373 2.205 -3.961 0 0 0 79 Faucet -0.393 0.930 -3.614 270 225 0 80 SideTable -4.030 0.002 -0.301 0 185.034 0 81 DiningTable -3.586 0.000 -3.258 0 0 0 82 DiningTable -3.224 -0.003 -0.453 0 0 0 83 Shelf -4.030 0.259 -0.301 0 185.034 0 84 Shelf -4.030 0.489 -0.301 0 185.034 0 85 EastWall 86 EastWall 87 SouthWall
[ "STEP 1: Turn around and walk towards the right to face the black shelf in the corner. | STEP 2: Pick the potato up from off of the black shelf. | STEP 3: Turn around, turn to the left and walk towards the stove top with the microwave on top. | STEP 4: Open the microwave, place the potato in the microwave, turn on the microwave, wait a second, open the microwave, take out the potato, and shut the microwave. | STEP 5: Turn around, go straight and turn right to face the black shelf. | STEP 6: Place the potato on to the black shelf. | END" ]
[ [ "STEP 1: Turn around and walk towards the right to face the black shelf in the corner. ", " STEP 2: Pick the potato up from off of the black shelf. ", " STEP 3: Turn around, turn to the left and walk towards the stove top with the microwave on top. ", " STEP 4: Open the microwave, place the potato in the microwave, turn on the microwave, wait a second, open the microwave, take out the potato, and shut the microwave. ", " STEP 5: Turn around, go straight and turn right to face the black shelf. ", " STEP 6: Place the potato on to the black shelf. ", " END" ] ]
seen
trial_T20190907_075911_734431-1
Put a cooked potato on the table.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.900", " -2.5", " 0", " 90", " 0", "" ], [ "1", " Pan", " -0.222", " 0.961", " -2.243", " 0", " 0", " 0", " 64" ], [ "2", " Potato", " -2.962", " 0.926", " -0.119", " 0", " 270", " 0", " 82" ], [ "3", " Potato", " -4.242", " 0.722", " -0.187", " 0", " 0", " 0", " 80" ], [ "4", " DishSponge", " -0.721", " 0.813", " -3.491", " 0", " 315", " 0", " 74" ], [ "5", " ButterKnife", " -3.364", " 0.894", " -0.548", " 0", " 270", " 0", " 82" ], [ "6", " Fork", " -0.299", " 0.942", " -3.074", " 0", " 45", " 0", " 45" ], [ "7", " Spoon", " -2.359", " 0.895", " -0.204", " 0", " 90", " 0", " 82" ], [ "8", " Egg", " -3.451", " 0.801", " -3.214", " 0", " 199.125", " 0", " 81" ], [ "9", " Egg", " -0.315", " 0.982", " -1.581", " 0", " 0", " 0", " 63" ], [ "10", " Cup", " -0.136", " 1.943", " -0.713", " 0", " 0", " 0", " 52" ], [ "11", " 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-0.633", " 0", " 270", " 0", " 82" ], [ "24", " SoapBottle", " -2.359", " 0.892", " -0.462", " 0", " 270", " 0", " 82" ], [ "25", " Pot", " -0.222", " 0.961", " -1.845", " 0", " 180", " 0", " 47" ], [ "26", " Fork", " -0.495", " 0.747", " -1.413", " 0", " 270", " 0", " 49" ], [ "27", " Cup", " -0.245", " 1.489", " -0.762", " 0", " 270", " 0", " 75" ], [ "28", " Tomato", " -3.163", " 0.945", " -0.119", " 0", " 270", " 0", " 82" ], [ "29", " Pan", " -0.217", " 0.958", " -2.215", " 0", " 45", " 0", " 64" ], [ "30", " Plate", " -0.173", " 1.516", " -2.788", " 0", " 0", " 0", " 62" ], [ "31", " Bread", " -2.560", " 0.976", " -0.290", " 0", " 270", " 0", " 82" ], [ "32", " Spatula", " -0.644", " 0.828", " -3.337", " 0", " 225", " 0", " 74" ], [ "33", " Knife", " -3.565", " 0.920", " -0.462", " 0", " 270", " 0", " 82" ], [ "34", " SaltShaker", " -0.549", " 0.938", " -2.670", " 0", " 0", " 0", " 45" ], [ "35", " PepperShaker", " -3.163", " 0.890", " -0.548", " 0", " 270", " 0", " 82" ], [ 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" -2.243", " 0", " 0", " 0", "" ], [ "49", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "63", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "65", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "66", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "67", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "68", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "69", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "70", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "71", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "72", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "73", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "74", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "75", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "76", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "77", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "78", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "79", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "80", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "81", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "82", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "83", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "84", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.5 0 90 0 1 Pan -0.222 0.961 -2.243 0 0 0 64 2 Potato -2.962 0.926 -0.119 0 270 0 82 3 Potato -4.242 0.722 -0.187 0 0 0 80 4 DishSponge -0.721 0.813 -3.491 0 315 0 74 5 ButterKnife -3.364 0.894 -0.548 0 270 0 82 6 Fork -0.299 0.942 -3.074 0 45 0 45 7 Spoon -2.359 0.895 -0.204 0 90 0 82 8 Egg -3.451 0.801 -3.214 0 199.125 0 81 9 Egg -0.315 0.982 -1.581 0 0 0 63 10 Cup -0.136 1.943 -0.713 0 0 0 52 11 Plate -2.962 0.908 -0.376 0 270 0 82 12 Plate -1.248 0.956 -3.829 0 0 0 45 13 Knife -1.694 0.967 -3.439 0 0 0 45 14 SoapBottle -3.704 0.758 -3.500 0 244.125 0 81 15 SoapBottle -2.387 0.097 -3.571 0 0 0 70 16 Tomato -0.397 1.539 -0.645 0 270 0 75 17 Tomato -0.990 0.993 -3.676 0 45 0 45 18 Bowl -3.203 0.758 -3.118 0 244.125 0 81 19 Bowl -4.002 0.689 -0.430 0 0 0 80 20 Bread -3.565 0.976 -0.290 0 270 0 82 21 Lettuce -0.359 1.579 -0.413 0 270 0 75 22 Lettuce -4.182 0.781 -0.430 0 0 0 80 23 PepperShaker -3.364 0.890 -0.633 0 270 0 82 24 SoapBottle -2.359 0.892 -0.462 0 270 0 82 25 Pot -0.222 0.961 -1.845 0 180 0 47 26 Fork -0.495 0.747 -1.413 0 270 0 49 27 Cup -0.245 1.489 -0.762 0 270 0 75 28 Tomato -3.163 0.945 -0.119 0 270 0 82 29 Pan -0.217 0.958 -2.215 0 45 0 64 30 Plate -0.173 1.516 -2.788 0 0 0 62 31 Bread -2.560 0.976 -0.290 0 270 0 82 32 Spatula -0.644 0.828 -3.337 0 225 0 74 33 Knife -3.565 0.920 -0.462 0 270 0 82 34 SaltShaker -0.549 0.938 -2.670 0 0 0 45 35 PepperShaker -3.163 0.890 -0.548 0 270 0 82 36 ButterKnife -2.560 0.894 -0.548 0 270 0 82 37 Apple -0.078 1.002 -1.450 0 0 0 63 38 DishSponge -0.509 0.751 -2.685 0 0 0 50 39 Potato -0.508 0.845 -3.357 0 315 0 74 40 Egg -1.694 0.983 -3.751 0 0 0 45 41 Spoon -3.744 0.761 -3.209 0 334.125 0 81 42 Lettuce -4.002 0.781 -0.187 0 0 0 80 43 Mug -0.135 1.497 -2.964 0 0 0 62 44 Bowl -0.334 1.284 -0.762 0 270 0 75 45 CounterTop -1.937 0.977 -3.673 0 0 0 46 StoveBurner -0.437 0.924 -1.845 0 180 0 47 StoveBurner -0.222 0.924 -1.845 0 180 0 48 StoveBurner -0.437 0.924 -2.243 0 0 0 49 Drawer -0.500 0.779 -1.450 0 0 0 50 Drawer -0.481 0.777 -2.739 0 0 0 51 Drawer -1.154 0.782 -3.499 0 0 0 52 Cabinet -0.337 2.110 -0.390 0 0 0 53 Cabinet -0.337 2.110 -1.272 0 0 0 54 Cabinet -0.337 2.110 -1.631 0 0 0 55 Cabinet -0.337 2.110 -2.497 0 0 0 56 Cabinet -0.337 1.891 -1.286 0 0 0 57 Cabinet -0.346 1.891 -3.293 0 0 0 58 Cabinet -0.629 0.388 -2.513 0 0 0 59 Cabinet -0.633 0.388 -3.008 0 0 0 60 Cabinet -1.010 0.388 -3.368 0 0 0 61 Cabinet -0.629 0.388 -1.614 0 0 0 62 Cabinet -0.327 1.886 -2.513 0 0 0 63 CounterTop -0.326 0.976 -1.450 0 0 0 64 StoveBurner -0.222 0.924 -2.243 0 0 0 65 Sink -0.600 0.929 -3.388 0 0 0 66 StoveKnob -0.617 0.899 -1.833 315 90 180 67 StoveKnob -0.617 0.899 -2.129 315 90 180 68 StoveKnob -0.617 0.899 -2.289 315 90 180 69 StoveKnob -0.617 0.899 -1.975 315 90 180 70 GarbageCan -2.418 -0.032 -3.541 0 0 0 71 CoffeeMachine -2.513 0.930 -3.797 0 0 0 72 Window -1.389 1.610 -4.113 90 0 0 73 LightSwitch -4.372 1.493 -1.031 0 90 0 74 SinkBasin -0.614 0.802 -3.384 0 315 0 75 Fridge -0.314 0.0 -0.646 0 0 0 76 Toaster -1.970 0.930 -3.763 0 0 0 77 Microwave -0.216 1.470 -2.054 0 270 0 78 Blinds -1.373 2.205 -3.961 0 0 0 79 Faucet -0.393 0.930 -3.614 270 225 0 80 SideTable -4.030 0.002 -0.301 0 185.034 0 81 DiningTable -3.586 0.000 -3.258 0 0 0 82 DiningTable -3.224 -0.003 -0.453 0 0 0 83 Shelf -4.030 0.259 -0.301 0 185.034 0 84 Shelf -4.030 0.489 -0.301 0 185.034 0 85 EastWall 86 EastWall 87 SouthWall
[ "STEP 1: Turn around to your left and walk across the room then face the black table to your right | STEP 2: Pick up the potato on the black table | STEP 3: Turn around to your right and head towards the microwave | STEP 4: Open the microwave, put the potato inside, let it cook then open the microwave again and get the potato | STEP 5: Turn around to your left, walk across the room and face the black table | STEP 6: Put the potato on the black table beside the container | END" ]
[ [ "STEP 1: Turn around to your left and walk across the room then face the black table to your right ", " STEP 2: Pick up the potato on the black table ", " STEP 3: Turn around to your right and head towards the microwave ", " STEP 4: Open the microwave, put the potato inside, let it cook then open the microwave again and get the potato ", " STEP 5: Turn around to your left, walk across the room and face the black table ", " STEP 6: Put the potato on the black table beside the container ", " END" ] ]
seen
trial_T20190907_075911_734431-2
Cook an item in the microwave.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.900", " -2.5", " 0", " 90", " 0", "" ], [ "1", " Pan", " -0.222", " 0.961", " -2.243", " 0", " 0", " 0", " 64" ], [ "2", " Potato", " -2.962", " 0.926", " -0.119", " 0", " 270", " 0", " 82" ], [ "3", " Potato", " -4.242", " 0.722", " -0.187", " 0", " 0", " 0", " 80" ], [ "4", " DishSponge", " -0.721", " 0.813", " -3.491", " 0", " 315", " 0", " 74" ], [ "5", " ButterKnife", " -3.364", " 0.894", " -0.548", " 0", " 270", " 0", " 82" ], [ "6", " Fork", " -0.299", " 0.942", " -3.074", " 0", " 45", " 0", " 45" ], [ "7", " Spoon", " -2.359", " 0.895", " -0.204", " 0", " 90", " 0", " 82" ], [ "8", " Egg", " -3.451", " 0.801", " -3.214", " 0", " 199.125", " 0", " 81" ], [ "9", " Egg", " -0.315", " 0.982", " -1.581", " 0", " 0", " 0", " 63" ], [ "10", " Cup", " -0.136", " 1.943", " -0.713", " 0", " 0", " 0", " 52" ], [ "11", " Plate", " -2.962", " 0.908", " -0.376", " 0", " 270", " 0", " 82" ], [ "12", " Plate", " -1.248", " 0.956", " -3.829", " 0", " 0", " 0", " 45" ], [ "13", " Knife", " -1.694", " 0.967", " -3.439", " 0", " 0", " 0", " 45" ], [ "14", " SoapBottle", " -3.704", " 0.758", " -3.500", " 0", " 244.125", " 0", " 81" ], [ "15", " SoapBottle", " -2.387", " 0.097", " -3.571", " 0", " 0", " 0", " 70" ], [ "16", " Tomato", " -0.397", " 1.539", " -0.645", " 0", " 270", " 0", " 75" ], [ "17", " Tomato", " -0.990", " 0.993", " -3.676", " 0", " 45", " 0", " 45" ], [ "18", " Bowl", " -3.203", " 0.758", " -3.118", " 0", " 244.125", " 0", " 81" ], [ "19", " Bowl", " -4.002", " 0.689", " -0.430", " 0", " 0", " 0", " 80" ], [ "20", " Bread", " -3.565", " 0.976", " -0.290", " 0", " 270", " 0", " 82" ], [ "21", " Lettuce", " -0.359", " 1.579", " -0.413", " 0", " 270", " 0", " 75" ], [ "22", " Lettuce", " -4.182", " 0.781", " -0.430", " 0", " 0", " 0", " 80" ], [ "23", " PepperShaker", " -3.364", " 0.890", " -0.633", " 0", " 270", " 0", " 82" ], [ "24", " SoapBottle", " -2.359", " 0.892", " -0.462", " 0", " 270", " 0", " 82" ], [ "25", " Pot", " -0.222", " 0.961", " -1.845", " 0", " 180", " 0", " 47" ], [ "26", " Fork", " -0.495", " 0.747", " -1.413", " 0", " 270", " 0", " 49" ], [ "27", " Cup", " -0.245", " 1.489", " -0.762", " 0", " 270", " 0", " 75" ], [ "28", " Tomato", " -3.163", " 0.945", " -0.119", " 0", " 270", " 0", " 82" ], [ "29", " Pan", " -0.217", " 0.958", " -2.215", " 0", " 45", " 0", " 64" ], [ "30", " Plate", " -0.173", " 1.516", " -2.788", " 0", " 0", " 0", " 62" ], [ "31", " Bread", " -2.560", " 0.976", " -0.290", " 0", " 270", " 0", " 82" ], [ "32", " Spatula", " -0.644", " 0.828", " -3.337", " 0", " 225", " 0", " 74" ], [ "33", " Knife", " -3.565", " 0.920", " -0.462", " 0", " 270", " 0", " 82" ], [ "34", " SaltShaker", " -0.549", " 0.938", " -2.670", " 0", " 0", " 0", " 45" ], [ "35", " PepperShaker", " -3.163", " 0.890", " -0.548", " 0", " 270", " 0", " 82" ], [ "36", " ButterKnife", " -2.560", " 0.894", " -0.548", " 0", " 270", " 0", " 82" ], [ "37", " Apple", " -0.078", " 1.002", " -1.450", " 0", " 0", " 0", " 63" ], [ "38", " DishSponge", " -0.509", " 0.751", " -2.685", " 0", " 0", " 0", " 50" ], [ "39", " Potato", " -0.508", " 0.845", " -3.357", " 0", " 315", " 0", " 74" ], [ "40", " Egg", " -1.694", " 0.983", " -3.751", " 0", " 0", " 0", " 45" ], [ "41", " Spoon", " -3.744", " 0.761", " -3.209", " 0", " 334.125", " 0", " 81" ], [ "42", " Lettuce", " -4.002", " 0.781", " -0.187", " 0", " 0", " 0", " 80" ], [ "43", " Mug", " -0.135", " 1.497", " -2.964", " 0", " 0", " 0", " 62" ], [ "44", " Bowl", " -0.334", " 1.284", " -0.762", " 0", " 270", " 0", " 75" ], [ "45", " CounterTop", " -1.937", " 0.977", " -3.673", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -0.437", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "47", " StoveBurner", " -0.222", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "48", " StoveBurner", " -0.437", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "49", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "63", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "65", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "66", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "67", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "68", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "69", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "70", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "71", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "72", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "73", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "74", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "75", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "76", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "77", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "78", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "79", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "80", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "81", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "82", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "83", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "84", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -2.5 0 90 0 1 Pan -0.222 0.961 -2.243 0 0 0 64 2 Potato -2.962 0.926 -0.119 0 270 0 82 3 Potato -4.242 0.722 -0.187 0 0 0 80 4 DishSponge -0.721 0.813 -3.491 0 315 0 74 5 ButterKnife -3.364 0.894 -0.548 0 270 0 82 6 Fork -0.299 0.942 -3.074 0 45 0 45 7 Spoon -2.359 0.895 -0.204 0 90 0 82 8 Egg -3.451 0.801 -3.214 0 199.125 0 81 9 Egg -0.315 0.982 -1.581 0 0 0 63 10 Cup -0.136 1.943 -0.713 0 0 0 52 11 Plate -2.962 0.908 -0.376 0 270 0 82 12 Plate -1.248 0.956 -3.829 0 0 0 45 13 Knife -1.694 0.967 -3.439 0 0 0 45 14 SoapBottle -3.704 0.758 -3.500 0 244.125 0 81 15 SoapBottle -2.387 0.097 -3.571 0 0 0 70 16 Tomato -0.397 1.539 -0.645 0 270 0 75 17 Tomato -0.990 0.993 -3.676 0 45 0 45 18 Bowl -3.203 0.758 -3.118 0 244.125 0 81 19 Bowl -4.002 0.689 -0.430 0 0 0 80 20 Bread -3.565 0.976 -0.290 0 270 0 82 21 Lettuce -0.359 1.579 -0.413 0 270 0 75 22 Lettuce -4.182 0.781 -0.430 0 0 0 80 23 PepperShaker -3.364 0.890 -0.633 0 270 0 82 24 SoapBottle -2.359 0.892 -0.462 0 270 0 82 25 Pot -0.222 0.961 -1.845 0 180 0 47 26 Fork -0.495 0.747 -1.413 0 270 0 49 27 Cup -0.245 1.489 -0.762 0 270 0 75 28 Tomato -3.163 0.945 -0.119 0 270 0 82 29 Pan -0.217 0.958 -2.215 0 45 0 64 30 Plate -0.173 1.516 -2.788 0 0 0 62 31 Bread -2.560 0.976 -0.290 0 270 0 82 32 Spatula -0.644 0.828 -3.337 0 225 0 74 33 Knife -3.565 0.920 -0.462 0 270 0 82 34 SaltShaker -0.549 0.938 -2.670 0 0 0 45 35 PepperShaker -3.163 0.890 -0.548 0 270 0 82 36 ButterKnife -2.560 0.894 -0.548 0 270 0 82 37 Apple -0.078 1.002 -1.450 0 0 0 63 38 DishSponge -0.509 0.751 -2.685 0 0 0 50 39 Potato -0.508 0.845 -3.357 0 315 0 74 40 Egg -1.694 0.983 -3.751 0 0 0 45 41 Spoon -3.744 0.761 -3.209 0 334.125 0 81 42 Lettuce -4.002 0.781 -0.187 0 0 0 80 43 Mug -0.135 1.497 -2.964 0 0 0 62 44 Bowl -0.334 1.284 -0.762 0 270 0 75 45 CounterTop -1.937 0.977 -3.673 0 0 0 46 StoveBurner -0.437 0.924 -1.845 0 180 0 47 StoveBurner -0.222 0.924 -1.845 0 180 0 48 StoveBurner -0.437 0.924 -2.243 0 0 0 49 Drawer -0.500 0.779 -1.450 0 0 0 50 Drawer -0.481 0.777 -2.739 0 0 0 51 Drawer -1.154 0.782 -3.499 0 0 0 52 Cabinet -0.337 2.110 -0.390 0 0 0 53 Cabinet -0.337 2.110 -1.272 0 0 0 54 Cabinet -0.337 2.110 -1.631 0 0 0 55 Cabinet -0.337 2.110 -2.497 0 0 0 56 Cabinet -0.337 1.891 -1.286 0 0 0 57 Cabinet -0.346 1.891 -3.293 0 0 0 58 Cabinet -0.629 0.388 -2.513 0 0 0 59 Cabinet -0.633 0.388 -3.008 0 0 0 60 Cabinet -1.010 0.388 -3.368 0 0 0 61 Cabinet -0.629 0.388 -1.614 0 0 0 62 Cabinet -0.327 1.886 -2.513 0 0 0 63 CounterTop -0.326 0.976 -1.450 0 0 0 64 StoveBurner -0.222 0.924 -2.243 0 0 0 65 Sink -0.600 0.929 -3.388 0 0 0 66 StoveKnob -0.617 0.899 -1.833 315 90 180 67 StoveKnob -0.617 0.899 -2.129 315 90 180 68 StoveKnob -0.617 0.899 -2.289 315 90 180 69 StoveKnob -0.617 0.899 -1.975 315 90 180 70 GarbageCan -2.418 -0.032 -3.541 0 0 0 71 CoffeeMachine -2.513 0.930 -3.797 0 0 0 72 Window -1.389 1.610 -4.113 90 0 0 73 LightSwitch -4.372 1.493 -1.031 0 90 0 74 SinkBasin -0.614 0.802 -3.384 0 315 0 75 Fridge -0.314 0.0 -0.646 0 0 0 76 Toaster -1.970 0.930 -3.763 0 0 0 77 Microwave -0.216 1.470 -2.054 0 270 0 78 Blinds -1.373 2.205 -3.961 0 0 0 79 Faucet -0.393 0.930 -3.614 270 225 0 80 SideTable -4.030 0.002 -0.301 0 185.034 0 81 DiningTable -3.586 0.000 -3.258 0 0 0 82 DiningTable -3.224 -0.003 -0.453 0 0 0 83 Shelf -4.030 0.259 -0.301 0 185.034 0 84 Shelf -4.030 0.489 -0.301 0 185.034 0 85 EastWall 86 EastWall 87 SouthWall
[ "STEP 1: Turn around and go across to the room, turn right to go to the small black table. | STEP 2: Pick up the small round and dark object from the black table. | STEP 3: Take the object and turn left, then right to find the stove. | STEP 4: Place the object in the microwave, turn it on, and then take the object out. | STEP 5: Turn around to go across the room, then right to the black table. | STEP 6: Place the object on the black table. | END" ]
[ [ "STEP 1: Turn around and go across to the room, turn right to go to the small black table. ", " STEP 2: Pick up the small round and dark object from the black table. ", " STEP 3: Take the object and turn left, then right to find the stove. ", " STEP 4: Place the object in the microwave, turn it on, and then take the object out. ", " STEP 5: Turn around to go across the room, then right to the black table. ", " STEP 6: Place the object on the black table. ", " END" ] ]
seen
trial_T20190908_075239_767503-0
Put the plate with knife in the sink
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.25", " 0.900", " -1.25", " 0", " 270", " 0", "" ], [ "1", " Pan", " -1.056", " 0.956", " -0.672", " 0", " 180", " 0", " 56" ], [ "2", " Statue", " -1.138", " 0.918", " -2.182", " 0", " 0", " 0", " 84" ], [ "3", " Potato", " 1.836", " 1.458", " -0.365", " 0", " 270", " 0", " 91" ], [ "4", " Ladle", " -0.543", " 0.731", " 0.190", " 0", " 270", " 0", " 78" ], [ "5", " DishSponge", " 0.330", " 1.660", " -2.198", " 0", " 0", " 0", " 64" ], [ "6", " Kettle", " 0.563", " 1.661", " -2.161", " 0", " 0", " 0", " 64" ], [ "7", " Pot", " 1.945", " 1.100", " -0.365", " 0", " 270", " 0", " 91" ], [ "8", " Spoon", " -0.152", " 1.132", " 0.529", " 0", " 0", " 0", " 80" ], [ "9", " Spoon", " -0.657", " 0.693", " -1.891", " 0", " 0", " 0", " 54" ], [ "10", " Egg", " 2.055", " 1.461", " -0.271", " 0", " 270", " 0", " 91" ], [ "11", " Plate", " 1.911", " 1.658", " -1.197", " 0", " 0", " 0", " 61" ], [ "12", " Plate", " 0.944", " 1.656", " -2.163", " 0", " 0", " 0", " 63" ], [ "13", " Knife", " -0.420", " 0.937", " 0.030", " 0", " 0", " 0", " 77" ], [ "14", " Knife", " -0.375", " 1.155", " 0.529", " 0", " 0", " 0", " 80" ], [ "15", " SoapBottle", " -1.232", " 1.660", " -0.353", " 0", " 0", " 0", " 67" ], [ "16", " SoapBottle", " 1.194", " 0.911", " -2.014", " 0", " 0", " 0", " 84" ], [ "17", " Tomato", " -0.598", " 1.181", " 0.573", " 0", " 0", " 0", " 80" ], [ "18", " Tomato", " 1.924", " 0.112", " 0.109", " 0", " 0", " 0", " 87" ], [ "19", " Bowl", " -0.634", " 0.910", " 0.294", " 0", " 0", " 0", " 77" ], [ "20", " Bowl", " 2.798", " 0.549", " 0.090", " 0", " 180", " 0", " 90" ], [ "21", " SaltShaker", " -0.679", " 0.688", " 0.190", " 0", " 180", " 0", " 78" ], [ "22", " Lettuce", " 1.945", " 1.504", " -0.551", " 0", " 270", " 0", " 91" ], [ "23", " Mug", " -0.657", " 0.906", " -1.760", " 0", " 0", " 0", " 84" ], [ "24", " Mug", " 1.950", " 1.647", " -1.671", " 0", " 0", " 0", " 62" ], [ "25", " Apple", " 1.945", " 0.865", " -0.271", " 0", " 270", " 0", " 91" ], [ "26", " Pan", " -1.056", " 0.956", " -1.127", " 0", " 0", " 0", " 81" ], [ "27", " Knife", " -0.152", " 1.155", " 0.706", " 0", " 0", " 0", " 80" ], [ "28", " Bowl", " 0.071", " 1.128", " 0.618", " 0", " 0", " 0", " 80" ], [ "29", " Fork", " -1.018", " 0.911", " -2.014", " 0", " 270", " 0", " 84" ], [ "30", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 94" ], [ "31", " Ladle", " -1.272", " 1.697", " -0.626", " 0", " 90", " 0", " 67" ], [ "32", " Apple", " 1.813", " 1.064", " -1.245", " 0", " 270", " 0", " 89" ], [ "33", " Kettle", " -1.289", " 0.957", " -0.756", " 0", " 180", " 0", " 59" ], [ "34", " Vase", " 1.571", " 0.119", " -1.332", " 0", " 0", " 0", " 58" ], [ "35", " Potato", " -1.379", " 0.941", " -2.098", " 0", " 0", " 0", " 84" ], [ "36", " Pot", " -1.322", " 0.912", " -1.469", " 0", " 0", " 0", " 84" ], [ "37", " Bread", " -1.148", " 0.981", " -0.193", " 0", " 0", " 0", " 77" ], [ "38", " Plate", " 1.419", " 0.909", " -1.929", " 0", " 0", " 0", " 84" ], [ "39", " Spatula", " -0.420", " 0.928", " 0.294", " 0", " 270", " 0", " 77" ], [ "40", " PaperTowelRoll", " 2.042", " 0.167", " 0.195", " 0", " 0", " 0", " 87" ], [ "41", " Vase", " -1.03", " 0.135", " -1.465", " 0", " 0", " 0", " 70" ], [ "42", " Egg", " 1.845", " 0.096", " 0.195", " 0", " 0", " 0", " 87" ], [ "43", " SoapBottle", " -1.239", " 1.658", " -1.600", " 0", " 0", " 0", " 66" ], [ "44", " SaltShaker", " -0.897", " 0.907", " -2.014", " 0", " 0", " 0", " 84" ], [ "45", " Lettuce", " 1.891", " 0.893", " -0.551", " 0", " 270", " 0", " 91" ], [ "46", " PepperShaker", " 2.491", " 0.876", " 0.141", " 0", " 180", " 0", " 88" ], [ "47", " ButterKnife", " -1.138", " 0.911", " -1.760", " 0", " 0", " 0", " 84" ], [ "48", " DishSponge", " 0.008", " 0.913", " 0.241", " 0", " 0", " 0", " 77" ], [ "49", " Vase", " 2.979", " 0.539", " 0.128", " 0", " 0", " 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0", "" ], [ "63", " Cabinet", " 1.179", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " 0.199", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.100", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -1.149", " 2.019", " -1.979", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -1.149", " 2.019", " -0.770", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -1.149", " 2.019", " 0.380", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.819", " 0.469", " -1.689", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -0.839", " 0.469", " -1.664", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " -0.839", " 0.469", " -0.049", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.414", " 0.370", " -0.009", " 0", " 0", " 0", "" ], [ "73", " Sink", " -0.118", " 0.875", " -2.009", " 0", " 0", " 0", "" ], [ "74", " StoveBurner", " -1.289", " 0.949", " -1.019", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " 0.119", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "76", " 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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 0.900 -1.25 0 270 0 1 Pan -1.056 0.956 -0.672 0 180 0 56 2 Statue -1.138 0.918 -2.182 0 0 0 84 3 Potato 1.836 1.458 -0.365 0 270 0 91 4 Ladle -0.543 0.731 0.190 0 270 0 78 5 DishSponge 0.330 1.660 -2.198 0 0 0 64 6 Kettle 0.563 1.661 -2.161 0 0 0 64 7 Pot 1.945 1.100 -0.365 0 270 0 91 8 Spoon -0.152 1.132 0.529 0 0 0 80 9 Spoon -0.657 0.693 -1.891 0 0 0 54 10 Egg 2.055 1.461 -0.271 0 270 0 91 11 Plate 1.911 1.658 -1.197 0 0 0 61 12 Plate 0.944 1.656 -2.163 0 0 0 63 13 Knife -0.420 0.937 0.030 0 0 0 77 14 Knife -0.375 1.155 0.529 0 0 0 80 15 SoapBottle -1.232 1.660 -0.353 0 0 0 67 16 SoapBottle 1.194 0.911 -2.014 0 0 0 84 17 Tomato -0.598 1.181 0.573 0 0 0 80 18 Tomato 1.924 0.112 0.109 0 0 0 87 19 Bowl -0.634 0.910 0.294 0 0 0 77 20 Bowl 2.798 0.549 0.090 0 180 0 90 21 SaltShaker -0.679 0.688 0.190 0 180 0 78 22 Lettuce 1.945 1.504 -0.551 0 270 0 91 23 Mug -0.657 0.906 -1.760 0 0 0 84 24 Mug 1.950 1.647 -1.671 0 0 0 62 25 Apple 1.945 0.865 -0.271 0 270 0 91 26 Pan -1.056 0.956 -1.127 0 0 0 81 27 Knife -0.152 1.155 0.706 0 0 0 80 28 Bowl 0.071 1.128 0.618 0 0 0 80 29 Fork -1.018 0.911 -2.014 0 270 0 84 30 Cup 0.101 0.750 -1.938 0 0 0 94 31 Ladle -1.272 1.697 -0.626 0 90 0 67 32 Apple 1.813 1.064 -1.245 0 270 0 89 33 Kettle -1.289 0.957 -0.756 0 180 0 59 34 Vase 1.571 0.119 -1.332 0 0 0 58 35 Potato -1.379 0.941 -2.098 0 0 0 84 36 Pot -1.322 0.912 -1.469 0 0 0 84 37 Bread -1.148 0.981 -0.193 0 0 0 77 38 Plate 1.419 0.909 -1.929 0 0 0 84 39 Spatula -0.420 0.928 0.294 0 270 0 77 40 PaperTowelRoll 2.042 0.167 0.195 0 0 0 87 41 Vase -1.03 0.135 -1.465 0 0 0 70 42 Egg 1.845 0.096 0.195 0 0 0 87 43 SoapBottle -1.239 1.658 -1.600 0 0 0 66 44 SaltShaker -0.897 0.907 -2.014 0 0 0 84 45 Lettuce 1.891 0.893 -0.551 0 270 0 91 46 PepperShaker 2.491 0.876 0.141 0 180 0 88 47 ButterKnife -1.138 0.911 -1.760 0 0 0 84 48 DishSponge 0.008 0.913 0.241 0 0 0 77 49 Vase 2.979 0.539 0.128 0 0 0 90 50 Spoon -0.993 0.912 -1.891 0 0 0 84 51 Tomato 1.836 0.866 -0.830 0 270 0 91 52 Mug 0.501 0.955 -1.900 0 0 0 100 53 Statue -1.063 0.920 0.135 0 0 0 77 54 Drawer -0.819 0.75 -1.690 0 0 0 55 Cabinet -1.149 2.264 -0.838 0 90 0 56 StoveBurner -1.056 0.949 -0.671 0 180 0 57 Cabinet 1.738 2.019 -2.000 0 0 0 58 Cabinet 1.389 0.469 -1.059 0 0 0 59 StoveBurner -1.289 0.949 -0.755 0 180 0 60 Faucet -0.157 1.052 -2.196 0 270 0 61 Cabinet 1.75 2.019 -1.029 0 0 0 62 Cabinet 1.75 2.019 -1.399 0 0 0 63 Cabinet 1.179 2.019 -2.0 0 0 0 64 Cabinet 0.199 2.019 -2.0 0 0 0 65 Cabinet -1.100 2.019 -2.0 0 0 0 66 Cabinet -1.149 2.019 -1.979 0 0 0 67 Cabinet -1.149 2.019 -0.770 0 0 0 68 Cabinet -1.149 2.019 0.380 0 0 0 69 Cabinet -0.819 0.469 -1.689 0 0 0 70 Cabinet -0.839 0.469 -1.664 0 0 0 71 Cabinet -0.839 0.469 -0.049 0 0 0 72 Cabinet -0.414 0.370 -0.009 0 0 0 73 Sink -0.118 0.875 -2.009 0 0 0 74 StoveBurner -1.289 0.949 -1.019 0 0 0 75 Cabinet 0.119 2.264 -2.0 0 0 0 76 Cabinet -0.459 2.264 -2.0 0 0 0 77 CounterTop -0.665 0.949 0.188 0 0 0 78 Drawer -0.449 0.75 -0.010 0 180 0 79 Cabinet -0.450 0.469 -0.009 0 0 0 80 CounterTop -0.630 1.167 0.573 0 0 0 81 StoveBurner -1.056 0.949 -1.126 0 0 0 82 Cabinet 1.376 0.460 -1.685 0 0 0 83 Drawer -0.070 0.75 -0.009 0 180 0 84 CounterTop 1.159 0.946 -2.013 0 0 0 85 Cabinet -1.150 2.264 -1.418 0 90 0 86 HousePlant -1.246 1.108 0.606 0 0 0 87 GarbageCan 1.923 -0.010 0.137 0 0 0 88 Shelf 2.759 0.880 0.144 0 0 0 89 Microwave 1.827 0.900 -1.354 0 270 0 90 Shelf 2.759 0.552 0.145 0 0 0 91 Fridge 1.975 0.0 -0.537 0 0 0 92 LightSwitch 0.404 1.297 2.0 0 180 0 93 Shelf 2.760 0.172 0.145 0 0 0 94 SinkBasin -0.129 0.752 -2.007 0 0 0 95 StoveKnob -0.873 0.903 -0.827 45 90 0 96 StoveKnob -0.873 0.903 -0.676 45 90 0 97 StoveKnob -0.873 0.903 -0.966 45 90 0 98 StoveKnob -0.873 0.903 -1.123 45 90 0 99 Toaster 0.840 0.900 -2.057 0 0 0 100 CoffeeMachine 0.501 0.900 -2.125 0 0 0 101 ShelvingUnit 2.760 0.006 0.144 0 0 0 102 Stool -0.826 0.010 0.908 0 347.513 0 103 Stool -0.132 0.010 0.883 0 71.555 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Move forward to the counter on the left side of the stove | STEP 2: Pick up the knife on the counter | STEP 3: Turn left head move forward turn right on the counter beside the toaster | STEP 4: Put the knife on the plate beside the toaster | STEP 5: Pick up the plate with knife on the counter | STEP 6: Turn right then head to the sink on your left | STEP 7: Put the plate with knife in the sink | END" ]
[ [ "STEP 1: Move forward to the counter on the left side of the stove ", " STEP 2: Pick up the knife on the counter ", " STEP 3: Turn left head move forward turn right on the counter beside the toaster ", " STEP 4: Put the knife on the plate beside the toaster ", " STEP 5: Pick up the plate with knife on the counter ", " STEP 6: Turn right then head to the sink on your left ", " STEP 7: Put the plate with knife in the sink ", " END" ] ]
seen
trial_T20190908_075239_767503-1
Place a bowl with a knife in 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 0.25 0.900 -1.25 0 270 0 1 Pan -1.056 0.956 -0.672 0 180 0 56 2 Statue -1.138 0.918 -2.182 0 0 0 84 3 Potato 1.836 1.458 -0.365 0 270 0 91 4 Ladle -0.543 0.731 0.190 0 270 0 78 5 DishSponge 0.330 1.660 -2.198 0 0 0 64 6 Kettle 0.563 1.661 -2.161 0 0 0 64 7 Pot 1.945 1.100 -0.365 0 270 0 91 8 Spoon -0.152 1.132 0.529 0 0 0 80 9 Spoon -0.657 0.693 -1.891 0 0 0 54 10 Egg 2.055 1.461 -0.271 0 270 0 91 11 Plate 1.911 1.658 -1.197 0 0 0 61 12 Plate 0.944 1.656 -2.163 0 0 0 63 13 Knife -0.420 0.937 0.030 0 0 0 77 14 Knife -0.375 1.155 0.529 0 0 0 80 15 SoapBottle -1.232 1.660 -0.353 0 0 0 67 16 SoapBottle 1.194 0.911 -2.014 0 0 0 84 17 Tomato -0.598 1.181 0.573 0 0 0 80 18 Tomato 1.924 0.112 0.109 0 0 0 87 19 Bowl -0.634 0.910 0.294 0 0 0 77 20 Bowl 2.798 0.549 0.090 0 180 0 90 21 SaltShaker -0.679 0.688 0.190 0 180 0 78 22 Lettuce 1.945 1.504 -0.551 0 270 0 91 23 Mug -0.657 0.906 -1.760 0 0 0 84 24 Mug 1.950 1.647 -1.671 0 0 0 62 25 Apple 1.945 0.865 -0.271 0 270 0 91 26 Pan -1.056 0.956 -1.127 0 0 0 81 27 Knife -0.152 1.155 0.706 0 0 0 80 28 Bowl 0.071 1.128 0.618 0 0 0 80 29 Fork -1.018 0.911 -2.014 0 270 0 84 30 Cup 0.101 0.750 -1.938 0 0 0 94 31 Ladle -1.272 1.697 -0.626 0 90 0 67 32 Apple 1.813 1.064 -1.245 0 270 0 89 33 Kettle -1.289 0.957 -0.756 0 180 0 59 34 Vase 1.571 0.119 -1.332 0 0 0 58 35 Potato -1.379 0.941 -2.098 0 0 0 84 36 Pot -1.322 0.912 -1.469 0 0 0 84 37 Bread -1.148 0.981 -0.193 0 0 0 77 38 Plate 1.419 0.909 -1.929 0 0 0 84 39 Spatula -0.420 0.928 0.294 0 270 0 77 40 PaperTowelRoll 2.042 0.167 0.195 0 0 0 87 41 Vase -1.03 0.135 -1.465 0 0 0 70 42 Egg 1.845 0.096 0.195 0 0 0 87 43 SoapBottle -1.239 1.658 -1.600 0 0 0 66 44 SaltShaker -0.897 0.907 -2.014 0 0 0 84 45 Lettuce 1.891 0.893 -0.551 0 270 0 91 46 PepperShaker 2.491 0.876 0.141 0 180 0 88 47 ButterKnife -1.138 0.911 -1.760 0 0 0 84 48 DishSponge 0.008 0.913 0.241 0 0 0 77 49 Vase 2.979 0.539 0.128 0 0 0 90 50 Spoon -0.993 0.912 -1.891 0 0 0 84 51 Tomato 1.836 0.866 -0.830 0 270 0 91 52 Mug 0.501 0.955 -1.900 0 0 0 100 53 Statue -1.063 0.920 0.135 0 0 0 77 54 Drawer -0.819 0.75 -1.690 0 0 0 55 Cabinet -1.149 2.264 -0.838 0 90 0 56 StoveBurner -1.056 0.949 -0.671 0 180 0 57 Cabinet 1.738 2.019 -2.000 0 0 0 58 Cabinet 1.389 0.469 -1.059 0 0 0 59 StoveBurner -1.289 0.949 -0.755 0 180 0 60 Faucet -0.157 1.052 -2.196 0 270 0 61 Cabinet 1.75 2.019 -1.029 0 0 0 62 Cabinet 1.75 2.019 -1.399 0 0 0 63 Cabinet 1.179 2.019 -2.0 0 0 0 64 Cabinet 0.199 2.019 -2.0 0 0 0 65 Cabinet -1.100 2.019 -2.0 0 0 0 66 Cabinet -1.149 2.019 -1.979 0 0 0 67 Cabinet -1.149 2.019 -0.770 0 0 0 68 Cabinet -1.149 2.019 0.380 0 0 0 69 Cabinet -0.819 0.469 -1.689 0 0 0 70 Cabinet -0.839 0.469 -1.664 0 0 0 71 Cabinet -0.839 0.469 -0.049 0 0 0 72 Cabinet -0.414 0.370 -0.009 0 0 0 73 Sink -0.118 0.875 -2.009 0 0 0 74 StoveBurner -1.289 0.949 -1.019 0 0 0 75 Cabinet 0.119 2.264 -2.0 0 0 0 76 Cabinet -0.459 2.264 -2.0 0 0 0 77 CounterTop -0.665 0.949 0.188 0 0 0 78 Drawer -0.449 0.75 -0.010 0 180 0 79 Cabinet -0.450 0.469 -0.009 0 0 0 80 CounterTop -0.630 1.167 0.573 0 0 0 81 StoveBurner -1.056 0.949 -1.126 0 0 0 82 Cabinet 1.376 0.460 -1.685 0 0 0 83 Drawer -0.070 0.75 -0.009 0 180 0 84 CounterTop 1.159 0.946 -2.013 0 0 0 85 Cabinet -1.150 2.264 -1.418 0 90 0 86 HousePlant -1.246 1.108 0.606 0 0 0 87 GarbageCan 1.923 -0.010 0.137 0 0 0 88 Shelf 2.759 0.880 0.144 0 0 0 89 Microwave 1.827 0.900 -1.354 0 270 0 90 Shelf 2.759 0.552 0.145 0 0 0 91 Fridge 1.975 0.0 -0.537 0 0 0 92 LightSwitch 0.404 1.297 2.0 0 180 0 93 Shelf 2.760 0.172 0.145 0 0 0 94 SinkBasin -0.129 0.752 -2.007 0 0 0 95 StoveKnob -0.873 0.903 -0.827 45 90 0 96 StoveKnob -0.873 0.903 -0.676 45 90 0 97 StoveKnob -0.873 0.903 -0.966 45 90 0 98 StoveKnob -0.873 0.903 -1.123 45 90 0 99 Toaster 0.840 0.900 -2.057 0 0 0 100 CoffeeMachine 0.501 0.900 -2.125 0 0 0 101 ShelvingUnit 2.760 0.006 0.144 0 0 0 102 Stool -0.826 0.010 0.908 0 347.513 0 103 Stool -0.132 0.010 0.883 0 71.555 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Face the counter on the left of the stove in front of you. | STEP 2: Pick up the knife from the counter in front of you. | STEP 3: Turn around and face the toaster to your left. | STEP 4: Place the knife on the plate to the left of the toaster in front of you. | STEP 5: Take the plate with the knife from the counter in front of you. | STEP 6: Turn right then face the sink to your left. | STEP 7: Place the plate with the knife inside the sink in front of you. | END" ]
[ [ "STEP 1: Face the counter on the left of the stove in front of you. ", " STEP 2: Pick up the knife from the counter in front of you. ", " STEP 3: Turn around and face the toaster to your left. ", " STEP 4: Place the knife on the plate to the left of the toaster in front of you. ", " STEP 5: Take the plate with the knife from the counter in front of you. ", " STEP 6: Turn right then face the sink to your left. ", " STEP 7: Place the plate with the knife inside the sink in front of you. ", " END" ] ]
seen
trial_T20190908_075239_767503-2
Move a plate and knife to the sink.
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1.911", " 1.658", " -1.197", " 0", " 0", " 0", " 61" ], [ "12", " Plate", " 0.944", " 1.656", " -2.163", " 0", " 0", " 0", " 63" ], [ "13", " Knife", " -0.420", " 0.937", " 0.030", " 0", " 0", " 0", " 77" ], [ "14", " Knife", " -0.375", " 1.155", " 0.529", " 0", " 0", " 0", " 80" ], [ "15", " SoapBottle", " -1.232", " 1.660", " -0.353", " 0", " 0", " 0", " 67" ], [ "16", " SoapBottle", " 1.194", " 0.911", " -2.014", " 0", " 0", " 0", " 84" ], [ "17", " Tomato", " -0.598", " 1.181", " 0.573", " 0", " 0", " 0", " 80" ], [ "18", " Tomato", " 1.924", " 0.112", " 0.109", " 0", " 0", " 0", " 87" ], [ "19", " Bowl", " -0.634", " 0.910", " 0.294", " 0", " 0", " 0", " 77" ], [ "20", " Bowl", " 2.798", " 0.549", " 0.090", " 0", " 180", " 0", " 90" ], [ "21", " SaltShaker", " -0.679", " 0.688", " 0.190", " 0", " 180", " 0", " 78" ], [ "22", " Lettuce", " 1.945", " 1.504", " -0.551", " 0", " 270", " 0", " 91" ], [ "23", " Mug", " -0.657", " 0.906", " -1.760", " 0", " 0", " 0", " 84" ], [ "24", " 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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 0.900 -1.25 0 270 0 1 Pan -1.056 0.956 -0.672 0 180 0 56 2 Statue -1.138 0.918 -2.182 0 0 0 84 3 Potato 1.836 1.458 -0.365 0 270 0 91 4 Ladle -0.543 0.731 0.190 0 270 0 78 5 DishSponge 0.330 1.660 -2.198 0 0 0 64 6 Kettle 0.563 1.661 -2.161 0 0 0 64 7 Pot 1.945 1.100 -0.365 0 270 0 91 8 Spoon -0.152 1.132 0.529 0 0 0 80 9 Spoon -0.657 0.693 -1.891 0 0 0 54 10 Egg 2.055 1.461 -0.271 0 270 0 91 11 Plate 1.911 1.658 -1.197 0 0 0 61 12 Plate 0.944 1.656 -2.163 0 0 0 63 13 Knife -0.420 0.937 0.030 0 0 0 77 14 Knife -0.375 1.155 0.529 0 0 0 80 15 SoapBottle -1.232 1.660 -0.353 0 0 0 67 16 SoapBottle 1.194 0.911 -2.014 0 0 0 84 17 Tomato -0.598 1.181 0.573 0 0 0 80 18 Tomato 1.924 0.112 0.109 0 0 0 87 19 Bowl -0.634 0.910 0.294 0 0 0 77 20 Bowl 2.798 0.549 0.090 0 180 0 90 21 SaltShaker -0.679 0.688 0.190 0 180 0 78 22 Lettuce 1.945 1.504 -0.551 0 270 0 91 23 Mug -0.657 0.906 -1.760 0 0 0 84 24 Mug 1.950 1.647 -1.671 0 0 0 62 25 Apple 1.945 0.865 -0.271 0 270 0 91 26 Pan -1.056 0.956 -1.127 0 0 0 81 27 Knife -0.152 1.155 0.706 0 0 0 80 28 Bowl 0.071 1.128 0.618 0 0 0 80 29 Fork -1.018 0.911 -2.014 0 270 0 84 30 Cup 0.101 0.750 -1.938 0 0 0 94 31 Ladle -1.272 1.697 -0.626 0 90 0 67 32 Apple 1.813 1.064 -1.245 0 270 0 89 33 Kettle -1.289 0.957 -0.756 0 180 0 59 34 Vase 1.571 0.119 -1.332 0 0 0 58 35 Potato -1.379 0.941 -2.098 0 0 0 84 36 Pot -1.322 0.912 -1.469 0 0 0 84 37 Bread -1.148 0.981 -0.193 0 0 0 77 38 Plate 1.419 0.909 -1.929 0 0 0 84 39 Spatula -0.420 0.928 0.294 0 270 0 77 40 PaperTowelRoll 2.042 0.167 0.195 0 0 0 87 41 Vase -1.03 0.135 -1.465 0 0 0 70 42 Egg 1.845 0.096 0.195 0 0 0 87 43 SoapBottle -1.239 1.658 -1.600 0 0 0 66 44 SaltShaker -0.897 0.907 -2.014 0 0 0 84 45 Lettuce 1.891 0.893 -0.551 0 270 0 91 46 PepperShaker 2.491 0.876 0.141 0 180 0 88 47 ButterKnife -1.138 0.911 -1.760 0 0 0 84 48 DishSponge 0.008 0.913 0.241 0 0 0 77 49 Vase 2.979 0.539 0.128 0 0 0 90 50 Spoon -0.993 0.912 -1.891 0 0 0 84 51 Tomato 1.836 0.866 -0.830 0 270 0 91 52 Mug 0.501 0.955 -1.900 0 0 0 100 53 Statue -1.063 0.920 0.135 0 0 0 77 54 Drawer -0.819 0.75 -1.690 0 0 0 55 Cabinet -1.149 2.264 -0.838 0 90 0 56 StoveBurner -1.056 0.949 -0.671 0 180 0 57 Cabinet 1.738 2.019 -2.000 0 0 0 58 Cabinet 1.389 0.469 -1.059 0 0 0 59 StoveBurner -1.289 0.949 -0.755 0 180 0 60 Faucet -0.157 1.052 -2.196 0 270 0 61 Cabinet 1.75 2.019 -1.029 0 0 0 62 Cabinet 1.75 2.019 -1.399 0 0 0 63 Cabinet 1.179 2.019 -2.0 0 0 0 64 Cabinet 0.199 2.019 -2.0 0 0 0 65 Cabinet -1.100 2.019 -2.0 0 0 0 66 Cabinet -1.149 2.019 -1.979 0 0 0 67 Cabinet -1.149 2.019 -0.770 0 0 0 68 Cabinet -1.149 2.019 0.380 0 0 0 69 Cabinet -0.819 0.469 -1.689 0 0 0 70 Cabinet -0.839 0.469 -1.664 0 0 0 71 Cabinet -0.839 0.469 -0.049 0 0 0 72 Cabinet -0.414 0.370 -0.009 0 0 0 73 Sink -0.118 0.875 -2.009 0 0 0 74 StoveBurner -1.289 0.949 -1.019 0 0 0 75 Cabinet 0.119 2.264 -2.0 0 0 0 76 Cabinet -0.459 2.264 -2.0 0 0 0 77 CounterTop -0.665 0.949 0.188 0 0 0 78 Drawer -0.449 0.75 -0.010 0 180 0 79 Cabinet -0.450 0.469 -0.009 0 0 0 80 CounterTop -0.630 1.167 0.573 0 0 0 81 StoveBurner -1.056 0.949 -1.126 0 0 0 82 Cabinet 1.376 0.460 -1.685 0 0 0 83 Drawer -0.070 0.75 -0.009 0 180 0 84 CounterTop 1.159 0.946 -2.013 0 0 0 85 Cabinet -1.150 2.264 -1.418 0 90 0 86 HousePlant -1.246 1.108 0.606 0 0 0 87 GarbageCan 1.923 -0.010 0.137 0 0 0 88 Shelf 2.759 0.880 0.144 0 0 0 89 Microwave 1.827 0.900 -1.354 0 270 0 90 Shelf 2.759 0.552 0.145 0 0 0 91 Fridge 1.975 0.0 -0.537 0 0 0 92 LightSwitch 0.404 1.297 2.0 0 180 0 93 Shelf 2.760 0.172 0.145 0 0 0 94 SinkBasin -0.129 0.752 -2.007 0 0 0 95 StoveKnob -0.873 0.903 -0.827 45 90 0 96 StoveKnob -0.873 0.903 -0.676 45 90 0 97 StoveKnob -0.873 0.903 -0.966 45 90 0 98 StoveKnob -0.873 0.903 -1.123 45 90 0 99 Toaster 0.840 0.900 -2.057 0 0 0 100 CoffeeMachine 0.501 0.900 -2.125 0 0 0 101 ShelvingUnit 2.760 0.006 0.144 0 0 0 102 Stool -0.826 0.010 0.908 0 347.513 0 103 Stool -0.132 0.010 0.883 0 71.555 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Move a step forward to the stove. | STEP 2: Pick up the knife from the counter, left of the stove. | STEP 3: Take the knife and turn around, then face the counter on the right. | STEP 4: Place the knife in the plate on the left side of the counter. | STEP 5: Pick up the plate from the left side of the counter. | STEP 6: Carry the plate and take a few steps to the right to find the sink. | STEP 7: Place the plate and knife in the sink. | END" ]
[ [ "STEP 1: Move a step forward to the stove. ", " STEP 2: Pick up the knife from the counter, left of the stove. ", " STEP 3: Take the knife and turn around, then face the counter on the right. ", " STEP 4: Place the knife in the plate on the left side of the counter. ", " STEP 5: Pick up the plate from the left side of the counter. ", " STEP 6: Carry the plate and take a few steps to the right to find the sink. ", " STEP 7: Place the plate and knife in the sink. ", " END" ] ]
seen
trial_T20190908_095215_349573-0
Put two grey glasses on the counter next to the lettuce.
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" -3.474", " 1.097", " 0.479", " 0", " 180", " 0", "" ], [ "51", " StoveKnob", " -3.164", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "52", " DiningTable", " -0.620", " 0.017", " 2.486", " 0", " 0", " 0", "" ], [ "53", " Drawer", " -2.043", " 0.608", " 0.594", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -2.043", " 0.216", " 0.594", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -2.498", " 0.216", " 0.594", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -1.001", " 0.393", " 0.734", " 0", " 0", " 0", "" ], [ "57", " StoveBurner", " -3.000", " 1.097", " 0.480", " 0", " 0", " 0", "" ], [ "58", " StoveKnob", " -3.492", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "59", " CounterTop", " -3.856", " 1.160", " 0.379", " 0", " 0", " 0", "" ], [ "60", " Drawer", " -2.043", " 0.937", " 0.599", " 0", " 0", " 0", "" ], [ "61", " Drawer", " -2.509", " 0.937", " 0.599", " 0", " 0", " 0", "" ], [ "62", " CounterTop", " -2.280", " 1.160", " 0.379", " 0", " 0", " 0", "" ], [ "63", " StoveKnob", " 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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 0 0 1 Potato -0.168 1.077 1.920 0 0 0 52 2 Potato -3.44 0.942 3.203 0 90 0 69 3 Ladle -1.199 0.970 0.359 0 0 0 74 4 DishSponge -0.659 1.124 0.659 0 0 0 64 5 ButterKnife -2.388 1.124 0.190 0 0 0 62 6 Fork -0.538 1.048 2.817 0 0 0 52 7 Spatula -2.137 1.139 0.662 0 0 0 62 8 Egg -1.288 0.961 0.221 0 0 0 74 9 Egg -1.663 1.184 0.095 0 0 0 49 10 Cup -3.44 1.284 2.849 0 90 0 69 11 Cup -1.288 0.929 0.567 0 0 0 74 12 Cup -1.568 1.151 0.095 0 0 0 49 13 Plate -1.601 0.047 0.381 0 0 0 67 14 Plate -0.908 1.045 2.593 0 0 0 52 15 Knife -0.715 1.157 0.569 0 0 0 64 16 Knife -0.662 1.079 1.920 0 0 0 52 17 Tomato -0.538 1.087 2.369 0 0 0 52 18 Tomato -0.908 1.087 2.144 0 0 0 52 19 Bowl -3.506 1.558 2.849 0 90 0 69 20 Bowl -2.639 1.122 0.473 0 0 0 62 21 PepperShaker -2.370 0.898 0.612 0 0 0 61 22 PepperShaker -2.089 0.483 0.512 0 0 0 53 23 Bread -0.785 1.133 3.266 0 0 0 52 24 Apple -0.785 1.115 1.920 0 0 0 52 25 Fork -1.288 0.932 0.359 0 90 0 74 26 SoapBottle -3.814 1.125 0.662 0 0 0 59 27 Pot -3.475 1.133 0.227 0 90 0 48 28 Ladle -3.778 1.164 0.190 0 90 0 59 29 Potato -0.309 1.243 0.377 0 0 0 75 30 Plate -0.415 1.045 2.144 0 0 0 52 31 Bread -0.662 1.134 3.042 0 0 0 52 32 Lettuce -2.011 1.202 0.473 0 0 0 62 33 Spatula -0.538 1.063 2.144 0 0 0 52 34 Pan -0.266 1.038 2.561 0 0 0 52 35 Egg -1.553 0.961 0.428 0 0 0 74 36 Cup -1.522 0.047 0.551 0 0 0 67 37 SaltShaker -1.995 0.484 0.545 0 0 0 53 38 Knife -0.662 1.080 2.369 0 0 0 52 39 Bowl -1.195 0.047 0.381 0 0 0 56 40 PepperShaker -0.827 1.121 0.659 0 0 0 64 41 ButterKnife -1.465 0.931 0.498 0 0 0 74 42 Apple -0.785 1.114 2.817 0 0 0 52 43 Tomato -0.908 1.088 3.042 0 0 0 52 44 DishSponge -3.593 0.112 1.978 0 0 0 73 45 Spoon -0.168 1.048 2.144 0 0 0 52 46 Mug -0.203 1.223 0.410 0 0 0 75 47 StoveKnob -3.322 1.053 0.709 45 0 0 48 StoveBurner -3.474 1.097 0.227 0 180 0 49 Sink -1.394 0.982 0.439 0 0 0 50 StoveBurner -3.474 1.097 0.479 0 180 0 51 StoveKnob -3.164 1.053 0.709 45 0 0 52 DiningTable -0.620 0.017 2.486 0 0 0 53 Drawer -2.043 0.608 0.594 0 0 0 54 Drawer -2.043 0.216 0.594 0 0 0 55 Drawer -2.498 0.216 0.594 0 0 0 56 Cabinet -1.001 0.393 0.734 0 0 0 57 StoveBurner -3.000 1.097 0.480 0 0 0 58 StoveKnob -3.492 1.053 0.709 45 0 0 59 CounterTop -3.856 1.160 0.379 0 0 0 60 Drawer -2.043 0.937 0.599 0 0 0 61 Drawer -2.509 0.937 0.599 0 0 0 62 CounterTop -2.280 1.160 0.379 0 0 0 63 StoveKnob -2.985 1.053 0.709 45 0 0 64 CounterTop -0.514 1.160 0.492 0 0 0 65 Drawer -2.498 0.608 0.594 0 0 0 66 StoveBurner -3.000 1.097 0.227 0 0 0 67 Cabinet -1.733 0.393 0.734 0 0 0 68 CoffeeMachine -0.153 1.038 3.193 0 270 0 69 Fridge -3.519 0.0 2.717 0 90 0 70 Window -1.394 1.924 0.014 90 0 0 71 Window -3.266 1.924 0.014 90 0 0 72 Toaster -0.225 1.038 2.865 0 270 0 73 GarbageCan -3.696 0.002 2.008 0 0 0 74 SinkBasin -1.389 0.921 0.428 0 0 0 75 Microwave -0.366 1.113 0.430 0 0 0 76 HousePlant -2.155 1.101 0.169 0 332.897 0 77 LightSwitch -2.584 1.299 3.5 0 180 0 78 Faucet -1.393 1.373 0.168 0 270 0 79 NorthWall 80 SouthWall 81 SouthWall
[ "STEP 1: Turn left and walk over to face the sink. | STEP 2: Pick up the grey glass sitting between the egg and the faucet. | STEP 3: Turn right for one step then left to face the counter. | STEP 4: Place the glass on the counter top, to the bottom left of the lettuce. | STEP 5: Turn left and take one step, turn right and face the sink. | STEP 6: Open the bottom right cabinet under the sink; pick up the grey glass in the cabinet and close the door. | STEP 7: Turn right for one step then left to face the counter. | STEP 8: Set the glass down on the counter top behind the existing glass; close to the lettuce. | END" ]
[ [ "STEP 1: Turn left and walk over to face the sink. ", " STEP 2: Pick up the grey glass sitting between the egg and the faucet. ", " STEP 3: Turn right for one step then left to face the counter. ", " STEP 4: Place the glass on the counter top, to the bottom left of the lettuce. ", " STEP 5: Turn left and take one step, turn right and face the sink. ", " STEP 6: Open the bottom right cabinet under the sink; pick up the grey glass in the cabinet and close the door. ", " STEP 7: Turn right for one step then left to face the counter. ", " STEP 8: Set the glass down on the counter top behind the existing glass; close to the lettuce. ", " END" ] ]
seen
trial_T20190908_095215_349573-1
put two glasses on a counter
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-2.155", " 1.101", " 0.169", " 0", " 332.897", " 0", "" ], [ "77", " LightSwitch", " -2.584", " 1.299", " 3.5", " 0", " 180", " 0", "" ], [ "78", " Faucet", " -1.393", " 1.373", " 0.168", " 0", " 270", " 0", "" ], [ "79", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
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 0 0 1 Potato -0.168 1.077 1.920 0 0 0 52 2 Potato -3.44 0.942 3.203 0 90 0 69 3 Ladle -1.199 0.970 0.359 0 0 0 74 4 DishSponge -0.659 1.124 0.659 0 0 0 64 5 ButterKnife -2.388 1.124 0.190 0 0 0 62 6 Fork -0.538 1.048 2.817 0 0 0 52 7 Spatula -2.137 1.139 0.662 0 0 0 62 8 Egg -1.288 0.961 0.221 0 0 0 74 9 Egg -1.663 1.184 0.095 0 0 0 49 10 Cup -3.44 1.284 2.849 0 90 0 69 11 Cup -1.288 0.929 0.567 0 0 0 74 12 Cup -1.568 1.151 0.095 0 0 0 49 13 Plate -1.601 0.047 0.381 0 0 0 67 14 Plate -0.908 1.045 2.593 0 0 0 52 15 Knife -0.715 1.157 0.569 0 0 0 64 16 Knife -0.662 1.079 1.920 0 0 0 52 17 Tomato -0.538 1.087 2.369 0 0 0 52 18 Tomato -0.908 1.087 2.144 0 0 0 52 19 Bowl -3.506 1.558 2.849 0 90 0 69 20 Bowl -2.639 1.122 0.473 0 0 0 62 21 PepperShaker -2.370 0.898 0.612 0 0 0 61 22 PepperShaker -2.089 0.483 0.512 0 0 0 53 23 Bread -0.785 1.133 3.266 0 0 0 52 24 Apple -0.785 1.115 1.920 0 0 0 52 25 Fork -1.288 0.932 0.359 0 90 0 74 26 SoapBottle -3.814 1.125 0.662 0 0 0 59 27 Pot -3.475 1.133 0.227 0 90 0 48 28 Ladle -3.778 1.164 0.190 0 90 0 59 29 Potato -0.309 1.243 0.377 0 0 0 75 30 Plate -0.415 1.045 2.144 0 0 0 52 31 Bread -0.662 1.134 3.042 0 0 0 52 32 Lettuce -2.011 1.202 0.473 0 0 0 62 33 Spatula -0.538 1.063 2.144 0 0 0 52 34 Pan -0.266 1.038 2.561 0 0 0 52 35 Egg -1.553 0.961 0.428 0 0 0 74 36 Cup -1.522 0.047 0.551 0 0 0 67 37 SaltShaker -1.995 0.484 0.545 0 0 0 53 38 Knife -0.662 1.080 2.369 0 0 0 52 39 Bowl -1.195 0.047 0.381 0 0 0 56 40 PepperShaker -0.827 1.121 0.659 0 0 0 64 41 ButterKnife -1.465 0.931 0.498 0 0 0 74 42 Apple -0.785 1.114 2.817 0 0 0 52 43 Tomato -0.908 1.088 3.042 0 0 0 52 44 DishSponge -3.593 0.112 1.978 0 0 0 73 45 Spoon -0.168 1.048 2.144 0 0 0 52 46 Mug -0.203 1.223 0.410 0 0 0 75 47 StoveKnob -3.322 1.053 0.709 45 0 0 48 StoveBurner -3.474 1.097 0.227 0 180 0 49 Sink -1.394 0.982 0.439 0 0 0 50 StoveBurner -3.474 1.097 0.479 0 180 0 51 StoveKnob -3.164 1.053 0.709 45 0 0 52 DiningTable -0.620 0.017 2.486 0 0 0 53 Drawer -2.043 0.608 0.594 0 0 0 54 Drawer -2.043 0.216 0.594 0 0 0 55 Drawer -2.498 0.216 0.594 0 0 0 56 Cabinet -1.001 0.393 0.734 0 0 0 57 StoveBurner -3.000 1.097 0.480 0 0 0 58 StoveKnob -3.492 1.053 0.709 45 0 0 59 CounterTop -3.856 1.160 0.379 0 0 0 60 Drawer -2.043 0.937 0.599 0 0 0 61 Drawer -2.509 0.937 0.599 0 0 0 62 CounterTop -2.280 1.160 0.379 0 0 0 63 StoveKnob -2.985 1.053 0.709 45 0 0 64 CounterTop -0.514 1.160 0.492 0 0 0 65 Drawer -2.498 0.608 0.594 0 0 0 66 StoveBurner -3.000 1.097 0.227 0 0 0 67 Cabinet -1.733 0.393 0.734 0 0 0 68 CoffeeMachine -0.153 1.038 3.193 0 270 0 69 Fridge -3.519 0.0 2.717 0 90 0 70 Window -1.394 1.924 0.014 90 0 0 71 Window -3.266 1.924 0.014 90 0 0 72 Toaster -0.225 1.038 2.865 0 270 0 73 GarbageCan -3.696 0.002 2.008 0 0 0 74 SinkBasin -1.389 0.921 0.428 0 0 0 75 Microwave -0.366 1.113 0.430 0 0 0 76 HousePlant -2.155 1.101 0.169 0 332.897 0 77 LightSwitch -2.584 1.299 3.5 0 180 0 78 Faucet -1.393 1.373 0.168 0 270 0 79 NorthWall 80 SouthWall 81 SouthWall
[ "STEP 1: turn to face the kitchen sink | STEP 2: pick up the glass next to the faucet on the sink edge | STEP 3: walk slightly right to face the counter to the right of the sink | STEP 4: put the glass on the counter to the right of the sink | STEP 5: walk left to face the cabinet below the sink | STEP 6: open the right cabinet door below the sink, pick up the glass inside the cabinet, close the door | STEP 7: walk slightly right to face the counter to the right of the sink | STEP 8: put the glass on the counter to the right of the sink above the other glass | END" ]
[ [ "STEP 1: turn to face the kitchen sink ", " STEP 2: pick up the glass next to the faucet on the sink edge ", " STEP 3: walk slightly right to face the counter to the right of the sink ", " STEP 4: put the glass on the counter to the right of the sink ", " STEP 5: walk left to face the cabinet below the sink ", " STEP 6: open the right cabinet door below the sink, pick up the glass inside the cabinet, close the door ", " STEP 7: walk slightly right to face the counter to the right of the sink ", " STEP 8: put the glass on the counter to the right of the sink above the other glass ", " END" ] ]
seen
trial_T20190908_095215_349573-2
Put two glasses 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 1.0 0 0 0 1 Potato -0.168 1.077 1.920 0 0 0 52 2 Potato -3.44 0.942 3.203 0 90 0 69 3 Ladle -1.199 0.970 0.359 0 0 0 74 4 DishSponge -0.659 1.124 0.659 0 0 0 64 5 ButterKnife -2.388 1.124 0.190 0 0 0 62 6 Fork -0.538 1.048 2.817 0 0 0 52 7 Spatula -2.137 1.139 0.662 0 0 0 62 8 Egg -1.288 0.961 0.221 0 0 0 74 9 Egg -1.663 1.184 0.095 0 0 0 49 10 Cup -3.44 1.284 2.849 0 90 0 69 11 Cup -1.288 0.929 0.567 0 0 0 74 12 Cup -1.568 1.151 0.095 0 0 0 49 13 Plate -1.601 0.047 0.381 0 0 0 67 14 Plate -0.908 1.045 2.593 0 0 0 52 15 Knife -0.715 1.157 0.569 0 0 0 64 16 Knife -0.662 1.079 1.920 0 0 0 52 17 Tomato -0.538 1.087 2.369 0 0 0 52 18 Tomato -0.908 1.087 2.144 0 0 0 52 19 Bowl -3.506 1.558 2.849 0 90 0 69 20 Bowl -2.639 1.122 0.473 0 0 0 62 21 PepperShaker -2.370 0.898 0.612 0 0 0 61 22 PepperShaker -2.089 0.483 0.512 0 0 0 53 23 Bread -0.785 1.133 3.266 0 0 0 52 24 Apple -0.785 1.115 1.920 0 0 0 52 25 Fork -1.288 0.932 0.359 0 90 0 74 26 SoapBottle -3.814 1.125 0.662 0 0 0 59 27 Pot -3.475 1.133 0.227 0 90 0 48 28 Ladle -3.778 1.164 0.190 0 90 0 59 29 Potato -0.309 1.243 0.377 0 0 0 75 30 Plate -0.415 1.045 2.144 0 0 0 52 31 Bread -0.662 1.134 3.042 0 0 0 52 32 Lettuce -2.011 1.202 0.473 0 0 0 62 33 Spatula -0.538 1.063 2.144 0 0 0 52 34 Pan -0.266 1.038 2.561 0 0 0 52 35 Egg -1.553 0.961 0.428 0 0 0 74 36 Cup -1.522 0.047 0.551 0 0 0 67 37 SaltShaker -1.995 0.484 0.545 0 0 0 53 38 Knife -0.662 1.080 2.369 0 0 0 52 39 Bowl -1.195 0.047 0.381 0 0 0 56 40 PepperShaker -0.827 1.121 0.659 0 0 0 64 41 ButterKnife -1.465 0.931 0.498 0 0 0 74 42 Apple -0.785 1.114 2.817 0 0 0 52 43 Tomato -0.908 1.088 3.042 0 0 0 52 44 DishSponge -3.593 0.112 1.978 0 0 0 73 45 Spoon -0.168 1.048 2.144 0 0 0 52 46 Mug -0.203 1.223 0.410 0 0 0 75 47 StoveKnob -3.322 1.053 0.709 45 0 0 48 StoveBurner -3.474 1.097 0.227 0 180 0 49 Sink -1.394 0.982 0.439 0 0 0 50 StoveBurner -3.474 1.097 0.479 0 180 0 51 StoveKnob -3.164 1.053 0.709 45 0 0 52 DiningTable -0.620 0.017 2.486 0 0 0 53 Drawer -2.043 0.608 0.594 0 0 0 54 Drawer -2.043 0.216 0.594 0 0 0 55 Drawer -2.498 0.216 0.594 0 0 0 56 Cabinet -1.001 0.393 0.734 0 0 0 57 StoveBurner -3.000 1.097 0.480 0 0 0 58 StoveKnob -3.492 1.053 0.709 45 0 0 59 CounterTop -3.856 1.160 0.379 0 0 0 60 Drawer -2.043 0.937 0.599 0 0 0 61 Drawer -2.509 0.937 0.599 0 0 0 62 CounterTop -2.280 1.160 0.379 0 0 0 63 StoveKnob -2.985 1.053 0.709 45 0 0 64 CounterTop -0.514 1.160 0.492 0 0 0 65 Drawer -2.498 0.608 0.594 0 0 0 66 StoveBurner -3.000 1.097 0.227 0 0 0 67 Cabinet -1.733 0.393 0.734 0 0 0 68 CoffeeMachine -0.153 1.038 3.193 0 270 0 69 Fridge -3.519 0.0 2.717 0 90 0 70 Window -1.394 1.924 0.014 90 0 0 71 Window -3.266 1.924 0.014 90 0 0 72 Toaster -0.225 1.038 2.865 0 270 0 73 GarbageCan -3.696 0.002 2.008 0 0 0 74 SinkBasin -1.389 0.921 0.428 0 0 0 75 Microwave -0.366 1.113 0.430 0 0 0 76 HousePlant -2.155 1.101 0.169 0 332.897 0 77 LightSwitch -2.584 1.299 3.5 0 180 0 78 Faucet -1.393 1.373 0.168 0 270 0 79 NorthWall 80 SouthWall 81 SouthWall
[ "STEP 1: Turn around and go to the sink. | STEP 2: Pick up the glass, to the right of the faucet, on the back of the sink. | STEP 3: Move over to the counter top to the right of the sink. | STEP 4: Set the glass down near the edge of the counter, to the right of the sink. | STEP 5: Move back over to your left so that you are in front of the sink again. | STEP 6: Pull out a glass from the right cabinet, underneath the sink. | STEP 7: Move back over to the counter top, to the right of the sink. | STEP 8: Place the glass on the counter, behind the other one previously put there. | END" ]
[ [ "STEP 1: Turn around and go to the sink. ", " STEP 2: Pick up the glass, to the right of the faucet, on the back of the sink. ", " STEP 3: Move over to the counter top to the right of the sink. ", " STEP 4: Set the glass down near the edge of the counter, to the right of the sink. ", " STEP 5: Move back over to your left so that you are in front of the sink again. ", " STEP 6: Pull out a glass from the right cabinet, underneath the sink. ", " STEP 7: Move back over to the counter top, to the right of the sink. ", " STEP 8: Place the glass on the counter, behind the other one previously put there. ", " END" ] ]
seen
trial_T20190909_095542_548585-0
Put a heated white mug in a cabinet.
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0.420", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -1.133", " 0.706", " 0.418", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -2.589", " 0.703", " 1.511", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.772", " 1.803", " 0.508", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.460", " 1.803", " 0.231", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.781", " 1.798", " 0.825", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.781", " 1.798", " 0.815", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "64", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "65", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "66", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "67", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "68", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "69", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "70", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "71", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "72", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "73", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "75", " LightSwitch", " -0.615", " 1.378", " 3.0", " 0", " 180", " 0", "" ], [ "76", " Faucet", " -1.686", " 0.954", " 0.176", " 0", " 236.223", " 0", "" ], [ "77", " Stool", " -1.008", " 0.008", " 1.955", " 0", " 18.279", " 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 -1.75 0.900 2.25 0 0 0 1 Pan -0.244 0.829 1.684 0 0 0 45 2 DishSponge -1.133 0.698 0.377 0 0 0 50 3 ButterKnife -2.658 0.823 0.789 0 0 0 46 4 Fork -1.876 0.824 0.528 0 0 0 46 5 Spoon -0.363 0.698 0.912 0 90 0 48 6 Spoon -0.916 0.712 0.378 0 90 0 49 7 Egg -1.542 0.847 0.539 0 0 0 46 8 Egg -2.726 1.167 2.221 0 90 0 64 9 Cup -2.782 1.144 2.485 0 90 0 64 10 Tomato -2.375 0.873 0.500 0 0 0 46 11 SoapBottle -2.714 1.432 0.168 0 45 0 52 12 Bowl -2.781 1.442 2.133 0 90 0 64 13 SaltShaker -2.375 0.818 0.278 0 0 0 46 14 SaltShaker -2.957 0.818 0.055 0 0 0 46 15 PepperShaker -2.581 0.818 0.953 0 0 0 46 16 PepperShaker -0.477 0.818 0.658 0 0 0 46 17 Mug -2.840 0.818 0.129 0 0 0 46 18 Apple -2.837 1.216 2.221 0 90 0 64 19 Fork -2.496 0.692 1.547 0 270 0 51 20 Ladle -2.540 1.893 2.420 0 0 0 56 21 Pan -0.244 0.829 2.075 0 180 0 41 22 SoapBottle -0.295 0.054 2.539 0 0 0 66 23 Pot -0.531 0.822 2.096 0 0 0 43 24 Tomato -0.169 0.873 0.992 0 0 0 46 25 Potato -0.329 0.095 2.640 0 0 0 66 26 SaltShaker -2.687 0.116 1.392 0 0 0 57 27 Plate -2.781 1.148 2.045 0 90 0 64 28 Spatula -0.341 0.696 1.194 0 45 0 42 29 Knife -1.709 0.849 0.528 0 0 0 46 30 Egg -0.429 0.080 2.606 0 0 0 66 31 Cup -2.837 0.825 1.957 0 90 0 64 32 ButterKnife -2.493 0.812 0.476 0 50.734 0 46 33 Lettuce -1.836 0.741 0.238 0 55.910 0 73 34 PepperShaker -2.957 0.818 0.426 0 0 0 46 35 DishSponge -1.151 0.823 0.055 0 0 0 46 36 Bread -0.979 0.855 0.249 0 29.999 0 46 37 Spoon -0.817 0.824 0.278 0 90 0 46 38 Mug -2.905 1.429 1.480 0 90 0 54 39 Bowl -2.782 0.821 2.221 0 90 0 64 40 Cabinet -2.377 2.015 1.720 0 0 0 41 StoveBurner -0.244 0.820 2.075 0 180 0 42 Drawer -0.402 0.703 1.252 0 0 0 43 StoveBurner -0.518 0.820 2.075 0 180 0 44 Sink -1.838 0.726 0.343 0 180 0 45 StoveBurner -0.244 0.820 1.684 0 0 0 46 CounterTop -1.557 0.859 0.277 0 0 0 47 StoveBurner -0.518 0.820 1.684 0 0 0 48 Drawer -0.404 0.704 0.912 0 0 0 49 Drawer -0.861 0.709 0.420 0 0 0 50 Drawer -1.133 0.706 0.418 0 0 0 51 Drawer -2.589 0.703 1.511 0 0 0 52 Cabinet -2.772 1.803 0.508 0 0 0 53 Cabinet -2.460 1.803 0.231 0 0 0 54 Cabinet -2.781 1.798 0.825 0 0 0 55 Cabinet -2.781 1.798 0.815 0 0 0 56 Cabinet -2.377 2.009 2.581 0 0 0 57 Cabinet -2.442 0.385 1.672 0 0 0 58 Cabinet -2.238 0.385 0.564 0 0 0 59 Cabinet -1.286 0.385 0.564 0 0 0 60 Cabinet -1.262 0.385 0.565 0 0 0 61 Cabinet -0.734 0.385 0.565 0 0 0 62 Cabinet -0.549 0.385 0.751 0 0 0 63 Cabinet -0.549 0.385 1.412 0 0 0 64 Fridge -2.782 0.0 2.221 0 0 0 65 Microwave -2.794 0.812 1.348 0 90 0 66 GarbageCan -0.329 2.205 2.606 0 0 0 67 StoveKnob -0.069 0.998 1.773 0 180 107.470 68 StoveKnob -0.069 0.998 1.613 0 180 107.470 69 StoveKnob -0.069 0.998 2.171 0 180 107.470 70 StoveKnob -0.069 0.998 2.024 0 180 107.470 71 Window -1.720 1.342 -0.208 90 0 0 72 Toaster -0.171 0.812 0.735 0 270 0 73 SinkBasin -1.745 0.687 0.295 0 0 0 74 CoffeeMachine -0.539 0.812 0.185 0 0 0 75 LightSwitch -0.615 1.378 3.0 0 180 0 76 Faucet -1.686 0.954 0.176 0 236.223 0 77 Stool -1.008 0.008 1.955 0 18.279 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn around and walk towards the sink, then turn right and walk up to the microwave and look up at the upper cabinets. | STEP 2: Open the cabinet door above the microwave and pick up the white mug from out of the cabinet, then close the door. | STEP 3: Walk up to the microwave. | STEP 4: Open the microwave and put the mug inside then close the door and turn on the microwave, after a couple seconds open the microwave back up and remove the now heated mug then close the microwave. | STEP 5: Look back up at the cabinets above the microwave. | STEP 6: Open the upper cabinet above the microwave and put the heated white mug inside, then close the cabinet doors. | END" ]
[ [ "STEP 1: Turn around and walk towards the sink, then turn right and walk up to the microwave and look up at the upper cabinets. ", " STEP 2: Open the cabinet door above the microwave and pick up the white mug from out of the cabinet, then close the door. ", " STEP 3: Walk up to the microwave. ", " STEP 4: Open the microwave and put the mug inside then close the door and turn on the microwave, after a couple seconds open the microwave back up and remove the now heated mug then close the microwave. ", " STEP 5: Look back up at the cabinets above the microwave. ", " STEP 6: Open the upper cabinet above the microwave and put the heated white mug inside, then close the cabinet doors. ", " END" ] ]
seen
trial_T20190909_095542_548585-1
Heat the cup and put it back in the cabinet.
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-2.714", " 1.432", " 0.168", " 0", " 45", " 0", " 52" ], [ "12", " Bowl", " -2.781", " 1.442", " 2.133", " 0", " 90", " 0", " 64" ], [ "13", " SaltShaker", " -2.375", " 0.818", " 0.278", " 0", " 0", " 0", " 46" ], [ "14", " SaltShaker", " -2.957", " 0.818", " 0.055", " 0", " 0", " 0", " 46" ], [ "15", " PepperShaker", " -2.581", " 0.818", " 0.953", " 0", " 0", " 0", " 46" ], [ "16", " PepperShaker", " -0.477", " 0.818", " 0.658", " 0", " 0", " 0", " 46" ], [ "17", " Mug", " -2.840", " 0.818", " 0.129", " 0", " 0", " 0", " 46" ], [ "18", " Apple", " -2.837", " 1.216", " 2.221", " 0", " 90", " 0", " 64" ], [ "19", " Fork", " -2.496", " 0.692", " 1.547", " 0", " 270", " 0", " 51" ], [ "20", " Ladle", " -2.540", " 1.893", " 2.420", " 0", " 0", " 0", " 56" ], [ "21", " Pan", " -0.244", " 0.829", " 2.075", " 0", " 180", " 0", " 41" ], [ "22", " SoapBottle", " -0.295", " 0.054", " 2.539", " 0", " 0", " 0", " 66" ], [ "23", " Pot", " -0.531", " 0.822", " 2.096", " 0", " 0", " 0", " 43" ], [ "24", " Tomato", " -0.169", " 0.873", " 0.992", " 0", " 0", " 0", " 46" ], [ "25", " Potato", " -0.329", " 0.095", " 2.640", " 0", " 0", " 0", " 66" ], [ "26", " SaltShaker", " -2.687", " 0.116", " 1.392", " 0", " 0", " 0", " 57" ], [ "27", " Plate", " -2.781", " 1.148", " 2.045", " 0", " 90", " 0", " 64" ], [ "28", " Spatula", " -0.341", " 0.696", " 1.194", " 0", " 45", " 0", " 42" ], [ "29", " Knife", " -1.709", " 0.849", " 0.528", " 0", " 0", " 0", " 46" ], [ "30", " Egg", " -0.429", " 0.080", " 2.606", " 0", " 0", " 0", " 66" ], [ "31", " Cup", " -2.837", " 0.825", " 1.957", " 0", " 90", " 0", " 64" ], [ "32", " ButterKnife", " -2.493", " 0.812", " 0.476", " 0", " 50.734", " 0", " 46" ], [ "33", " Lettuce", " -1.836", " 0.741", " 0.238", " 0", " 55.910", " 0", " 73" ], [ "34", " PepperShaker", " -2.957", " 0.818", " 0.426", " 0", " 0", " 0", " 46" ], [ "35", " DishSponge", " -1.151", " 0.823", " 0.055", " 0", " 0", " 0", " 46" ], [ "36", " Bread", " -0.979", " 0.855", " 0.249", " 0", " 29.999", " 0", " 46" ], [ "37", " Spoon", " -0.817", " 0.824", " 0.278", " 0", " 90", " 0", " 46" ], [ "38", " Mug", " -2.905", " 1.429", " 1.480", " 0", " 90", " 0", " 54" ], [ "39", " Bowl", " -2.782", " 0.821", " 2.221", " 0", " 90", " 0", " 64" ], [ "40", " Cabinet", " -2.377", " 2.015", " 1.720", " 0", " 0", " 0", "" ], [ "41", " StoveBurner", " -0.244", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "42", " Drawer", " -0.402", " 0.703", " 1.252", " 0", " 0", " 0", "" ], [ "43", " StoveBurner", " -0.518", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "44", " Sink", " -1.838", " 0.726", " 0.343", " 0", " 180", " 0", "" ], [ "45", " StoveBurner", " -0.244", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "46", " CounterTop", " -1.557", " 0.859", " 0.277", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -0.518", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "48", " Drawer", " -0.404", " 0.704", " 0.912", " 0", " 0", " 0", "" ], [ "49", " Drawer", " -0.861", " 0.709", " 0.420", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -1.133", " 0.706", " 0.418", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -2.589", " 0.703", " 1.511", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.772", " 1.803", " 0.508", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.460", " 1.803", " 0.231", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.781", " 1.798", " 0.825", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.781", " 1.798", " 0.815", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "64", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "65", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "66", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "67", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "68", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "69", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "70", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "71", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "72", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "73", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "75", " LightSwitch", " -0.615", " 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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 2.25 0 0 0 1 Pan -0.244 0.829 1.684 0 0 0 45 2 DishSponge -1.133 0.698 0.377 0 0 0 50 3 ButterKnife -2.658 0.823 0.789 0 0 0 46 4 Fork -1.876 0.824 0.528 0 0 0 46 5 Spoon -0.363 0.698 0.912 0 90 0 48 6 Spoon -0.916 0.712 0.378 0 90 0 49 7 Egg -1.542 0.847 0.539 0 0 0 46 8 Egg -2.726 1.167 2.221 0 90 0 64 9 Cup -2.782 1.144 2.485 0 90 0 64 10 Tomato -2.375 0.873 0.500 0 0 0 46 11 SoapBottle -2.714 1.432 0.168 0 45 0 52 12 Bowl -2.781 1.442 2.133 0 90 0 64 13 SaltShaker -2.375 0.818 0.278 0 0 0 46 14 SaltShaker -2.957 0.818 0.055 0 0 0 46 15 PepperShaker -2.581 0.818 0.953 0 0 0 46 16 PepperShaker -0.477 0.818 0.658 0 0 0 46 17 Mug -2.840 0.818 0.129 0 0 0 46 18 Apple -2.837 1.216 2.221 0 90 0 64 19 Fork -2.496 0.692 1.547 0 270 0 51 20 Ladle -2.540 1.893 2.420 0 0 0 56 21 Pan -0.244 0.829 2.075 0 180 0 41 22 SoapBottle -0.295 0.054 2.539 0 0 0 66 23 Pot -0.531 0.822 2.096 0 0 0 43 24 Tomato -0.169 0.873 0.992 0 0 0 46 25 Potato -0.329 0.095 2.640 0 0 0 66 26 SaltShaker -2.687 0.116 1.392 0 0 0 57 27 Plate -2.781 1.148 2.045 0 90 0 64 28 Spatula -0.341 0.696 1.194 0 45 0 42 29 Knife -1.709 0.849 0.528 0 0 0 46 30 Egg -0.429 0.080 2.606 0 0 0 66 31 Cup -2.837 0.825 1.957 0 90 0 64 32 ButterKnife -2.493 0.812 0.476 0 50.734 0 46 33 Lettuce -1.836 0.741 0.238 0 55.910 0 73 34 PepperShaker -2.957 0.818 0.426 0 0 0 46 35 DishSponge -1.151 0.823 0.055 0 0 0 46 36 Bread -0.979 0.855 0.249 0 29.999 0 46 37 Spoon -0.817 0.824 0.278 0 90 0 46 38 Mug -2.905 1.429 1.480 0 90 0 54 39 Bowl -2.782 0.821 2.221 0 90 0 64 40 Cabinet -2.377 2.015 1.720 0 0 0 41 StoveBurner -0.244 0.820 2.075 0 180 0 42 Drawer -0.402 0.703 1.252 0 0 0 43 StoveBurner -0.518 0.820 2.075 0 180 0 44 Sink -1.838 0.726 0.343 0 180 0 45 StoveBurner -0.244 0.820 1.684 0 0 0 46 CounterTop -1.557 0.859 0.277 0 0 0 47 StoveBurner -0.518 0.820 1.684 0 0 0 48 Drawer -0.404 0.704 0.912 0 0 0 49 Drawer -0.861 0.709 0.420 0 0 0 50 Drawer -1.133 0.706 0.418 0 0 0 51 Drawer -2.589 0.703 1.511 0 0 0 52 Cabinet -2.772 1.803 0.508 0 0 0 53 Cabinet -2.460 1.803 0.231 0 0 0 54 Cabinet -2.781 1.798 0.825 0 0 0 55 Cabinet -2.781 1.798 0.815 0 0 0 56 Cabinet -2.377 2.009 2.581 0 0 0 57 Cabinet -2.442 0.385 1.672 0 0 0 58 Cabinet -2.238 0.385 0.564 0 0 0 59 Cabinet -1.286 0.385 0.564 0 0 0 60 Cabinet -1.262 0.385 0.565 0 0 0 61 Cabinet -0.734 0.385 0.565 0 0 0 62 Cabinet -0.549 0.385 0.751 0 0 0 63 Cabinet -0.549 0.385 1.412 0 0 0 64 Fridge -2.782 0.0 2.221 0 0 0 65 Microwave -2.794 0.812 1.348 0 90 0 66 GarbageCan -0.329 2.205 2.606 0 0 0 67 StoveKnob -0.069 0.998 1.773 0 180 107.470 68 StoveKnob -0.069 0.998 1.613 0 180 107.470 69 StoveKnob -0.069 0.998 2.171 0 180 107.470 70 StoveKnob -0.069 0.998 2.024 0 180 107.470 71 Window -1.720 1.342 -0.208 90 0 0 72 Toaster -0.171 0.812 0.735 0 270 0 73 SinkBasin -1.745 0.687 0.295 0 0 0 74 CoffeeMachine -0.539 0.812 0.185 0 0 0 75 LightSwitch -0.615 1.378 3.0 0 180 0 76 Faucet -1.686 0.954 0.176 0 236.223 0 77 Stool -1.008 0.008 1.955 0 18.279 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Walk over to the microwave. | STEP 2: Grab the cup out of the cabinet. | STEP 3: Heat the cup in the microwave. | STEP 4: Grab the cup back. | STEP 5: Head back to the cabinet. | STEP 6: Place the cup back in the cabinet. | END" ]
[ [ "STEP 1: Walk over to the microwave. ", " STEP 2: Grab the cup out of the cabinet. ", " STEP 3: Heat the cup in the microwave. ", " STEP 4: Grab the cup back. ", " STEP 5: Head back to the cabinet. ", " STEP 6: Place the cup back in the cabinet. ", " END" ] ]
seen
trial_T20190909_095542_548585-2
Putting a hot mug in a cabinet
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"" ], [ "63", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "64", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "65", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "66", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "67", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "68", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "69", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "70", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "71", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "72", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "73", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "74", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "75", " LightSwitch", " -0.615", " 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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 2.25 0 0 0 1 Pan -0.244 0.829 1.684 0 0 0 45 2 DishSponge -1.133 0.698 0.377 0 0 0 50 3 ButterKnife -2.658 0.823 0.789 0 0 0 46 4 Fork -1.876 0.824 0.528 0 0 0 46 5 Spoon -0.363 0.698 0.912 0 90 0 48 6 Spoon -0.916 0.712 0.378 0 90 0 49 7 Egg -1.542 0.847 0.539 0 0 0 46 8 Egg -2.726 1.167 2.221 0 90 0 64 9 Cup -2.782 1.144 2.485 0 90 0 64 10 Tomato -2.375 0.873 0.500 0 0 0 46 11 SoapBottle -2.714 1.432 0.168 0 45 0 52 12 Bowl -2.781 1.442 2.133 0 90 0 64 13 SaltShaker -2.375 0.818 0.278 0 0 0 46 14 SaltShaker -2.957 0.818 0.055 0 0 0 46 15 PepperShaker -2.581 0.818 0.953 0 0 0 46 16 PepperShaker -0.477 0.818 0.658 0 0 0 46 17 Mug -2.840 0.818 0.129 0 0 0 46 18 Apple -2.837 1.216 2.221 0 90 0 64 19 Fork -2.496 0.692 1.547 0 270 0 51 20 Ladle -2.540 1.893 2.420 0 0 0 56 21 Pan -0.244 0.829 2.075 0 180 0 41 22 SoapBottle -0.295 0.054 2.539 0 0 0 66 23 Pot -0.531 0.822 2.096 0 0 0 43 24 Tomato -0.169 0.873 0.992 0 0 0 46 25 Potato -0.329 0.095 2.640 0 0 0 66 26 SaltShaker -2.687 0.116 1.392 0 0 0 57 27 Plate -2.781 1.148 2.045 0 90 0 64 28 Spatula -0.341 0.696 1.194 0 45 0 42 29 Knife -1.709 0.849 0.528 0 0 0 46 30 Egg -0.429 0.080 2.606 0 0 0 66 31 Cup -2.837 0.825 1.957 0 90 0 64 32 ButterKnife -2.493 0.812 0.476 0 50.734 0 46 33 Lettuce -1.836 0.741 0.238 0 55.910 0 73 34 PepperShaker -2.957 0.818 0.426 0 0 0 46 35 DishSponge -1.151 0.823 0.055 0 0 0 46 36 Bread -0.979 0.855 0.249 0 29.999 0 46 37 Spoon -0.817 0.824 0.278 0 90 0 46 38 Mug -2.905 1.429 1.480 0 90 0 54 39 Bowl -2.782 0.821 2.221 0 90 0 64 40 Cabinet -2.377 2.015 1.720 0 0 0 41 StoveBurner -0.244 0.820 2.075 0 180 0 42 Drawer -0.402 0.703 1.252 0 0 0 43 StoveBurner -0.518 0.820 2.075 0 180 0 44 Sink -1.838 0.726 0.343 0 180 0 45 StoveBurner -0.244 0.820 1.684 0 0 0 46 CounterTop -1.557 0.859 0.277 0 0 0 47 StoveBurner -0.518 0.820 1.684 0 0 0 48 Drawer -0.404 0.704 0.912 0 0 0 49 Drawer -0.861 0.709 0.420 0 0 0 50 Drawer -1.133 0.706 0.418 0 0 0 51 Drawer -2.589 0.703 1.511 0 0 0 52 Cabinet -2.772 1.803 0.508 0 0 0 53 Cabinet -2.460 1.803 0.231 0 0 0 54 Cabinet -2.781 1.798 0.825 0 0 0 55 Cabinet -2.781 1.798 0.815 0 0 0 56 Cabinet -2.377 2.009 2.581 0 0 0 57 Cabinet -2.442 0.385 1.672 0 0 0 58 Cabinet -2.238 0.385 0.564 0 0 0 59 Cabinet -1.286 0.385 0.564 0 0 0 60 Cabinet -1.262 0.385 0.565 0 0 0 61 Cabinet -0.734 0.385 0.565 0 0 0 62 Cabinet -0.549 0.385 0.751 0 0 0 63 Cabinet -0.549 0.385 1.412 0 0 0 64 Fridge -2.782 0.0 2.221 0 0 0 65 Microwave -2.794 0.812 1.348 0 90 0 66 GarbageCan -0.329 2.205 2.606 0 0 0 67 StoveKnob -0.069 0.998 1.773 0 180 107.470 68 StoveKnob -0.069 0.998 1.613 0 180 107.470 69 StoveKnob -0.069 0.998 2.171 0 180 107.470 70 StoveKnob -0.069 0.998 2.024 0 180 107.470 71 Window -1.720 1.342 -0.208 90 0 0 72 Toaster -0.171 0.812 0.735 0 270 0 73 SinkBasin -1.745 0.687 0.295 0 0 0 74 CoffeeMachine -0.539 0.812 0.185 0 0 0 75 LightSwitch -0.615 1.378 3.0 0 180 0 76 Faucet -1.686 0.954 0.176 0 236.223 0 77 Stool -1.008 0.008 1.955 0 18.279 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn around and look at the cabinet above the microwave | STEP 2: Grab the mug out of the cabinet | STEP 3: Move slightly to the left | STEP 4: Heat the mug in the microwave and then take it out | STEP 5: Look up at the cabinets | STEP 6: Put the mug in the cabinet | END" ]
[ [ "STEP 1: Turn around and look at the cabinet above the microwave ", " STEP 2: Grab the mug out of the cabinet ", " STEP 3: Move slightly to the left ", " STEP 4: Heat the mug in the microwave and then take it out ", " STEP 5: Look up at the cabinets ", " STEP 6: Put the mug in the cabinet ", " END" ] ]
seen
trial_T20190909_030942_940057-0
turn on living room lamp with keys in hand
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CellPhone", " -1.545", " 0.456", " 4.464", " 0", " 0", " 0", " 70" ], [ "12", " WateringCan", " -3.580", " 0.003", " 5.507", " 2.684", " 0", " 0", " Floor|-04.41|" ], [ "13", " KeyChain", " -4.129", " 1.269", " 0.621", " 0", " 0", " 0", " 26" ], [ "14", " Vase", " -4.242", " 0.789", " 1.181", " 0", " 0", " 0", " 29" ], [ "15", " Vase", " -4.228", " 0.789", " 0.756", " 0", " 0", " 0", " 29" ], [ "16", " Laptop", " -1.663", " 0.387", " 5.916", " 0", " 180", " 0", " 59" ], [ "17", " Pillow", " -3.585", " 0.451", " 4.682", " 0", " 90", " 0", " 60" ], [ "18", " RemoteControl", " -2.246", " 0.454", " 4.464", " 0", " 0", " 0", " 70" ], [ "19", " CreditCard", " -1.685", " 0.452", " 4.048", " 0", " 0", " 0", " 70" ], [ "20", " Vase", " -4.225", " 0.789", " 0.382", " 0", " 0", " 0", " 29" ], [ "21", " Statue", " -4.223", " 1.263", " 0.399", " 0", " 0", " 0", " 26" ], [ "22", " Statue", " -2.246", " 0.462", " 3.771", " 0", " 0", " 0", " 70" ], [ "23", " Statue", " -1.965", " 0.554", " 4.602", " 0", " 0", " 0", " 70" ], [ "24", " Shelf", " -4.253", " 2.157", " 0.771", " 0", " 0", " 0", "" ], [ "25", " Painting", " -3.368", " 1.741", " -0.298", " 0", " 0", " 0", "" ], [ "26", " Shelf", " -4.253", " 1.306", " 0.771", " 0", " 0", " 0", "" ], [ "27", " Painting", " -1.756", " 1.424", " -3.595", " 0", " 0", " 0", "" ], [ "28", " Shelf", " -4.253", " 1.690", " 0.771", " 0", " 0", " 0", "" ], [ "29", " Shelf", " -4.261", " 0.833", " 0.771", " 0", " 0", " 0", "" ], [ "30", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "31", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "33", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "34", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "35", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "36", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "37", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "38", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "39", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "40", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "41", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "42", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "43", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "44", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "45", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "46", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "47", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "48", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "49", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "50", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "51", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "52", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "53", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "54", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "55", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "56", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "57", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "58", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "59", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "60", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "61", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "62", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "63", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "64", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "65", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "66", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "67", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "68", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "69", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "70", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "71", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "72", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.902 5.25 0 180 0 1 CellPhone -1.545 0.456 4.187 0 0 0 70 2 CreditCard -3.381 0.394 3.881 0 90 0 60 3 RemoteControl -0.355 0.742 1.495 0 0 0 36 4 RemoteControl -1.329 0.656 -2.329 0 0 0 57 5 Box -1.783 0.945 -2.202 0 0 0 57 6 Box -2.414 0.679 5.826 0 180 0 59 7 Laptop -0.108 0.739 1.202 0 0 0 36 8 Laptop -2.700 0.316 2.539 0 0 0 67 9 Box -0.601 1.031 1.105 0 180 0 36 10 Vase -1.329 0.664 -2.074 0 0 0 57 11 CellPhone -1.545 0.456 4.464 0 0 0 70 12 WateringCan -3.580 0.003 5.507 2.684 0 0 Floor|-04.41| 13 KeyChain -4.129 1.269 0.621 0 0 0 26 14 Vase -4.242 0.789 1.181 0 0 0 29 15 Vase -4.228 0.789 0.756 0 0 0 29 16 Laptop -1.663 0.387 5.916 0 180 0 59 17 Pillow -3.585 0.451 4.682 0 90 0 60 18 RemoteControl -2.246 0.454 4.464 0 0 0 70 19 CreditCard -1.685 0.452 4.048 0 0 0 70 20 Vase -4.225 0.789 0.382 0 0 0 29 21 Statue -4.223 1.263 0.399 0 0 0 26 22 Statue -2.246 0.462 3.771 0 0 0 70 23 Statue -1.965 0.554 4.602 0 0 0 70 24 Shelf -4.253 2.157 0.771 0 0 0 25 Painting -3.368 1.741 -0.298 0 0 0 26 Shelf -4.253 1.306 0.771 0 0 0 27 Painting -1.756 1.424 -3.595 0 0 0 28 Shelf -4.253 1.690 0.771 0 0 0 29 Shelf -4.261 0.833 0.771 0 0 0 30 Drawer 0.411 0.581 1.221 0 180 0 31 Drawer -0.000 0.170 1.221 0 180 0 32 Drawer -0.000 0.581 1.221 0 180 0 33 Drawer 0.411 0.375 1.221 0 180 0 34 Drawer 0.411 0.170 1.221 0 180 0 35 Drawer -0.000 0.375 1.221 0 180 0 36 Desk -0.352 0.003 1.371 0 180 0 37 FloorLamp 0.391 -0.001 5.157 0 0 0 38 Window -2.828 0.470 -0.157 90 199.328 0 39 Window -4.410 1.702 1.787 90 270 0 40 Window -3.638 1.702 6.735 90 0 0 41 Window -4.410 1.702 2.790 90 270 0 42 Window -2.827 1.702 -0.157 90 199.328 0 43 Window -0.131 1.702 6.735 90 0 0 44 Window -1.013 1.702 -0.154 90 159.633 0 45 Window -4.410 1.702 5.980 90 270 0 46 Television -0.153 1.176 5.790 0 225 0 47 GarbageCan 0.357 0.003 2.159 0 90 0 48 DeskLamp 0.277 0.735 1.381 0 0 0 49 HousePlant -1.819 0.641 -2.011 0 315 0 50 LightSwitch -2.740 1.495 -0.405 0 180 0 51 TVStand -0.118 0.001 5.874 0 45 0 52 Chair -1.353 0.002 -2.872 0 349.207 0 53 Chair -2.220 0.002 -1.298 0 168.118 0 54 Chair -1.515 0.007 -1.331 358.639 187.454 0 55 Chair -2.189 0.002 -2.835 0 2.328 0 56 Safe 0.174 0.001 -0.071 0 323.940 0 57 DiningTable -1.783 0.003 -2.039 0 0 0 58 Chair -0.636 0.010 0.993 0 358.396 0 59 Sofa -2.161 0.006 6.115 0 180 0 60 Sofa -3.782 0.006 4.153 0 90 0 61 Shelf -1.095 0.607 1.321 0 180 0 62 Shelf -1.267 0.607 1.321 0 180 0 63 Shelf -1.267 0.401 1.321 0 180 0 64 Shelf -1.095 0.196 1.320 0 180 0 65 Shelf -1.095 0.401 1.321 0 180 0 66 Shelf -1.267 0.196 1.320 0 180 0 67 ArmChair -2.628 0.009 2.421 0 0 0 68 Chair -0.485 0.010 4.452 0 270 0 69 Chair -0.431 0.010 3.595 0 270 0 70 CoffeeTable -1.965 0.000 4.187 0 0 0 71 NorthWall 72 EastWall 73 SouthWall 74 WestWall
[ "STEP 1: walk to face shelves in living room | STEP 2: pick up keys from top shelf | STEP 3: walk over to lamp next to tv set | STEP 4: turn on lamp next to tv set | END" ]
[ [ "STEP 1: walk to face shelves in living room ", " STEP 2: pick up keys from top shelf ", " STEP 3: walk over to lamp next to tv set ", " STEP 4: turn on lamp next to tv set ", " END" ] ]
seen
trial_T20190909_030942_940057-1
examine keys with a lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.25", " 0.902", " 5.25", " 0", " 180", " 0", "" ], [ "1", " CellPhone", " -1.545", " 0.456", " 4.187", " 0", " 0", " 0", " 70" ], [ "2", " CreditCard", " -3.381", " 0.394", " 3.881", " 0", " 90", " 0", " 60" ], [ "3", " RemoteControl", " -0.355", " 0.742", " 1.495", " 0", " 0", " 0", " 36" ], [ "4", " RemoteControl", " -1.329", " 0.656", " -2.329", " 0", " 0", " 0", " 57" ], [ "5", " Box", " -1.783", " 0.945", " -2.202", " 0", " 0", " 0", " 57" ], [ "6", " Box", " -2.414", " 0.679", " 5.826", " 0", " 180", " 0", " 59" ], [ "7", " Laptop", " -0.108", " 0.739", " 1.202", " 0", " 0", " 0", " 36" ], [ "8", " Laptop", " -2.700", " 0.316", " 2.539", " 0", " 0", " 0", " 67" ], [ "9", " Box", " -0.601", " 1.031", " 1.105", " 0", " 180", " 0", " 36" ], [ "10", " Vase", " -1.329", " 0.664", " -2.074", " 0", " 0", " 0", " 57" ], [ "11", " CellPhone", " -1.545", " 0.456", " 4.464", " 0", " 0", " 0", " 70" ], [ "12", " WateringCan", " -3.580", " 0.003", " 5.507", " 2.684", " 0", " 0", " Floor|-04.41|" ], [ "13", " KeyChain", " -4.129", " 1.269", " 0.621", " 0", " 0", " 0", " 26" ], [ "14", " Vase", " -4.242", " 0.789", " 1.181", " 0", " 0", " 0", " 29" ], [ "15", " Vase", " -4.228", " 0.789", " 0.756", " 0", " 0", " 0", " 29" ], [ "16", " Laptop", " -1.663", " 0.387", " 5.916", " 0", " 180", " 0", " 59" ], [ "17", " Pillow", " -3.585", " 0.451", " 4.682", " 0", " 90", " 0", " 60" ], [ "18", " RemoteControl", " -2.246", " 0.454", " 4.464", " 0", " 0", " 0", " 70" ], [ "19", " CreditCard", " -1.685", " 0.452", " 4.048", " 0", " 0", " 0", " 70" ], [ "20", " Vase", " -4.225", " 0.789", " 0.382", " 0", " 0", " 0", " 29" ], [ "21", " Statue", " -4.223", " 1.263", " 0.399", " 0", " 0", " 0", " 26" ], [ "22", " Statue", " -2.246", " 0.462", " 3.771", " 0", " 0", " 0", " 70" ], [ "23", " Statue", " -1.965", " 0.554", " 4.602", " 0", " 0", " 0", " 70" ], [ "24", " Shelf", " -4.253", " 2.157", " 0.771", " 0", " 0", " 0", "" ], [ "25", " Painting", " -3.368", " 1.741", " -0.298", " 0", " 0", " 0", "" ], [ "26", " Shelf", " -4.253", " 1.306", " 0.771", " 0", " 0", " 0", "" ], [ "27", " Painting", " -1.756", " 1.424", " -3.595", " 0", " 0", " 0", "" ], [ "28", " Shelf", " -4.253", " 1.690", " 0.771", " 0", " 0", " 0", "" ], [ "29", " Shelf", " -4.261", " 0.833", " 0.771", " 0", " 0", " 0", "" ], [ "30", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "31", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "33", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "34", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "35", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "36", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "37", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "38", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "39", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "40", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "41", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "42", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "43", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "44", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "45", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "46", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "47", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "48", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "49", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "50", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "51", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "52", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "53", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "54", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "55", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "56", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "57", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "58", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "59", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "60", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "61", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "62", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "63", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "64", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "65", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "66", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "67", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "68", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "69", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "70", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "71", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "72", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.902 5.25 0 180 0 1 CellPhone -1.545 0.456 4.187 0 0 0 70 2 CreditCard -3.381 0.394 3.881 0 90 0 60 3 RemoteControl -0.355 0.742 1.495 0 0 0 36 4 RemoteControl -1.329 0.656 -2.329 0 0 0 57 5 Box -1.783 0.945 -2.202 0 0 0 57 6 Box -2.414 0.679 5.826 0 180 0 59 7 Laptop -0.108 0.739 1.202 0 0 0 36 8 Laptop -2.700 0.316 2.539 0 0 0 67 9 Box -0.601 1.031 1.105 0 180 0 36 10 Vase -1.329 0.664 -2.074 0 0 0 57 11 CellPhone -1.545 0.456 4.464 0 0 0 70 12 WateringCan -3.580 0.003 5.507 2.684 0 0 Floor|-04.41| 13 KeyChain -4.129 1.269 0.621 0 0 0 26 14 Vase -4.242 0.789 1.181 0 0 0 29 15 Vase -4.228 0.789 0.756 0 0 0 29 16 Laptop -1.663 0.387 5.916 0 180 0 59 17 Pillow -3.585 0.451 4.682 0 90 0 60 18 RemoteControl -2.246 0.454 4.464 0 0 0 70 19 CreditCard -1.685 0.452 4.048 0 0 0 70 20 Vase -4.225 0.789 0.382 0 0 0 29 21 Statue -4.223 1.263 0.399 0 0 0 26 22 Statue -2.246 0.462 3.771 0 0 0 70 23 Statue -1.965 0.554 4.602 0 0 0 70 24 Shelf -4.253 2.157 0.771 0 0 0 25 Painting -3.368 1.741 -0.298 0 0 0 26 Shelf -4.253 1.306 0.771 0 0 0 27 Painting -1.756 1.424 -3.595 0 0 0 28 Shelf -4.253 1.690 0.771 0 0 0 29 Shelf -4.261 0.833 0.771 0 0 0 30 Drawer 0.411 0.581 1.221 0 180 0 31 Drawer -0.000 0.170 1.221 0 180 0 32 Drawer -0.000 0.581 1.221 0 180 0 33 Drawer 0.411 0.375 1.221 0 180 0 34 Drawer 0.411 0.170 1.221 0 180 0 35 Drawer -0.000 0.375 1.221 0 180 0 36 Desk -0.352 0.003 1.371 0 180 0 37 FloorLamp 0.391 -0.001 5.157 0 0 0 38 Window -2.828 0.470 -0.157 90 199.328 0 39 Window -4.410 1.702 1.787 90 270 0 40 Window -3.638 1.702 6.735 90 0 0 41 Window -4.410 1.702 2.790 90 270 0 42 Window -2.827 1.702 -0.157 90 199.328 0 43 Window -0.131 1.702 6.735 90 0 0 44 Window -1.013 1.702 -0.154 90 159.633 0 45 Window -4.410 1.702 5.980 90 270 0 46 Television -0.153 1.176 5.790 0 225 0 47 GarbageCan 0.357 0.003 2.159 0 90 0 48 DeskLamp 0.277 0.735 1.381 0 0 0 49 HousePlant -1.819 0.641 -2.011 0 315 0 50 LightSwitch -2.740 1.495 -0.405 0 180 0 51 TVStand -0.118 0.001 5.874 0 45 0 52 Chair -1.353 0.002 -2.872 0 349.207 0 53 Chair -2.220 0.002 -1.298 0 168.118 0 54 Chair -1.515 0.007 -1.331 358.639 187.454 0 55 Chair -2.189 0.002 -2.835 0 2.328 0 56 Safe 0.174 0.001 -0.071 0 323.940 0 57 DiningTable -1.783 0.003 -2.039 0 0 0 58 Chair -0.636 0.010 0.993 0 358.396 0 59 Sofa -2.161 0.006 6.115 0 180 0 60 Sofa -3.782 0.006 4.153 0 90 0 61 Shelf -1.095 0.607 1.321 0 180 0 62 Shelf -1.267 0.607 1.321 0 180 0 63 Shelf -1.267 0.401 1.321 0 180 0 64 Shelf -1.095 0.196 1.320 0 180 0 65 Shelf -1.095 0.401 1.321 0 180 0 66 Shelf -1.267 0.196 1.320 0 180 0 67 ArmChair -2.628 0.009 2.421 0 0 0 68 Chair -0.485 0.010 4.452 0 270 0 69 Chair -0.431 0.010 3.595 0 270 0 70 CoffeeTable -1.965 0.000 4.187 0 0 0 71 NorthWall 72 EastWall 73 SouthWall 74 WestWall
[ "STEP 1: walk forward to black desk, turn right, take a step, turn left, walk forward, take a right, walk to shelves | STEP 2: pick up the keys that are on the shelf | STEP 3: turn around, walk forward, turn left before black desk, walk forward, turn right, walk to wall, turn left, walk to lamp, hold keys up | STEP 4: turn the lamp on | END" ]
[ [ "STEP 1: walk forward to black desk, turn right, take a step, turn left, walk forward, take a right, walk to shelves ", " STEP 2: pick up the keys that are on the shelf ", " STEP 3: turn around, walk forward, turn left before black desk, walk forward, turn right, walk to wall, turn left, walk to lamp, hold keys up ", " STEP 4: turn the lamp on ", " END" ] ]
seen
trial_T20190909_030942_940057-2
Grab the set of keys from the shelf and turn the lamp next to the TV on.
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CellPhone", " -1.545", " 0.456", " 4.464", " 0", " 0", " 0", " 70" ], [ "12", " WateringCan", " -3.580", " 0.003", " 5.507", " 2.684", " 0", " 0", " Floor|-04.41|" ], [ "13", " KeyChain", " -4.129", " 1.269", " 0.621", " 0", " 0", " 0", " 26" ], [ "14", " Vase", " -4.242", " 0.789", " 1.181", " 0", " 0", " 0", " 29" ], [ "15", " Vase", " -4.228", " 0.789", " 0.756", " 0", " 0", " 0", " 29" ], [ "16", " Laptop", " -1.663", " 0.387", " 5.916", " 0", " 180", " 0", " 59" ], [ "17", " Pillow", " -3.585", " 0.451", " 4.682", " 0", " 90", " 0", " 60" ], [ "18", " RemoteControl", " -2.246", " 0.454", " 4.464", " 0", " 0", " 0", " 70" ], [ "19", " CreditCard", " -1.685", " 0.452", " 4.048", " 0", " 0", " 0", " 70" ], [ "20", " Vase", " -4.225", " 0.789", " 0.382", " 0", " 0", " 0", " 29" ], [ "21", " Statue", " -4.223", " 1.263", " 0.399", " 0", " 0", " 0", " 26" ], [ "22", " Statue", " -2.246", " 0.462", " 3.771", " 0", " 0", " 0", " 70" ], [ "23", " Statue", " -1.965", " 0.554", " 4.602", " 0", " 0", " 0", " 70" ], [ "24", " Shelf", " -4.253", " 2.157", " 0.771", " 0", " 0", " 0", "" ], [ "25", " Painting", " -3.368", " 1.741", " -0.298", " 0", " 0", " 0", "" ], [ "26", " Shelf", " -4.253", " 1.306", " 0.771", " 0", " 0", " 0", "" ], [ "27", " Painting", " -1.756", " 1.424", " -3.595", " 0", " 0", " 0", "" ], [ "28", " Shelf", " -4.253", " 1.690", " 0.771", " 0", " 0", " 0", "" ], [ "29", " Shelf", " -4.261", " 0.833", " 0.771", " 0", " 0", " 0", "" ], [ "30", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "31", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "33", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "34", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "35", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "36", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "37", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "38", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "39", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "40", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "41", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "42", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "43", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "44", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "45", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "46", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "47", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "48", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "49", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "50", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "51", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "52", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "53", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "54", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "55", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "56", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "57", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "58", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "59", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "60", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "61", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "62", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "63", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "64", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "65", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "66", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "67", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "68", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "69", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "70", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "71", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "72", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.902 5.25 0 180 0 1 CellPhone -1.545 0.456 4.187 0 0 0 70 2 CreditCard -3.381 0.394 3.881 0 90 0 60 3 RemoteControl -0.355 0.742 1.495 0 0 0 36 4 RemoteControl -1.329 0.656 -2.329 0 0 0 57 5 Box -1.783 0.945 -2.202 0 0 0 57 6 Box -2.414 0.679 5.826 0 180 0 59 7 Laptop -0.108 0.739 1.202 0 0 0 36 8 Laptop -2.700 0.316 2.539 0 0 0 67 9 Box -0.601 1.031 1.105 0 180 0 36 10 Vase -1.329 0.664 -2.074 0 0 0 57 11 CellPhone -1.545 0.456 4.464 0 0 0 70 12 WateringCan -3.580 0.003 5.507 2.684 0 0 Floor|-04.41| 13 KeyChain -4.129 1.269 0.621 0 0 0 26 14 Vase -4.242 0.789 1.181 0 0 0 29 15 Vase -4.228 0.789 0.756 0 0 0 29 16 Laptop -1.663 0.387 5.916 0 180 0 59 17 Pillow -3.585 0.451 4.682 0 90 0 60 18 RemoteControl -2.246 0.454 4.464 0 0 0 70 19 CreditCard -1.685 0.452 4.048 0 0 0 70 20 Vase -4.225 0.789 0.382 0 0 0 29 21 Statue -4.223 1.263 0.399 0 0 0 26 22 Statue -2.246 0.462 3.771 0 0 0 70 23 Statue -1.965 0.554 4.602 0 0 0 70 24 Shelf -4.253 2.157 0.771 0 0 0 25 Painting -3.368 1.741 -0.298 0 0 0 26 Shelf -4.253 1.306 0.771 0 0 0 27 Painting -1.756 1.424 -3.595 0 0 0 28 Shelf -4.253 1.690 0.771 0 0 0 29 Shelf -4.261 0.833 0.771 0 0 0 30 Drawer 0.411 0.581 1.221 0 180 0 31 Drawer -0.000 0.170 1.221 0 180 0 32 Drawer -0.000 0.581 1.221 0 180 0 33 Drawer 0.411 0.375 1.221 0 180 0 34 Drawer 0.411 0.170 1.221 0 180 0 35 Drawer -0.000 0.375 1.221 0 180 0 36 Desk -0.352 0.003 1.371 0 180 0 37 FloorLamp 0.391 -0.001 5.157 0 0 0 38 Window -2.828 0.470 -0.157 90 199.328 0 39 Window -4.410 1.702 1.787 90 270 0 40 Window -3.638 1.702 6.735 90 0 0 41 Window -4.410 1.702 2.790 90 270 0 42 Window -2.827 1.702 -0.157 90 199.328 0 43 Window -0.131 1.702 6.735 90 0 0 44 Window -1.013 1.702 -0.154 90 159.633 0 45 Window -4.410 1.702 5.980 90 270 0 46 Television -0.153 1.176 5.790 0 225 0 47 GarbageCan 0.357 0.003 2.159 0 90 0 48 DeskLamp 0.277 0.735 1.381 0 0 0 49 HousePlant -1.819 0.641 -2.011 0 315 0 50 LightSwitch -2.740 1.495 -0.405 0 180 0 51 TVStand -0.118 0.001 5.874 0 45 0 52 Chair -1.353 0.002 -2.872 0 349.207 0 53 Chair -2.220 0.002 -1.298 0 168.118 0 54 Chair -1.515 0.007 -1.331 358.639 187.454 0 55 Chair -2.189 0.002 -2.835 0 2.328 0 56 Safe 0.174 0.001 -0.071 0 323.940 0 57 DiningTable -1.783 0.003 -2.039 0 0 0 58 Chair -0.636 0.010 0.993 0 358.396 0 59 Sofa -2.161 0.006 6.115 0 180 0 60 Sofa -3.782 0.006 4.153 0 90 0 61 Shelf -1.095 0.607 1.321 0 180 0 62 Shelf -1.267 0.607 1.321 0 180 0 63 Shelf -1.267 0.401 1.321 0 180 0 64 Shelf -1.095 0.196 1.320 0 180 0 65 Shelf -1.095 0.401 1.321 0 180 0 66 Shelf -1.267 0.196 1.320 0 180 0 67 ArmChair -2.628 0.009 2.421 0 0 0 68 Chair -0.485 0.010 4.452 0 270 0 69 Chair -0.431 0.010 3.595 0 270 0 70 CoffeeTable -1.965 0.000 4.187 0 0 0 71 NorthWall 72 EastWall 73 SouthWall 74 WestWall
[ "STEP 1: Head straight and pass the black desk, turn right to the shelf on the wall with a hand statue. | STEP 2: Pick up the keys from the shelf next to the hand statue. | STEP 3: Turn around and go left back into the living room then behind the red chairs on the right to the lamp. | STEP 4: Turn the lamp next to the TV on. | END" ]
[ [ "STEP 1: Head straight and pass the black desk, turn right to the shelf on the wall with a hand statue. ", " STEP 2: Pick up the keys from the shelf next to the hand statue. ", " STEP 3: Turn around and go left back into the living room then behind the red chairs on the right to the lamp. ", " STEP 4: Turn the lamp next to the TV on. ", " END" ] ]
seen
trial_T20190908_124413_314288-0
Place a credit card on a chair.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.5 0.902 4.75 0 270 0 1 Plate -2.712 0.689 1.793 0 0 0 61 2 Plate -2.761 0.237 6.119 0 0 0 50 3 Watch -2.490 0.689 1.546 0 0 0 47 4 Statue -2.934 0.695 1.670 0 0 0 58 5 Statue -1.603 0.695 1.670 0 0 0 59 6 Vase -2.393 0.752 -0.072 0 0 0 55 7 Vase -2.473 0.607 4.731 0 0 0 48 8 Pen -2.241 0.609 5.120 0 0 0 48 9 Pen -0.252 0.710 3.116 0 0 0 43 10 KeyChain -2.003 0.724 6.377 0 180 0 52 11 KeyChain -0.252 0.705 3.285 0 180 0 43 12 Book -2.047 0.691 1.670 0 0 0 59 13 CreditCard -0.274 0.615 3.292 0 0 0 44 14 CreditCard -2.396 0.348 5.120 0 0 0 49 15 CreditCard -1.609 0.479 3.256 0 0 0 53 16 Laptop -1.874 0.478 3.705 0 0 0 53 17 Book -1.872 0.680 1.167 0 0 0 57 18 Box -3.362 0.219 6.426 0 0 0 50 19 Statue -2.134 0.243 6.119 0 0 0 50 20 Laptop -2.404 0.478 3.525 0 0 0 53 21 TissueBox -2.114 0.749 -0.202 0 0 0 55 22 CreditCard -2.396 0.348 5.042 0 0 0 49 23 Plate -2.396 0.097 5.042 0 0 0 51 24 KeyChain -2.933 0.480 3.346 0 0 0 53 25 Vase -2.385 0.242 6.119 0 0 0 50 26 Pencil -2.510 0.241 6.046 0 0 0 50 27 Pillow -3.271 0.661 3.44 0 0 331.220 53 28 Bowl -2.164 0.345 4.809 0 0 0 49 29 RemoteControl -2.241 0.100 4.731 0 0 0 51 30 Watch -2.712 0.689 1.546 0 0 0 47 31 Pen -2.269 0.694 1.670 0 90 0 47 32 Newspaper -1.874 0.481 3.346 0 0 0 53 33 Painting -2.048 1.615 -0.303 0 0 0 34 Curtains -0.083 2.420 0.969 0 0 0 35 Television -2.357 1.205 6.245 0 180 0 36 HousePlant -2.933 0.595 -0.093 0 0 0 37 GarbageCan -4.864 -0.001 0.267 0 90 0 38 FloorLamp -0.566 0.002 0.024 0 316.932 0 39 DeskLamp -0.273 0.700 3.612 0 0 0 40 Window -0.057 0.925 1.764 90 270 0 41 Window -0.057 1.130 4.886 90 270 0 42 LightSwitch -3.305 1.340 -0.314 0 0 0 43 SideTable -0.255 0.001 3.369 0 270 0 44 Drawer -0.306 0.626 3.369 0 270 0 45 ArmChair -4.376 -8.374 6.016 0 152.639 0 46 ArmChair -0.847 -8.106 5.983 0 231.318 0 47 DiningTable -2.268 -0.016 1.422 0 0 0 48 CoffeeTable -2.326 0.002 4.922 0 0 0 49 Shelf -2.326 0.338 4.922 0 0 0 50 Shelf -2.385 0.238 6.296 0 0 0 51 Shelf -2.326 0.089 4.922 0 0 0 52 TVStand -2.385 0.006 6.296 0 0 0 53 Sofa -2.404 -0.003 3.417 0 0 0 54 SideTable -2.935 0.004 -0.103 0 0 0 55 SideTable -2.113 0.002 -0.139 0 0 0 56 Drawer -2.113 0.654 -0.069 0 0 0 57 Chair -1.862 0.020 1.035 0 0 0 58 Chair -3.122 0.020 1.410 0 104.999 0 59 Chair -1.864 0.020 1.838 0 185.032 0 60 Chair -2.507 0.020 0.991 0 6.189 0 61 Chair -2.519 0.020 1.882 0 164.977 0 62 Chair -1.335 0.020 1.430 0 270 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn around and walk to the left side of the coffee table. | STEP 2: Pick up the red credit card on top of the table. | STEP 3: Turn around and veer right to the chair in the corner. | STEP 4: Place the credit card on the chair. | END" ]
[ [ "STEP 1: Turn around and walk to the left side of the coffee table. ", " STEP 2: Pick up the red credit card on top of the table. ", " STEP 3: Turn around and veer right to the chair in the corner. ", " STEP 4: Place the credit card on the chair. ", " END" ] ]
seen
trial_T20190908_124413_314288-1
Move a credit card from the glass table to the chair.
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"" ], [ "37", " GarbageCan", " -4.864", " -0.001", " 0.267", " 0", " 90", " 0", "" ], [ "38", " FloorLamp", " -0.566", " 0.002", " 0.024", " 0", " 316.932", " 0", "" ], [ "39", " DeskLamp", " -0.273", " 0.700", " 3.612", " 0", " 0", " 0", "" ], [ "40", " Window", " -0.057", " 0.925", " 1.764", " 90", " 270", " 0", "" ], [ "41", " Window", " -0.057", " 1.130", " 4.886", " 90", " 270", " 0", "" ], [ "42", " LightSwitch", " -3.305", " 1.340", " -0.314", " 0", " 0", " 0", "" ], [ "43", " SideTable", " -0.255", " 0.001", " 3.369", " 0", " 270", " 0", "" ], [ "44", " Drawer", " -0.306", " 0.626", " 3.369", " 0", " 270", " 0", "" ], [ "45", " ArmChair", " -4.376", " -8.374", " 6.016", " 0", " 152.639", " 0", "" ], [ "46", " ArmChair", " -0.847", " -8.106", " 5.983", " 0", " 231.318", " 0", "" ], [ "47", " DiningTable", " -2.268", " -0.016", " 1.422", " 0", " 0", " 0", "" ], [ "48", " CoffeeTable", " -2.326", " 0.002", " 4.922", " 0", " 0", " 0", "" ], [ "49", " Shelf", " -2.326", " 0.338", " 4.922", " 0", " 0", " 0", "" ], [ "50", " Shelf", " -2.385", " 0.238", " 6.296", " 0", " 0", " 0", "" ], [ "51", " Shelf", " -2.326", " 0.089", " 4.922", " 0", " 0", " 0", "" ], [ "52", " TVStand", " -2.385", " 0.006", " 6.296", " 0", " 0", " 0", "" ], [ "53", " Sofa", " -2.404", " -0.003", " 3.417", " 0", " 0", " 0", "" ], [ "54", " SideTable", " -2.935", " 0.004", " -0.103", " 0", " 0", " 0", "" ], [ "55", " SideTable", " -2.113", " 0.002", " -0.139", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -2.113", " 0.654", " -0.069", " 0", " 0", " 0", "" ], [ "57", " Chair", " -1.862", " 0.020", " 1.035", " 0", " 0", " 0", "" ], [ "58", " Chair", " -3.122", " 0.020", " 1.410", " 0", " 104.999", " 0", "" ], [ "59", " Chair", " -1.864", " 0.020", " 1.838", " 0", " 185.032", " 0", "" ], [ "60", " Chair", " -2.507", " 0.020", " 0.991", " 0", " 6.189", " 0", "" ], [ "61", " Chair", " -2.519", " 0.020", " 1.882", " 0", " 164.977", " 0", "" ], [ "62", " Chair", " -1.335", " 0.020", " 1.430", " 0", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.5 0.902 4.75 0 270 0 1 Plate -2.712 0.689 1.793 0 0 0 61 2 Plate -2.761 0.237 6.119 0 0 0 50 3 Watch -2.490 0.689 1.546 0 0 0 47 4 Statue -2.934 0.695 1.670 0 0 0 58 5 Statue -1.603 0.695 1.670 0 0 0 59 6 Vase -2.393 0.752 -0.072 0 0 0 55 7 Vase -2.473 0.607 4.731 0 0 0 48 8 Pen -2.241 0.609 5.120 0 0 0 48 9 Pen -0.252 0.710 3.116 0 0 0 43 10 KeyChain -2.003 0.724 6.377 0 180 0 52 11 KeyChain -0.252 0.705 3.285 0 180 0 43 12 Book -2.047 0.691 1.670 0 0 0 59 13 CreditCard -0.274 0.615 3.292 0 0 0 44 14 CreditCard -2.396 0.348 5.120 0 0 0 49 15 CreditCard -1.609 0.479 3.256 0 0 0 53 16 Laptop -1.874 0.478 3.705 0 0 0 53 17 Book -1.872 0.680 1.167 0 0 0 57 18 Box -3.362 0.219 6.426 0 0 0 50 19 Statue -2.134 0.243 6.119 0 0 0 50 20 Laptop -2.404 0.478 3.525 0 0 0 53 21 TissueBox -2.114 0.749 -0.202 0 0 0 55 22 CreditCard -2.396 0.348 5.042 0 0 0 49 23 Plate -2.396 0.097 5.042 0 0 0 51 24 KeyChain -2.933 0.480 3.346 0 0 0 53 25 Vase -2.385 0.242 6.119 0 0 0 50 26 Pencil -2.510 0.241 6.046 0 0 0 50 27 Pillow -3.271 0.661 3.44 0 0 331.220 53 28 Bowl -2.164 0.345 4.809 0 0 0 49 29 RemoteControl -2.241 0.100 4.731 0 0 0 51 30 Watch -2.712 0.689 1.546 0 0 0 47 31 Pen -2.269 0.694 1.670 0 90 0 47 32 Newspaper -1.874 0.481 3.346 0 0 0 53 33 Painting -2.048 1.615 -0.303 0 0 0 34 Curtains -0.083 2.420 0.969 0 0 0 35 Television -2.357 1.205 6.245 0 180 0 36 HousePlant -2.933 0.595 -0.093 0 0 0 37 GarbageCan -4.864 -0.001 0.267 0 90 0 38 FloorLamp -0.566 0.002 0.024 0 316.932 0 39 DeskLamp -0.273 0.700 3.612 0 0 0 40 Window -0.057 0.925 1.764 90 270 0 41 Window -0.057 1.130 4.886 90 270 0 42 LightSwitch -3.305 1.340 -0.314 0 0 0 43 SideTable -0.255 0.001 3.369 0 270 0 44 Drawer -0.306 0.626 3.369 0 270 0 45 ArmChair -4.376 -8.374 6.016 0 152.639 0 46 ArmChair -0.847 -8.106 5.983 0 231.318 0 47 DiningTable -2.268 -0.016 1.422 0 0 0 48 CoffeeTable -2.326 0.002 4.922 0 0 0 49 Shelf -2.326 0.338 4.922 0 0 0 50 Shelf -2.385 0.238 6.296 0 0 0 51 Shelf -2.326 0.089 4.922 0 0 0 52 TVStand -2.385 0.006 6.296 0 0 0 53 Sofa -2.404 -0.003 3.417 0 0 0 54 SideTable -2.935 0.004 -0.103 0 0 0 55 SideTable -2.113 0.002 -0.139 0 0 0 56 Drawer -2.113 0.654 -0.069 0 0 0 57 Chair -1.862 0.020 1.035 0 0 0 58 Chair -3.122 0.020 1.410 0 104.999 0 59 Chair -1.864 0.020 1.838 0 185.032 0 60 Chair -2.507 0.020 0.991 0 6.189 0 61 Chair -2.519 0.020 1.882 0 164.977 0 62 Chair -1.335 0.020 1.430 0 270 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn around and move forward to the glass coffee table. Turn right to face it. | STEP 2: Pick up the credit card from the bottom shelf. | STEP 3: Carry the credit card and turn left and then left again to face to the chair in the corner. | STEP 4: Place the credit card on the seat of the chair. | END" ]
[ [ "STEP 1: Turn around and move forward to the glass coffee table. Turn right to face it. ", " STEP 2: Pick up the credit card from the bottom shelf. ", " STEP 3: Carry the credit card and turn left and then left again to face to the chair in the corner. ", " STEP 4: Place the credit card on the seat of the chair. ", " END" ] ]
seen
trial_T20190908_124413_314288-2
Move a credit card from a table to a couch
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.5 0.902 4.75 0 270 0 1 Plate -2.712 0.689 1.793 0 0 0 61 2 Plate -2.761 0.237 6.119 0 0 0 50 3 Watch -2.490 0.689 1.546 0 0 0 47 4 Statue -2.934 0.695 1.670 0 0 0 58 5 Statue -1.603 0.695 1.670 0 0 0 59 6 Vase -2.393 0.752 -0.072 0 0 0 55 7 Vase -2.473 0.607 4.731 0 0 0 48 8 Pen -2.241 0.609 5.120 0 0 0 48 9 Pen -0.252 0.710 3.116 0 0 0 43 10 KeyChain -2.003 0.724 6.377 0 180 0 52 11 KeyChain -0.252 0.705 3.285 0 180 0 43 12 Book -2.047 0.691 1.670 0 0 0 59 13 CreditCard -0.274 0.615 3.292 0 0 0 44 14 CreditCard -2.396 0.348 5.120 0 0 0 49 15 CreditCard -1.609 0.479 3.256 0 0 0 53 16 Laptop -1.874 0.478 3.705 0 0 0 53 17 Book -1.872 0.680 1.167 0 0 0 57 18 Box -3.362 0.219 6.426 0 0 0 50 19 Statue -2.134 0.243 6.119 0 0 0 50 20 Laptop -2.404 0.478 3.525 0 0 0 53 21 TissueBox -2.114 0.749 -0.202 0 0 0 55 22 CreditCard -2.396 0.348 5.042 0 0 0 49 23 Plate -2.396 0.097 5.042 0 0 0 51 24 KeyChain -2.933 0.480 3.346 0 0 0 53 25 Vase -2.385 0.242 6.119 0 0 0 50 26 Pencil -2.510 0.241 6.046 0 0 0 50 27 Pillow -3.271 0.661 3.44 0 0 331.220 53 28 Bowl -2.164 0.345 4.809 0 0 0 49 29 RemoteControl -2.241 0.100 4.731 0 0 0 51 30 Watch -2.712 0.689 1.546 0 0 0 47 31 Pen -2.269 0.694 1.670 0 90 0 47 32 Newspaper -1.874 0.481 3.346 0 0 0 53 33 Painting -2.048 1.615 -0.303 0 0 0 34 Curtains -0.083 2.420 0.969 0 0 0 35 Television -2.357 1.205 6.245 0 180 0 36 HousePlant -2.933 0.595 -0.093 0 0 0 37 GarbageCan -4.864 -0.001 0.267 0 90 0 38 FloorLamp -0.566 0.002 0.024 0 316.932 0 39 DeskLamp -0.273 0.700 3.612 0 0 0 40 Window -0.057 0.925 1.764 90 270 0 41 Window -0.057 1.130 4.886 90 270 0 42 LightSwitch -3.305 1.340 -0.314 0 0 0 43 SideTable -0.255 0.001 3.369 0 270 0 44 Drawer -0.306 0.626 3.369 0 270 0 45 ArmChair -4.376 -8.374 6.016 0 152.639 0 46 ArmChair -0.847 -8.106 5.983 0 231.318 0 47 DiningTable -2.268 -0.016 1.422 0 0 0 48 CoffeeTable -2.326 0.002 4.922 0 0 0 49 Shelf -2.326 0.338 4.922 0 0 0 50 Shelf -2.385 0.238 6.296 0 0 0 51 Shelf -2.326 0.089 4.922 0 0 0 52 TVStand -2.385 0.006 6.296 0 0 0 53 Sofa -2.404 -0.003 3.417 0 0 0 54 SideTable -2.935 0.004 -0.103 0 0 0 55 SideTable -2.113 0.002 -0.139 0 0 0 56 Drawer -2.113 0.654 -0.069 0 0 0 57 Chair -1.862 0.020 1.035 0 0 0 58 Chair -3.122 0.020 1.410 0 104.999 0 59 Chair -1.864 0.020 1.838 0 185.032 0 60 Chair -2.507 0.020 0.991 0 6.189 0 61 Chair -2.519 0.020 1.882 0 164.977 0 62 Chair -1.335 0.020 1.430 0 270 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn to the center table | STEP 2: Pick up the credit card from the table | STEP 3: Go to the brown couch | STEP 4: Put the credit card on the brown couch | END" ]
[ [ "STEP 1: Turn to the center table ", " STEP 2: Pick up the credit card from the table ", " STEP 3: Go to the brown couch ", " STEP 4: Put the credit card on the brown couch ", " END" ] ]
seen
trial_T20190907_211241_340986-0
Slice and microwave a slice of bread.
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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 0.869 -3.25 0 270 0 1 Potato -1.719 0.734 -0.983 0 0 0 78 2 Spoon 0.149 0.901 0.929 0 90 0 68 3 Spoon 0.841 0.666 0.448 0 0 0 47 4 Cup 0.676 0.014 0.011 0 0 0 52 5 Cup -2.137 0.700 -1.199 0 0 0 78 6 Knife 0.671 0.782 0.002 0 270 0 41 7 Knife -0.051 0.923 1.101 0 0 0 68 8 Tomato -0.252 0.949 1.015 0 270 0 68 9 Tomato -1.970 0.750 -1.199 0 0 0 78 10 SaltShaker 0.949 1.460 -0.146 0 0 0 53 11 SaltShaker 0.149 0.896 1.187 0 270 0 68 12 Bread -1.056 0.944 0.843 0 270 0 68 13 Bread 0.721 0.708 0.508 0 0 0 47 14 Lettuce 0.746 1.245 -1.958 0 270 0 62 15 Lettuce 0.785 0.751 -2.035 0 270 0 62 16 Mug 0.961 0.659 0.569 0 0 0 47 17 Mug 0.669 1.369 -1.880 0 270 0 62 18 Apple 0.877 0.937 -0.314 0 0 0 42 19 Apple 0.708 0.519 -2.113 0 270 0 62 20 Pot -2.071 0.927 0.772 0 266.284 0 44 21 Plate -2.023 0.692 -1.447 0 0 0 78 22 Fork 0.720 0.760 -0.061 0 90 0 41 23 SoapBottle -1.056 0.899 1.101 0 270 0 68 24 Apple -1.297 0.105 -3.574 0 270 0 57 25 Pan -1.555 0.930 1.049 0 0 0 51 26 Egg 0.630 0.809 -0.625 0 270 0 65 27 Spatula -1.620 0.715 -3.445 0 90 0 69 28 Potato 0.950 0.916 -0.108 0 0 0 42 29 Cup 0.842 0.014 -0.184 0 0 0 52 30 SaltShaker -0.855 0.896 0.843 0 270 0 68 31 PepperShaker 1.040 1.460 0.596 0 0 0 54 32 ButterKnife 0.754 0.755 -0.743 0 45 0 65 33 DishSponge 0.841 0.772 -0.625 0 270 0 65 34 Bread 0.149 0.944 0.843 0 270 0 68 35 Lettuce 0.715 0.859 -0.735 0 270 0 65 36 Tomato 0.746 1.207 -2.190 0 270 0 62 37 Spoon 0.901 0.665 0.569 0 0 0 47 38 Knife -0.855 0.923 0.929 0 90 0 68 39 Mug -1.803 0.696 -0.983 0 0 0 78 40 Bowl -2.038 0.691 -1.003 0 0 0 78 41 Drawer 0.706 0.766 -0.125 0 0 0 42 CounterTop 0.792 0.919 -0.108 0 0 0 43 Mirror 1.093 1.602 -0.643 0 0 0 44 StoveBurner -2.096 0.890 0.785 0 0 0 45 Cabinet 0.507 0.345 -0.426 0 0 0 46 StoveBurner -1.552 0.890 0.785 0 0 0 47 SideTable 0.770 -0.030 0.443 0 0 0 48 Sink 0.753 0.882 -0.680 0 0 0 49 StoveBurner -2.096 0.890 1.049 0 0 0 50 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 51 StoveBurner -1.554 0.890 1.049 0 0 0 52 Cabinet 0.507 0.345 0.156 0 0 0 53 Cabinet 0.717 1.822 -0.398 0 0 0 54 Cabinet 0.717 1.822 0.669 0 0 0 55 CoffeeMachine 0.873 0.865 -1.256 0 270 0 56 Toaster -0.522 0.886 1.081 0 180 0 57 GarbageCan -1.261 -0.031 -3.610 0 270 0 58 StoveKnob -1.898 0.866 0.519 311.864 0 180 59 StoveKnob -1.754 0.866 0.519 311.864 0 180 60 StoveKnob -2.058 0.866 0.519 311.864 0 180 61 StoveKnob -1.600 0.866 0.519 311.864 0 180 62 Fridge 0.680 -0.031 -1.957 0 0 0 63 Window -2.424 1.639 -2.453 90 270 0 64 Microwave -1.994 0.690 -3.651 0 0 0 65 SinkBasin 0.757 0.762 -0.688 0 270 0 66 LightSwitch 1.102 1.368 -3.737 0 270 0 67 Shelf -0.350 0.124 0.857 0 0 0 68 DiningTable -0.350 -0.025 0.857 0 0 0 69 DiningTable -1.909 -0.032 -3.507 0 0 0 70 Blinds -2.343 2.151 -2.437 0 270 0 71 AluminumFoil 0.762 0.224 0.337 0 184.594 0 72 AluminumFoil 0.751 0.225 0.287 0 0 0 73 AluminumFoil 0.839 0.224 0.392 0 195.128 0 74 Shelf 0.771 0.226 0.445 0 0 0 75 Shelf 0.771 0.456 0.446 0 0 0 76 Faucet 1.025 0.873 -0.678 270 180 0 77 Shelf -0.350 0.497 0.857 0 0 0 78 DiningTable -1.929 -0.035 -1.398 0 90 0 79 Chair -1.610 -0.024 -1.424 358.454 297.426 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn right, move to the work table, right of the toaster. | STEP 2: Pick up the knife from the table. | STEP 3: Turn left, move to the work table, left of the toaster. | STEP 4: Slice the bread with the knife. | STEP 5: Turn right, move to the shelves at the end of the counter. | STEP 6: Put the knife on the black shelves. | STEP 7: Turn left, move to the work table, left of the toaster. | STEP 8: Pick up a slice of bread from the work table. | STEP 9: Turn left, move to the small table, in front of the microwave. | STEP 10: Put the slice of bread into the microwave, cook it, pick it back up. | STEP 11: Turn left, move to the shelves at the end of the counter. | STEP 12: Put the bread slice on the black shelves. | END" ]
[ [ "STEP 1: Turn right, move to the work table, right of the toaster. ", " STEP 2: Pick up the knife from the table. ", " STEP 3: Turn left, move to the work table, left of the toaster. ", " STEP 4: Slice the bread with the knife. ", " STEP 5: Turn right, move to the shelves at the end of the counter. ", " STEP 6: Put the knife on the black shelves. ", " STEP 7: Turn left, move to the work table, left of the toaster. ", " STEP 8: Pick up a slice of bread from the work table. ", " STEP 9: Turn left, move to the small table, in front of the microwave. ", " STEP 10: Put the slice of bread into the microwave, cook it, pick it back up. ", " STEP 11: Turn left, move to the shelves at the end of the counter. ", " STEP 12: Put the bread slice on the black shelves. ", " END" ] ]
seen
trial_T20190907_211241_340986-1
Move a heated slice of bread to a small black table in the corner.
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0.149", " 0.896", " 1.187", " 0", " 270", " 0", " 68" ], [ "12", " Bread", " -1.056", " 0.944", " 0.843", " 0", " 270", " 0", " 68" ], [ "13", " Bread", " 0.721", " 0.708", " 0.508", " 0", " 0", " 0", " 47" ], [ "14", " Lettuce", " 0.746", " 1.245", " -1.958", " 0", " 270", " 0", " 62" ], [ "15", " Lettuce", " 0.785", " 0.751", " -2.035", " 0", " 270", " 0", " 62" ], [ "16", " Mug", " 0.961", " 0.659", " 0.569", " 0", " 0", " 0", " 47" ], [ "17", " Mug", " 0.669", " 1.369", " -1.880", " 0", " 270", " 0", " 62" ], [ "18", " Apple", " 0.877", " 0.937", " -0.314", " 0", " 0", " 0", " 42" ], [ "19", " Apple", " 0.708", " 0.519", " -2.113", " 0", " 270", " 0", " 62" ], [ "20", " Pot", " -2.071", " 0.927", " 0.772", " 0", " 266.284", " 0", " 44" ], [ "21", " Plate", " -2.023", " 0.692", " -1.447", " 0", " 0", " 0", " 78" ], [ "22", " Fork", " 0.720", " 0.760", " -0.061", " 0", " 90", " 0", " 41" ], [ "23", " SoapBottle", " -1.056", " 0.899", " 1.101", " 0", " 270", " 0", " 68" ], [ "24", " Apple", " -1.297", " 0.105", " -3.574", " 0", " 270", " 0", " 57" ], [ "25", " Pan", " -1.555", " 0.930", " 1.049", " 0", " 0", " 0", " 51" ], [ "26", " Egg", " 0.630", " 0.809", " -0.625", " 0", " 270", " 0", " 65" ], [ "27", " Spatula", " -1.620", " 0.715", " -3.445", " 0", " 90", " 0", " 69" ], [ "28", " Potato", " 0.950", " 0.916", " -0.108", " 0", " 0", " 0", " 42" ], [ "29", " Cup", " 0.842", " 0.014", " -0.184", " 0", " 0", " 0", " 52" ], [ "30", " SaltShaker", " -0.855", " 0.896", " 0.843", " 0", " 270", " 0", " 68" ], [ "31", " PepperShaker", " 1.040", " 1.460", " 0.596", " 0", " 0", " 0", " 54" ], [ "32", " ButterKnife", " 0.754", " 0.755", " -0.743", " 0", " 45", " 0", " 65" ], [ "33", " DishSponge", " 0.841", " 0.772", " -0.625", " 0", " 270", " 0", " 65" ], [ "34", " Bread", " 0.149", " 0.944", " 0.843", " 0", " 270", " 0", " 68" ], [ "35", " Lettuce", " 0.715", " 0.859", " -0.735", " 0", " 270", " 0", " 65" ], [ "36", " Tomato", " 0.746", " 1.207", " -2.190", " 0", " 270", " 0", " 62" ], [ "37", " Spoon", " 0.901", " 0.665", " 0.569", " 0", " 0", " 0", " 47" ], [ "38", " Knife", " -0.855", " 0.923", " 0.929", " 0", " 90", " 0", " 68" ], [ "39", " Mug", " -1.803", " 0.696", " -0.983", " 0", " 0", " 0", " 78" ], [ "40", " Bowl", " -2.038", " 0.691", " -1.003", " 0", " 0", " 0", " 78" ], [ "41", " Drawer", " 0.706", " 0.766", " -0.125", " 0", " 0", " 0", "" ], [ "42", " CounterTop", " 0.792", " 0.919", " -0.108", " 0", " 0", " 0", "" ], [ "43", " Mirror", " 1.093", " 1.602", " -0.643", " 0", " 0", " 0", "" ], [ "44", " StoveBurner", " -2.096", " 0.890", " 0.785", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " 0.507", " 0.345", " -0.426", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -1.552", " 0.890", " 0.785", " 0", " 0", " 0", "" ], [ "47", " SideTable", " 0.770", " -0.030", " 0.443", " 0", " 0", " 0", "" ], [ "48", " Sink", " 0.753", " 0.882", " -0.680", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -2.096", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "50", " GarbageBag", " -0.770", " 0.287", " -3.541", " 270", " 73.521", " 83.489", "" ], [ "51", " StoveBurner", " -1.554", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 0.507", " 0.345", " 0.156", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 0.717", " 1.822", " -0.398", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.717", " 1.822", " 0.669", " 0", " 0", " 0", "" ], [ "55", " CoffeeMachine", " 0.873", " 0.865", " -1.256", " 0", " 270", " 0", "" ], [ "56", " Toaster", " -0.522", " 0.886", " 1.081", " 0", " 180", " 0", "" ], [ "57", " GarbageCan", " -1.261", " -0.031", " -3.610", " 0", " 270", " 0", "" ], [ "58", " StoveKnob", " -1.898", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "59", " StoveKnob", " -1.754", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "60", " StoveKnob", " -2.058", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "61", " StoveKnob", " -1.600", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "62", " Fridge", " 0.680", " -0.031", " -1.957", " 0", " 0", " 0", "" ], [ "63", " Window", " -2.424", " 1.639", " -2.453", " 90", " 270", " 0", "" ], [ "64", " Microwave", " -1.994", " 0.690", " -3.651", " 0", " 0", " 0", "" ], [ "65", " SinkBasin", " 0.757", " 0.762", " -0.688", " 0", " 270", " 0", "" ], [ "66", " LightSwitch", " 1.102", " 1.368", " -3.737", " 0", " 270", " 0", "" ], [ "67", " Shelf", " -0.350", " 0.124", " 0.857", " 0", " 0", " 0", "" ], [ "68", " DiningTable", " -0.350", " -0.025", " 0.857", " 0", " 0", " 0", "" ], [ "69", " DiningTable", " -1.909", " -0.032", " -3.507", " 0", " 0", " 0", "" ], [ "70", " Blinds", " -2.343", " 2.151", " -2.437", " 0", " 270", " 0", "" ], [ "71", " AluminumFoil", " 0.762", " 0.224", " 0.337", " 0", " 184.594", " 0", "" ], [ "72", " AluminumFoil", " 0.751", " 0.225", " 0.287", " 0", " 0", " 0", "" ], [ "73", " AluminumFoil", " 0.839", " 0.224", " 0.392", " 0", " 195.128", " 0", "" ], [ "74", " Shelf", " 0.771", " 0.226", " 0.445", " 0", " 0", " 0", "" ], [ "75", " Shelf", " 0.771", " 0.456", " 0.446", " 0", " 0", " 0", "" ], [ "76", " Faucet", " 1.025", " 0.873", " -0.678", " 270", " 180", " 0", "" ], [ "77", " Shelf", " -0.350", " 0.497", " 0.857", " 0", " 0", " 0", "" ], [ "78", " DiningTable", " -1.929", " -0.035", " -1.398", " 0", " 90", " 0", "" ], [ "79", " Chair", " -1.610", " -0.024", " -1.424", " 358.454", " 297.426", " 0", "" ], [ "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 0.75 0.869 -3.25 0 270 0 1 Potato -1.719 0.734 -0.983 0 0 0 78 2 Spoon 0.149 0.901 0.929 0 90 0 68 3 Spoon 0.841 0.666 0.448 0 0 0 47 4 Cup 0.676 0.014 0.011 0 0 0 52 5 Cup -2.137 0.700 -1.199 0 0 0 78 6 Knife 0.671 0.782 0.002 0 270 0 41 7 Knife -0.051 0.923 1.101 0 0 0 68 8 Tomato -0.252 0.949 1.015 0 270 0 68 9 Tomato -1.970 0.750 -1.199 0 0 0 78 10 SaltShaker 0.949 1.460 -0.146 0 0 0 53 11 SaltShaker 0.149 0.896 1.187 0 270 0 68 12 Bread -1.056 0.944 0.843 0 270 0 68 13 Bread 0.721 0.708 0.508 0 0 0 47 14 Lettuce 0.746 1.245 -1.958 0 270 0 62 15 Lettuce 0.785 0.751 -2.035 0 270 0 62 16 Mug 0.961 0.659 0.569 0 0 0 47 17 Mug 0.669 1.369 -1.880 0 270 0 62 18 Apple 0.877 0.937 -0.314 0 0 0 42 19 Apple 0.708 0.519 -2.113 0 270 0 62 20 Pot -2.071 0.927 0.772 0 266.284 0 44 21 Plate -2.023 0.692 -1.447 0 0 0 78 22 Fork 0.720 0.760 -0.061 0 90 0 41 23 SoapBottle -1.056 0.899 1.101 0 270 0 68 24 Apple -1.297 0.105 -3.574 0 270 0 57 25 Pan -1.555 0.930 1.049 0 0 0 51 26 Egg 0.630 0.809 -0.625 0 270 0 65 27 Spatula -1.620 0.715 -3.445 0 90 0 69 28 Potato 0.950 0.916 -0.108 0 0 0 42 29 Cup 0.842 0.014 -0.184 0 0 0 52 30 SaltShaker -0.855 0.896 0.843 0 270 0 68 31 PepperShaker 1.040 1.460 0.596 0 0 0 54 32 ButterKnife 0.754 0.755 -0.743 0 45 0 65 33 DishSponge 0.841 0.772 -0.625 0 270 0 65 34 Bread 0.149 0.944 0.843 0 270 0 68 35 Lettuce 0.715 0.859 -0.735 0 270 0 65 36 Tomato 0.746 1.207 -2.190 0 270 0 62 37 Spoon 0.901 0.665 0.569 0 0 0 47 38 Knife -0.855 0.923 0.929 0 90 0 68 39 Mug -1.803 0.696 -0.983 0 0 0 78 40 Bowl -2.038 0.691 -1.003 0 0 0 78 41 Drawer 0.706 0.766 -0.125 0 0 0 42 CounterTop 0.792 0.919 -0.108 0 0 0 43 Mirror 1.093 1.602 -0.643 0 0 0 44 StoveBurner -2.096 0.890 0.785 0 0 0 45 Cabinet 0.507 0.345 -0.426 0 0 0 46 StoveBurner -1.552 0.890 0.785 0 0 0 47 SideTable 0.770 -0.030 0.443 0 0 0 48 Sink 0.753 0.882 -0.680 0 0 0 49 StoveBurner -2.096 0.890 1.049 0 0 0 50 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 51 StoveBurner -1.554 0.890 1.049 0 0 0 52 Cabinet 0.507 0.345 0.156 0 0 0 53 Cabinet 0.717 1.822 -0.398 0 0 0 54 Cabinet 0.717 1.822 0.669 0 0 0 55 CoffeeMachine 0.873 0.865 -1.256 0 270 0 56 Toaster -0.522 0.886 1.081 0 180 0 57 GarbageCan -1.261 -0.031 -3.610 0 270 0 58 StoveKnob -1.898 0.866 0.519 311.864 0 180 59 StoveKnob -1.754 0.866 0.519 311.864 0 180 60 StoveKnob -2.058 0.866 0.519 311.864 0 180 61 StoveKnob -1.600 0.866 0.519 311.864 0 180 62 Fridge 0.680 -0.031 -1.957 0 0 0 63 Window -2.424 1.639 -2.453 90 270 0 64 Microwave -1.994 0.690 -3.651 0 0 0 65 SinkBasin 0.757 0.762 -0.688 0 270 0 66 LightSwitch 1.102 1.368 -3.737 0 270 0 67 Shelf -0.350 0.124 0.857 0 0 0 68 DiningTable -0.350 -0.025 0.857 0 0 0 69 DiningTable -1.909 -0.032 -3.507 0 0 0 70 Blinds -2.343 2.151 -2.437 0 270 0 71 AluminumFoil 0.762 0.224 0.337 0 184.594 0 72 AluminumFoil 0.751 0.225 0.287 0 0 0 73 AluminumFoil 0.839 0.224 0.392 0 195.128 0 74 Shelf 0.771 0.226 0.445 0 0 0 75 Shelf 0.771 0.456 0.446 0 0 0 76 Faucet 1.025 0.873 -0.678 270 180 0 77 Shelf -0.350 0.497 0.857 0 0 0 78 DiningTable -1.929 -0.035 -1.398 0 90 0 79 Chair -1.610 -0.024 -1.424 358.454 297.426 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Move to the white table with the toaster. | STEP 2: Pick up the sharp knife from the table. | STEP 3: Carry the knife to the left end of the table where there is a loaf of bread. | STEP 4: Use the knife to slice half the loaf of bread. | STEP 5: Turn and carry the knife to the small black table in the corner. | STEP 6: Place the knife in front of the loaf of bread on the black table. | STEP 7: Move back to the loaf of bread you just sliced on the white table. | STEP 8: Pick up a slice from the center of the loaf. | STEP 9: Carry the slice of bread to the microwave on the round table in the corner. | STEP 10: Open the microwave, place the slice of bread inside, and turn it on and then remove, once heated. | STEP 11: Carry the slice of bread to the small black table in the other corner where you left the knife. | STEP 12: Place the heated slice on the black table to the right of the knife. | END" ]
[ [ "STEP 1: Move to the white table with the toaster. ", " STEP 2: Pick up the sharp knife from the table. ", " STEP 3: Carry the knife to the left end of the table where there is a loaf of bread. ", " STEP 4: Use the knife to slice half the loaf of bread. ", " STEP 5: Turn and carry the knife to the small black table in the corner. ", " STEP 6: Place the knife in front of the loaf of bread on the black table. ", " STEP 7: Move back to the loaf of bread you just sliced on the white table. ", " STEP 8: Pick up a slice from the center of the loaf. ", " STEP 9: Carry the slice of bread to the microwave on the round table in the corner. ", " STEP 10: Open the microwave, place the slice of bread inside, and turn it on and then remove, once heated. ", " STEP 11: Carry the slice of bread to the small black table in the other corner where you left the knife. ", " STEP 12: Place the heated slice on the black table to the right of the knife. ", " END" ] ]
seen
trial_T20190907_211241_340986-2
place microwaved bread slice next to loaf of bread on black table
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0.149", " 0.896", " 1.187", " 0", " 270", " 0", " 68" ], [ "12", " Bread", " -1.056", " 0.944", " 0.843", " 0", " 270", " 0", " 68" ], [ "13", " Bread", " 0.721", " 0.708", " 0.508", " 0", " 0", " 0", " 47" ], [ "14", " Lettuce", " 0.746", " 1.245", " -1.958", " 0", " 270", " 0", " 62" ], [ "15", " Lettuce", " 0.785", " 0.751", " -2.035", " 0", " 270", " 0", " 62" ], [ "16", " Mug", " 0.961", " 0.659", " 0.569", " 0", " 0", " 0", " 47" ], [ "17", " Mug", " 0.669", " 1.369", " -1.880", " 0", " 270", " 0", " 62" ], [ "18", " Apple", " 0.877", " 0.937", " -0.314", " 0", " 0", " 0", " 42" ], [ "19", " Apple", " 0.708", " 0.519", " -2.113", " 0", " 270", " 0", " 62" ], [ "20", " Pot", " -2.071", " 0.927", " 0.772", " 0", " 266.284", " 0", " 44" ], [ "21", " Plate", " -2.023", " 0.692", " -1.447", " 0", " 0", " 0", " 78" ], [ "22", " Fork", " 0.720", " 0.760", " -0.061", " 0", " 90", " 0", " 41" ], [ "23", " SoapBottle", " -1.056", " 0.899", " 1.101", " 0", " 270", " 0", " 68" ], [ "24", " Apple", " -1.297", " 0.105", " -3.574", " 0", " 270", " 0", " 57" ], [ "25", " Pan", " -1.555", " 0.930", " 1.049", " 0", " 0", " 0", " 51" ], [ "26", " Egg", " 0.630", " 0.809", " -0.625", " 0", " 270", " 0", " 65" ], [ "27", " Spatula", " -1.620", " 0.715", " -3.445", " 0", " 90", " 0", " 69" ], [ "28", " Potato", " 0.950", " 0.916", " -0.108", " 0", " 0", " 0", " 42" ], [ "29", " Cup", " 0.842", " 0.014", " -0.184", " 0", " 0", " 0", " 52" ], [ "30", " SaltShaker", " -0.855", " 0.896", " 0.843", " 0", " 270", " 0", " 68" ], [ "31", " PepperShaker", " 1.040", " 1.460", " 0.596", " 0", " 0", " 0", " 54" ], [ "32", " ButterKnife", " 0.754", " 0.755", " -0.743", " 0", " 45", " 0", " 65" ], [ "33", " DishSponge", " 0.841", " 0.772", " -0.625", " 0", " 270", " 0", " 65" ], [ "34", " Bread", " 0.149", " 0.944", " 0.843", " 0", " 270", " 0", " 68" ], [ "35", " Lettuce", " 0.715", " 0.859", " -0.735", " 0", " 270", " 0", " 65" ], [ "36", " Tomato", " 0.746", " 1.207", " -2.190", " 0", " 270", " 0", " 62" ], [ "37", " Spoon", " 0.901", " 0.665", " 0.569", " 0", " 0", " 0", " 47" ], [ "38", " Knife", " -0.855", " 0.923", " 0.929", " 0", " 90", " 0", " 68" ], [ "39", " Mug", " -1.803", " 0.696", " -0.983", " 0", " 0", " 0", " 78" ], [ "40", " Bowl", " -2.038", " 0.691", " -1.003", " 0", " 0", " 0", " 78" ], [ "41", " Drawer", " 0.706", " 0.766", " -0.125", " 0", " 0", " 0", "" ], [ "42", " CounterTop", " 0.792", " 0.919", " -0.108", " 0", " 0", " 0", "" ], [ "43", " Mirror", " 1.093", " 1.602", " -0.643", " 0", " 0", " 0", "" ], [ "44", " StoveBurner", " -2.096", " 0.890", " 0.785", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " 0.507", " 0.345", " -0.426", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -1.552", " 0.890", " 0.785", " 0", " 0", " 0", "" ], [ "47", " SideTable", " 0.770", " -0.030", " 0.443", " 0", " 0", " 0", "" ], [ "48", " Sink", " 0.753", " 0.882", " -0.680", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -2.096", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "50", " GarbageBag", " -0.770", " 0.287", " -3.541", " 270", " 73.521", " 83.489", "" ], [ "51", " StoveBurner", " -1.554", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 0.507", " 0.345", " 0.156", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 0.717", " 1.822", " -0.398", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.717", " 1.822", " 0.669", " 0", " 0", " 0", "" ], [ "55", " CoffeeMachine", " 0.873", " 0.865", " -1.256", " 0", " 270", " 0", "" ], [ "56", " Toaster", " -0.522", " 0.886", " 1.081", " 0", " 180", " 0", "" ], [ "57", " GarbageCan", " -1.261", " -0.031", " -3.610", " 0", " 270", " 0", "" ], [ "58", " StoveKnob", " -1.898", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "59", " StoveKnob", " -1.754", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "60", " StoveKnob", " -2.058", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "61", " StoveKnob", " -1.600", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "62", " Fridge", " 0.680", " -0.031", " -1.957", " 0", " 0", " 0", "" ], [ "63", " Window", " -2.424", " 1.639", " -2.453", " 90", " 270", " 0", "" ], [ "64", " Microwave", " -1.994", " 0.690", " -3.651", " 0", " 0", " 0", "" ], [ "65", " SinkBasin", " 0.757", " 0.762", " -0.688", " 0", " 270", " 0", "" ], [ "66", " LightSwitch", " 1.102", " 1.368", " -3.737", " 0", " 270", " 0", "" ], [ "67", " Shelf", " -0.350", " 0.124", " 0.857", " 0", " 0", " 0", "" ], [ "68", " DiningTable", " -0.350", " -0.025", " 0.857", " 0", " 0", " 0", "" ], [ "69", " DiningTable", " -1.909", " -0.032", " -3.507", " 0", " 0", " 0", "" ], [ "70", " Blinds", " -2.343", " 2.151", " -2.437", " 0", " 270", " 0", "" ], [ "71", " AluminumFoil", " 0.762", " 0.224", " 0.337", " 0", " 184.594", " 0", "" ], [ "72", " AluminumFoil", " 0.751", " 0.225", " 0.287", " 0", " 0", " 0", "" ], [ "73", " AluminumFoil", " 0.839", " 0.224", " 0.392", " 0", " 195.128", " 0", "" ], [ "74", " Shelf", " 0.771", " 0.226", " 0.445", " 0", " 0", " 0", "" ], [ "75", " Shelf", " 0.771", " 0.456", " 0.446", " 0", " 0", " 0", "" ], [ "76", " Faucet", " 1.025", " 0.873", " -0.678", " 270", " 180", " 0", "" ], [ "77", " Shelf", " -0.350", " 0.497", " 0.857", " 0", " 0", " 0", "" ], [ "78", " DiningTable", " -1.929", " -0.035", " -1.398", " 0", " 90", " 0", "" ], [ "79", " Chair", " -1.610", " -0.024", " -1.424", " 358.454", " 297.426", " 0", "" ], [ "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 0.75 0.869 -3.25 0 270 0 1 Potato -1.719 0.734 -0.983 0 0 0 78 2 Spoon 0.149 0.901 0.929 0 90 0 68 3 Spoon 0.841 0.666 0.448 0 0 0 47 4 Cup 0.676 0.014 0.011 0 0 0 52 5 Cup -2.137 0.700 -1.199 0 0 0 78 6 Knife 0.671 0.782 0.002 0 270 0 41 7 Knife -0.051 0.923 1.101 0 0 0 68 8 Tomato -0.252 0.949 1.015 0 270 0 68 9 Tomato -1.970 0.750 -1.199 0 0 0 78 10 SaltShaker 0.949 1.460 -0.146 0 0 0 53 11 SaltShaker 0.149 0.896 1.187 0 270 0 68 12 Bread -1.056 0.944 0.843 0 270 0 68 13 Bread 0.721 0.708 0.508 0 0 0 47 14 Lettuce 0.746 1.245 -1.958 0 270 0 62 15 Lettuce 0.785 0.751 -2.035 0 270 0 62 16 Mug 0.961 0.659 0.569 0 0 0 47 17 Mug 0.669 1.369 -1.880 0 270 0 62 18 Apple 0.877 0.937 -0.314 0 0 0 42 19 Apple 0.708 0.519 -2.113 0 270 0 62 20 Pot -2.071 0.927 0.772 0 266.284 0 44 21 Plate -2.023 0.692 -1.447 0 0 0 78 22 Fork 0.720 0.760 -0.061 0 90 0 41 23 SoapBottle -1.056 0.899 1.101 0 270 0 68 24 Apple -1.297 0.105 -3.574 0 270 0 57 25 Pan -1.555 0.930 1.049 0 0 0 51 26 Egg 0.630 0.809 -0.625 0 270 0 65 27 Spatula -1.620 0.715 -3.445 0 90 0 69 28 Potato 0.950 0.916 -0.108 0 0 0 42 29 Cup 0.842 0.014 -0.184 0 0 0 52 30 SaltShaker -0.855 0.896 0.843 0 270 0 68 31 PepperShaker 1.040 1.460 0.596 0 0 0 54 32 ButterKnife 0.754 0.755 -0.743 0 45 0 65 33 DishSponge 0.841 0.772 -0.625 0 270 0 65 34 Bread 0.149 0.944 0.843 0 270 0 68 35 Lettuce 0.715 0.859 -0.735 0 270 0 65 36 Tomato 0.746 1.207 -2.190 0 270 0 62 37 Spoon 0.901 0.665 0.569 0 0 0 47 38 Knife -0.855 0.923 0.929 0 90 0 68 39 Mug -1.803 0.696 -0.983 0 0 0 78 40 Bowl -2.038 0.691 -1.003 0 0 0 78 41 Drawer 0.706 0.766 -0.125 0 0 0 42 CounterTop 0.792 0.919 -0.108 0 0 0 43 Mirror 1.093 1.602 -0.643 0 0 0 44 StoveBurner -2.096 0.890 0.785 0 0 0 45 Cabinet 0.507 0.345 -0.426 0 0 0 46 StoveBurner -1.552 0.890 0.785 0 0 0 47 SideTable 0.770 -0.030 0.443 0 0 0 48 Sink 0.753 0.882 -0.680 0 0 0 49 StoveBurner -2.096 0.890 1.049 0 0 0 50 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 51 StoveBurner -1.554 0.890 1.049 0 0 0 52 Cabinet 0.507 0.345 0.156 0 0 0 53 Cabinet 0.717 1.822 -0.398 0 0 0 54 Cabinet 0.717 1.822 0.669 0 0 0 55 CoffeeMachine 0.873 0.865 -1.256 0 270 0 56 Toaster -0.522 0.886 1.081 0 180 0 57 GarbageCan -1.261 -0.031 -3.610 0 270 0 58 StoveKnob -1.898 0.866 0.519 311.864 0 180 59 StoveKnob -1.754 0.866 0.519 311.864 0 180 60 StoveKnob -2.058 0.866 0.519 311.864 0 180 61 StoveKnob -1.600 0.866 0.519 311.864 0 180 62 Fridge 0.680 -0.031 -1.957 0 0 0 63 Window -2.424 1.639 -2.453 90 270 0 64 Microwave -1.994 0.690 -3.651 0 0 0 65 SinkBasin 0.757 0.762 -0.688 0 270 0 66 LightSwitch 1.102 1.368 -3.737 0 270 0 67 Shelf -0.350 0.124 0.857 0 0 0 68 DiningTable -0.350 -0.025 0.857 0 0 0 69 DiningTable -1.909 -0.032 -3.507 0 0 0 70 Blinds -2.343 2.151 -2.437 0 270 0 71 AluminumFoil 0.762 0.224 0.337 0 184.594 0 72 AluminumFoil 0.751 0.225 0.287 0 0 0 73 AluminumFoil 0.839 0.224 0.392 0 195.128 0 74 Shelf 0.771 0.226 0.445 0 0 0 75 Shelf 0.771 0.456 0.446 0 0 0 76 Faucet 1.025 0.873 -0.678 270 180 0 77 Shelf -0.350 0.497 0.857 0 0 0 78 DiningTable -1.929 -0.035 -1.398 0 90 0 79 Chair -1.610 -0.024 -1.424 358.454 297.426 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: turn right, go to white table with toaster | STEP 2: pick up yellow handle knife from table | STEP 3: go to the loaf of bread to the left of salt shaker | STEP 4: slice bread on counter to the left of salt shaker | STEP 5: turn right, go to black table next to counter with loaf of bread | STEP 6: place knife across loaf of bread on black table | STEP 7: turn left, go to loaf of bread on white table | STEP 8: pick up slice of bread from counter | STEP 9: turn around, go to microwave | STEP 10: open microwave, place bread on plate in microwave, close microwave door, microwave bread slice, open microwave, remove bread slice, close microwave | STEP 11: turn around, go the black table at end of counter on the right | STEP 12: place bread slice on black table to the right of loaf of bread | END" ]
[ [ "STEP 1: turn right, go to white table with toaster ", " STEP 2: pick up yellow handle knife from table ", " STEP 3: go to the loaf of bread to the left of salt shaker ", " STEP 4: slice bread on counter to the left of salt shaker ", " STEP 5: turn right, go to black table next to counter with loaf of bread ", " STEP 6: place knife across loaf of bread on black table ", " STEP 7: turn left, go to loaf of bread on white table ", " STEP 8: pick up slice of bread from counter ", " STEP 9: turn around, go to microwave ", " STEP 10: open microwave, place bread on plate in microwave, close microwave door, microwave bread slice, open microwave, remove bread slice, close microwave ", " STEP 11: turn around, go the black table at end of counter on the right ", " STEP 12: place bread slice on black table to the right of loaf of bread ", " END" ] ]
seen
trial_T20190908_130615_278829-0
Put 2 soaps in the drawer
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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 Cloth -0.302 0.512 2.439 0 0 0 26 2 SoapBar -0.353 0.812 1.373 0 0 0 22 3 SoapBar -0.268 0.828 2.753 0 0 0 40 4 DishSponge -0.246 0.513 2.034 0 0 0 23 5 SoapBottle -0.289 0.813 1.288 0 0 0 22 6 ToiletPaper -0.188 0.949 3.658 0 0 0 37 7 HandTowel -0.036 1.658 3.443 0 90 0 36 8 SoapBar -0.134 0.952 3.846 0 0 0 37 9 ToiletPaper -0.482 0.809 3.172 0 0 0 22 10 Plunger -0.139 -0.000 3.369 0 0 0 Floor|+00.00| 11 Candle -0.482 0.812 2.350 0 0 0 22 12 SoapBottle -2.146 0.057 3.843 0 90 0 35 13 ToiletPaper -0.246 0.203 3.068 0 0 0 21 14 SprayBottle -0.161 0.813 2.243 0 0 0 22 15 Towel -1.106 1.151 1.289 0 0 0 34 16 Cloth -0.246 0.206 2.551 0 0 0 29 17 ScrubBrush -0.346 -0.000 3.341 0 0 0 Floor|+00.00| 18 DishSponge -0.299 0.829 1.627 0 0 0 43 19 Sink -0.299 0.807 2.754 0 270 0 20 Drawer -0.319 0.615 3.012 0 0 0 21 Drawer -0.319 0.316 3.012 0 0 0 22 CounterTop -0.349 0.004 1.453 0 0 0 23 Drawer -0.319 0.615 1.978 0 0 0 24 Drawer -0.319 0.316 1.978 0 0 0 25 Drawer -0.319 0.316 1.463 0 0 0 26 Drawer -0.319 0.615 2.495 0 0 0 27 ShowerDoor -1.514 0.910 1.167 0 0 0 28 Drawer -0.319 0.615 1.463 0 0 0 29 Drawer -0.319 0.316 2.495 0 0 0 30 Faucet -0.076 0.805 2.757 0 0 0 31 Mirror -0.228 0.465 1.453 0 0 0 32 ShowerGlass -0.766 0.541 0.485 0 0 0 33 ToiletPaperHanger -1.200 0.897 4.0 0 180 0 34 TowelHolder -1.105 1.136 1.183 0 0 0 35 GarbageCan -2.041 -0.000 3.724 0 45 0 36 HandTowelHolder 0.001 1.759 3.443 0 180 0 37 Toilet -0.600 -0.000 3.671 0 270 0 38 LightSwitch -2.312 1.386 3.296 0 90 0 39 Faucet -0.076 0.805 1.733 0 0 0 40 SinkBasin -0.304 0.819 2.753 0 0 0 41 Sink -0.298 0.807 1.725 0 270 0 42 ShowerHead -0.083 1.248 0.522 0 0 0 43 SinkBasin -0.304 0.819 1.723 0 0 0 44 NorthWall 45 SouthWall 46 SouthWall
[ "STEP 1: Turn around, go forward, turn right and go to the sink | STEP 2: Pick up the soap in the sink | STEP 3: Turn around, go forward a bit, turn left, go forward a bit, turn right | STEP 4: Put the soap into the drawer under the sink | STEP 5: Turn up and face the counter | STEP 6: Pick up the soap on the counter | STEP 7: Turn around, go forward a bit, turn around | STEP 8: Put the soap into the drawer under the sink | END" ]
[ [ "STEP 1: Turn around, go forward, turn right and go to the sink ", " STEP 2: Pick up the soap in the sink ", " STEP 3: Turn around, go forward a bit, turn left, go forward a bit, turn right ", " STEP 4: Put the soap into the drawer under the sink ", " STEP 5: Turn up and face the counter ", " STEP 6: Pick up the soap on the counter ", " STEP 7: Turn around, go forward a bit, turn around ", " STEP 8: Put the soap into the drawer under the sink ", " END" ] ]
seen
trial_T20190908_130615_278829-1
put two bars of soap into a drawer
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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 Cloth -0.302 0.512 2.439 0 0 0 26 2 SoapBar -0.353 0.812 1.373 0 0 0 22 3 SoapBar -0.268 0.828 2.753 0 0 0 40 4 DishSponge -0.246 0.513 2.034 0 0 0 23 5 SoapBottle -0.289 0.813 1.288 0 0 0 22 6 ToiletPaper -0.188 0.949 3.658 0 0 0 37 7 HandTowel -0.036 1.658 3.443 0 90 0 36 8 SoapBar -0.134 0.952 3.846 0 0 0 37 9 ToiletPaper -0.482 0.809 3.172 0 0 0 22 10 Plunger -0.139 -0.000 3.369 0 0 0 Floor|+00.00| 11 Candle -0.482 0.812 2.350 0 0 0 22 12 SoapBottle -2.146 0.057 3.843 0 90 0 35 13 ToiletPaper -0.246 0.203 3.068 0 0 0 21 14 SprayBottle -0.161 0.813 2.243 0 0 0 22 15 Towel -1.106 1.151 1.289 0 0 0 34 16 Cloth -0.246 0.206 2.551 0 0 0 29 17 ScrubBrush -0.346 -0.000 3.341 0 0 0 Floor|+00.00| 18 DishSponge -0.299 0.829 1.627 0 0 0 43 19 Sink -0.299 0.807 2.754 0 270 0 20 Drawer -0.319 0.615 3.012 0 0 0 21 Drawer -0.319 0.316 3.012 0 0 0 22 CounterTop -0.349 0.004 1.453 0 0 0 23 Drawer -0.319 0.615 1.978 0 0 0 24 Drawer -0.319 0.316 1.978 0 0 0 25 Drawer -0.319 0.316 1.463 0 0 0 26 Drawer -0.319 0.615 2.495 0 0 0 27 ShowerDoor -1.514 0.910 1.167 0 0 0 28 Drawer -0.319 0.615 1.463 0 0 0 29 Drawer -0.319 0.316 2.495 0 0 0 30 Faucet -0.076 0.805 2.757 0 0 0 31 Mirror -0.228 0.465 1.453 0 0 0 32 ShowerGlass -0.766 0.541 0.485 0 0 0 33 ToiletPaperHanger -1.200 0.897 4.0 0 180 0 34 TowelHolder -1.105 1.136 1.183 0 0 0 35 GarbageCan -2.041 -0.000 3.724 0 45 0 36 HandTowelHolder 0.001 1.759 3.443 0 180 0 37 Toilet -0.600 -0.000 3.671 0 270 0 38 LightSwitch -2.312 1.386 3.296 0 90 0 39 Faucet -0.076 0.805 1.733 0 0 0 40 SinkBasin -0.304 0.819 2.753 0 0 0 41 Sink -0.298 0.807 1.725 0 270 0 42 ShowerHead -0.083 1.248 0.522 0 0 0 43 SinkBasin -0.304 0.819 1.723 0 0 0 44 NorthWall 45 SouthWall 46 SouthWall
[ "STEP 1: walk to face the left sink | STEP 2: pick up the pink soap bar inside the sink basin | STEP 3: walk to the right to face the right sink | STEP 4: open the top right drawer below the sink, put soap in drawer, close drawer | STEP 5: stare at right hand sink | STEP 6: pick up pink soap bar on counter to the right of the sink | STEP 7: step back to face the sink and drawers below | STEP 8: open top right drawer, put soap on top of other soap bar, close drawer | END" ]
[ [ "STEP 1: walk to face the left sink ", " STEP 2: pick up the pink soap bar inside the sink basin ", " STEP 3: walk to the right to face the right sink ", " STEP 4: open the top right drawer below the sink, put soap in drawer, close drawer ", " STEP 5: stare at right hand sink ", " STEP 6: pick up pink soap bar on counter to the right of the sink ", " STEP 7: step back to face the sink and drawers below ", " STEP 8: open top right drawer, put soap on top of other soap bar, close drawer ", " END" ] ]
seen
trial_T20190908_130615_278829-2
Move two bars of soap to a drawer.
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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 Cloth -0.302 0.512 2.439 0 0 0 26 2 SoapBar -0.353 0.812 1.373 0 0 0 22 3 SoapBar -0.268 0.828 2.753 0 0 0 40 4 DishSponge -0.246 0.513 2.034 0 0 0 23 5 SoapBottle -0.289 0.813 1.288 0 0 0 22 6 ToiletPaper -0.188 0.949 3.658 0 0 0 37 7 HandTowel -0.036 1.658 3.443 0 90 0 36 8 SoapBar -0.134 0.952 3.846 0 0 0 37 9 ToiletPaper -0.482 0.809 3.172 0 0 0 22 10 Plunger -0.139 -0.000 3.369 0 0 0 Floor|+00.00| 11 Candle -0.482 0.812 2.350 0 0 0 22 12 SoapBottle -2.146 0.057 3.843 0 90 0 35 13 ToiletPaper -0.246 0.203 3.068 0 0 0 21 14 SprayBottle -0.161 0.813 2.243 0 0 0 22 15 Towel -1.106 1.151 1.289 0 0 0 34 16 Cloth -0.246 0.206 2.551 0 0 0 29 17 ScrubBrush -0.346 -0.000 3.341 0 0 0 Floor|+00.00| 18 DishSponge -0.299 0.829 1.627 0 0 0 43 19 Sink -0.299 0.807 2.754 0 270 0 20 Drawer -0.319 0.615 3.012 0 0 0 21 Drawer -0.319 0.316 3.012 0 0 0 22 CounterTop -0.349 0.004 1.453 0 0 0 23 Drawer -0.319 0.615 1.978 0 0 0 24 Drawer -0.319 0.316 1.978 0 0 0 25 Drawer -0.319 0.316 1.463 0 0 0 26 Drawer -0.319 0.615 2.495 0 0 0 27 ShowerDoor -1.514 0.910 1.167 0 0 0 28 Drawer -0.319 0.615 1.463 0 0 0 29 Drawer -0.319 0.316 2.495 0 0 0 30 Faucet -0.076 0.805 2.757 0 0 0 31 Mirror -0.228 0.465 1.453 0 0 0 32 ShowerGlass -0.766 0.541 0.485 0 0 0 33 ToiletPaperHanger -1.200 0.897 4.0 0 180 0 34 TowelHolder -1.105 1.136 1.183 0 0 0 35 GarbageCan -2.041 -0.000 3.724 0 45 0 36 HandTowelHolder 0.001 1.759 3.443 0 180 0 37 Toilet -0.600 -0.000 3.671 0 270 0 38 LightSwitch -2.312 1.386 3.296 0 90 0 39 Faucet -0.076 0.805 1.733 0 0 0 40 SinkBasin -0.304 0.819 2.753 0 0 0 41 Sink -0.298 0.807 1.725 0 270 0 42 ShowerHead -0.083 1.248 0.522 0 0 0 43 SinkBasin -0.304 0.819 1.723 0 0 0 44 NorthWall 45 SouthWall 46 SouthWall
[ "STEP 1: Turn around and move right to face the sink. | STEP 2: Pick up the bar of soap from the left sink. | STEP 3: Hold the soap and take a step to the right to locate the other sink. | STEP 4: Open the top right drawer and place the soap inside. Shut the drawer. | STEP 5: Look up to the sink. | STEP 6: Pick up the soap on the right side of the sink. | STEP 7: Carry the soap and look around. | STEP 8: Open the top right drawer and place the soap inside. Shut the drawer. | END" ]
[ [ "STEP 1: Turn around and move right to face the sink. ", " STEP 2: Pick up the bar of soap from the left sink. ", " STEP 3: Hold the soap and take a step to the right to locate the other sink. ", " STEP 4: Open the top right drawer and place the soap inside. Shut the drawer. ", " STEP 5: Look up to the sink. ", " STEP 6: Pick up the soap on the right side of the sink. ", " STEP 7: Carry the soap and look around. ", " STEP 8: Open the top right drawer and place the soap inside. Shut the drawer. ", " END" ] ]
seen
trial_T20190908_172023_358161-0
Drop phone in a tray and put on end table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.5 0.900 3.5 0 90 0 1 Plate -5.762 0.786 4.246 0 0 0 39 2 Statue -3.216 0.560 1.386 0 0 0 35 3 Statue -5.885 0.792 4.910 0 0 0 39 4 Newspaper 0.922 0.550 6.382 0 0 0 36 5 KeyChain -1.662 0.314 2.954 0 39.022 0 38 6 KeyChain 0.972 0.983 4.129 0 0 0 51 7 CellPhone 0.541 0.552 6.905 0 0 0 36 8 CellPhone 0.753 0.102 3.157 0 0 0 48 9 CellPhone -2.021 0.524 3.560 0 38.001 0 47 10 CreditCard -5.762 0.782 4.910 0 0 0 39 11 CreditCard -1.582 0.313 3.054 0 39.022 0 38 12 RemoteControl -5.269 0.783 4.689 0 0 0 39 13 Box -5.762 0.982 4.689 0 0 0 39 14 CellPhone -1.541 0.316 2.360 0 39.022 0 38 15 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 16 Newspaper 0.636 0.548 6.382 0 0 0 36 17 KeyChain 0.972 0.983 3.090 0 0 0 51 18 Plate -1.480 0.317 2.806 0 39.022 0 38 19 Pillow -2.719 0.609 2.768 0 320.647 0 47 20 RemoteControl -5.516 0.783 4.910 0 0 0 39 21 CreditCard 0.909 0.982 3.714 0 0 0 51 22 Laptop -5.464 0.779 5.252 0 306.871 0 39 23 Statue -1.703 0.319 2.160 0 39.022 0 38 24 Curtains -1.046 3.500 2.880 0 0 0 25 HousePlant -3.580 0.548 1.659 0 0 0 26 Television 0.852 1.460 3.726 357.954 270 0 27 Painting -3.813 1.809 1.008 90 90 0 28 DeskLamp 0.890 0.545 6.822 0 0 0 29 GarbageCan -7.102 -0.044 2.295 0 90 0 30 FloorLamp -3.494 0.006 0.390 0 0 0 31 LightSwitch -5.234 1.391 7.031 0 180 0 32 Window -1.985 1.646 -0.009 90 180 0 33 Window -4.909 0.990 2.015 90 180 0 34 Window -5.796 1.072 1.871 90 180 0 35 SideTable -3.407 0.005 1.656 0 270 0 36 SideTable 0.732 0.005 6.634 0 270 0 37 Chair -0.139 0.005 6.412 0 149.999 0 38 CoffeeTable -1.546 0.004 2.528 0 39.022 0 39 DiningTable -5.639 -0.003 4.910 0 270 0 40 Chair -3.159 0.005 0.869 0 97.469 0 41 Chair -5.192 0.002 4.682 0 281.219 0 42 Chair -5.181 0.002 5.293 0 266.218 0 43 Chair -6.046 0.002 4.560 0 86.218 0 44 Chair -5.624 0.002 5.750 0 180 0 45 Chair -6.036 0.002 5.235 0 93.544 0 46 Chair -5.580 0.002 4.099 0 357.508 0 47 Sofa -2.465 0.004 3.281 0 128.001 0 48 Drawer 0.748 0.237 3.330 0 270 0 49 Drawer 0.748 0.668 3.330 0 270 0 50 Drawer 0.748 0.235 4.097 0 270 0 51 Dresser 0.846 0.002 3.713 0 270 0 52 Drawer 0.748 0.665 4.097 0 270 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Turn left and walk toward the wall on the other side of the room. Turn right and walk to the other side of the room. Turn right and walk toward the fireplace. At the fireplace, turn right and walk to the coffee table. | STEP 2: Pick up the phone on the coffee table. | STEP 3: Walk toward the fireplace, turn left and walk around the coffee table. | STEP 4: Put the phone on the tray on the coffee table. | STEP 5: Pick up the tray with the phone from the coffee table. | STEP 6: Walk around the coffee table, toward the fireplace, turn right until on the opposite side of the coffee table | STEP 7: Put the tray with the phone down on the end table of the couch. | END" ]
[ [ "STEP 1: Turn left and walk toward the wall on the other side of the room. Turn right and walk to the other side of the room. Turn right and walk toward the fireplace. At the fireplace, turn right and walk to the coffee table. ", " STEP 2: Pick up the phone on the coffee table. ", " STEP 3: Walk toward the fireplace, turn left and walk around the coffee table. ", " STEP 4: Put the phone on the tray on the coffee table. ", " STEP 5: Pick up the tray with the phone from the coffee table. ", " STEP 6: Walk around the coffee table, toward the fireplace, turn right until on the opposite side of the coffee table ", " STEP 7: Put the tray with the phone down on the end table of the couch. ", " END" ] ]
seen
trial_T20190908_172023_358161-1
Put a plate with a phone on it, on the table next to the couch.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.5 0.900 3.5 0 90 0 1 Plate -5.762 0.786 4.246 0 0 0 39 2 Statue -3.216 0.560 1.386 0 0 0 35 3 Statue -5.885 0.792 4.910 0 0 0 39 4 Newspaper 0.922 0.550 6.382 0 0 0 36 5 KeyChain -1.662 0.314 2.954 0 39.022 0 38 6 KeyChain 0.972 0.983 4.129 0 0 0 51 7 CellPhone 0.541 0.552 6.905 0 0 0 36 8 CellPhone 0.753 0.102 3.157 0 0 0 48 9 CellPhone -2.021 0.524 3.560 0 38.001 0 47 10 CreditCard -5.762 0.782 4.910 0 0 0 39 11 CreditCard -1.582 0.313 3.054 0 39.022 0 38 12 RemoteControl -5.269 0.783 4.689 0 0 0 39 13 Box -5.762 0.982 4.689 0 0 0 39 14 CellPhone -1.541 0.316 2.360 0 39.022 0 38 15 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 16 Newspaper 0.636 0.548 6.382 0 0 0 36 17 KeyChain 0.972 0.983 3.090 0 0 0 51 18 Plate -1.480 0.317 2.806 0 39.022 0 38 19 Pillow -2.719 0.609 2.768 0 320.647 0 47 20 RemoteControl -5.516 0.783 4.910 0 0 0 39 21 CreditCard 0.909 0.982 3.714 0 0 0 51 22 Laptop -5.464 0.779 5.252 0 306.871 0 39 23 Statue -1.703 0.319 2.160 0 39.022 0 38 24 Curtains -1.046 3.500 2.880 0 0 0 25 HousePlant -3.580 0.548 1.659 0 0 0 26 Television 0.852 1.460 3.726 357.954 270 0 27 Painting -3.813 1.809 1.008 90 90 0 28 DeskLamp 0.890 0.545 6.822 0 0 0 29 GarbageCan -7.102 -0.044 2.295 0 90 0 30 FloorLamp -3.494 0.006 0.390 0 0 0 31 LightSwitch -5.234 1.391 7.031 0 180 0 32 Window -1.985 1.646 -0.009 90 180 0 33 Window -4.909 0.990 2.015 90 180 0 34 Window -5.796 1.072 1.871 90 180 0 35 SideTable -3.407 0.005 1.656 0 270 0 36 SideTable 0.732 0.005 6.634 0 270 0 37 Chair -0.139 0.005 6.412 0 149.999 0 38 CoffeeTable -1.546 0.004 2.528 0 39.022 0 39 DiningTable -5.639 -0.003 4.910 0 270 0 40 Chair -3.159 0.005 0.869 0 97.469 0 41 Chair -5.192 0.002 4.682 0 281.219 0 42 Chair -5.181 0.002 5.293 0 266.218 0 43 Chair -6.046 0.002 4.560 0 86.218 0 44 Chair -5.624 0.002 5.750 0 180 0 45 Chair -6.036 0.002 5.235 0 93.544 0 46 Chair -5.580 0.002 4.099 0 357.508 0 47 Sofa -2.465 0.004 3.281 0 128.001 0 48 Drawer 0.748 0.237 3.330 0 270 0 49 Drawer 0.748 0.668 3.330 0 270 0 50 Drawer 0.748 0.235 4.097 0 270 0 51 Dresser 0.846 0.002 3.713 0 270 0 52 Drawer 0.748 0.665 4.097 0 270 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Go around the left side of the couch, head over to the other side of the coffee table, facing the statue. | STEP 2: Pick up the phone on the coffee table. | STEP 3: Bring the phone around to the other side of the coffee table, facing the plate. | STEP 4: Put the phone on the plate on the table. | STEP 5: Pick up the plate with phone on the table. | STEP 6: Bring the plate around to the other side of the coffee table, to the small table left of the couch. | STEP 7: Put the plate with phone on the small table. | END" ]
[ [ "STEP 1: Go around the left side of the couch, head over to the other side of the coffee table, facing the statue. ", " STEP 2: Pick up the phone on the coffee table. ", " STEP 3: Bring the phone around to the other side of the coffee table, facing the plate. ", " STEP 4: Put the phone on the plate on the table. ", " STEP 5: Pick up the plate with phone on the table. ", " STEP 6: Bring the plate around to the other side of the coffee table, to the small table left of the couch. ", " STEP 7: Put the plate with phone on the small table. ", " END" ] ]
seen
trial_T20190908_172023_358161-2
Put a plate with a phone on it on the end table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.5 0.900 3.5 0 90 0 1 Plate -5.762 0.786 4.246 0 0 0 39 2 Statue -3.216 0.560 1.386 0 0 0 35 3 Statue -5.885 0.792 4.910 0 0 0 39 4 Newspaper 0.922 0.550 6.382 0 0 0 36 5 KeyChain -1.662 0.314 2.954 0 39.022 0 38 6 KeyChain 0.972 0.983 4.129 0 0 0 51 7 CellPhone 0.541 0.552 6.905 0 0 0 36 8 CellPhone 0.753 0.102 3.157 0 0 0 48 9 CellPhone -2.021 0.524 3.560 0 38.001 0 47 10 CreditCard -5.762 0.782 4.910 0 0 0 39 11 CreditCard -1.582 0.313 3.054 0 39.022 0 38 12 RemoteControl -5.269 0.783 4.689 0 0 0 39 13 Box -5.762 0.982 4.689 0 0 0 39 14 CellPhone -1.541 0.316 2.360 0 39.022 0 38 15 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 16 Newspaper 0.636 0.548 6.382 0 0 0 36 17 KeyChain 0.972 0.983 3.090 0 0 0 51 18 Plate -1.480 0.317 2.806 0 39.022 0 38 19 Pillow -2.719 0.609 2.768 0 320.647 0 47 20 RemoteControl -5.516 0.783 4.910 0 0 0 39 21 CreditCard 0.909 0.982 3.714 0 0 0 51 22 Laptop -5.464 0.779 5.252 0 306.871 0 39 23 Statue -1.703 0.319 2.160 0 39.022 0 38 24 Curtains -1.046 3.500 2.880 0 0 0 25 HousePlant -3.580 0.548 1.659 0 0 0 26 Television 0.852 1.460 3.726 357.954 270 0 27 Painting -3.813 1.809 1.008 90 90 0 28 DeskLamp 0.890 0.545 6.822 0 0 0 29 GarbageCan -7.102 -0.044 2.295 0 90 0 30 FloorLamp -3.494 0.006 0.390 0 0 0 31 LightSwitch -5.234 1.391 7.031 0 180 0 32 Window -1.985 1.646 -0.009 90 180 0 33 Window -4.909 0.990 2.015 90 180 0 34 Window -5.796 1.072 1.871 90 180 0 35 SideTable -3.407 0.005 1.656 0 270 0 36 SideTable 0.732 0.005 6.634 0 270 0 37 Chair -0.139 0.005 6.412 0 149.999 0 38 CoffeeTable -1.546 0.004 2.528 0 39.022 0 39 DiningTable -5.639 -0.003 4.910 0 270 0 40 Chair -3.159 0.005 0.869 0 97.469 0 41 Chair -5.192 0.002 4.682 0 281.219 0 42 Chair -5.181 0.002 5.293 0 266.218 0 43 Chair -6.046 0.002 4.560 0 86.218 0 44 Chair -5.624 0.002 5.750 0 180 0 45 Chair -6.036 0.002 5.235 0 93.544 0 46 Chair -5.580 0.002 4.099 0 357.508 0 47 Sofa -2.465 0.004 3.281 0 128.001 0 48 Drawer 0.748 0.237 3.330 0 270 0 49 Drawer 0.748 0.668 3.330 0 270 0 50 Drawer 0.748 0.235 4.097 0 270 0 51 Dresser 0.846 0.002 3.713 0 270 0 52 Drawer 0.748 0.665 4.097 0 270 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Walk to the other side of the couch by going around it in front of you to the left then walk to the coffee table in front of the couch. | STEP 2: Pick up the phone that's on the coffee table. | STEP 3: Walk to the other side of the coffee table. | STEP 4: Put the phone on the black plate that's on the coffee table. | STEP 5: Pick up the black plate. | STEP 6: Now walk to the end table to the left of the white couch. | STEP 7: Put the plate on the end table. | END" ]
[ [ "STEP 1: Walk to the other side of the couch by going around it in front of you to the left then walk to the coffee table in front of the couch. ", " STEP 2: Pick up the phone that's on the coffee table. ", " STEP 3: Walk to the other side of the coffee table. ", " STEP 4: Put the phone on the black plate that's on the coffee table. ", " STEP 5: Pick up the black plate. ", " STEP 6: Now walk to the end table to the left of the white couch. ", " STEP 7: Put the plate on the end table. ", " END" ] ]
seen
trial_T20190907_211012_217680-0
Put a cardboard box with a lid inside of it on the glass table.
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-1.820", " 0", " 0", " 0", " 57" ], [ "24", " Shelf", " -4.253", " 2.157", " 0.771", " 0", " 0", " 0", "" ], [ "25", " Painting", " -3.368", " 1.741", " -0.298", " 0", " 0", " 0", "" ], [ "26", " Shelf", " -4.253", " 1.306", " 0.771", " 0", " 0", " 0", "" ], [ "27", " Painting", " -1.756", " 1.424", " -3.595", " 0", " 0", " 0", "" ], [ "28", " Shelf", " -4.253", " 1.690", " 0.771", " 0", " 0", " 0", "" ], [ "29", " Shelf", " -4.261", " 0.833", " 0.771", " 0", " 0", " 0", "" ], [ "30", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "31", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "33", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "34", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "35", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "36", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "37", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "38", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "39", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "40", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "41", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "42", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "43", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "44", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "45", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "46", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "47", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "48", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "49", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "50", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "51", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "52", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "53", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "54", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "55", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "56", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "57", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "58", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "59", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "60", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "61", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "62", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "63", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "64", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "65", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "66", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "67", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "68", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "69", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "70", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "71", " ", " ", " ", " ", " ", " ", " ", "" ], [ "72", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "75", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.902 5.25 0 180 0 1 KeyChain -4.168 1.653 0.471 0 0 0 28 2 CellPhone -2.465 0.658 -2.329 0 0 0 57 3 CellPhone 0.242 0.030 -0.110 0 53.940 0 71 4 CreditCard 0.383 0.741 1.202 0 0 0 36 5 CreditCard -0.047 0.329 1.311 0 0 0 35 6 Box -1.329 0.945 -2.329 0 90 0 57 7 Box -1.093 1.031 1.398 0 0 0 36 8 Pillow -1.663 0.446 5.916 0 180 0 59 9 Box -2.557 0.609 2.462 0 180 0 67 10 Vase -0.847 0.750 1.105 0 0 0 36 11 CellPhone -0.093 0.540 1.204 0 0 0 32 12 WateringCan -3.580 0.003 5.507 2.686 0 0 Floor|-04.41| 13 KeyChain -1.102 0.655 -2.074 0 0 0 57 14 Vase -2.238 0.664 -2.456 0 0 0 57 15 Vase -1.102 0.660 -1.693 0 0 0 57 16 Laptop -2.414 0.387 6.006 0 180 0 59 17 Pillow -3.483 0.451 4.415 0 90 0 60 18 RemoteControl -1.102 0.656 -1.947 0 0 0 57 19 CreditCard -0.487 0.692 5.611 0 315 0 51 20 Vase -4.247 1.656 0.771 0 0 0 28 21 Statue -0.108 0.743 1.593 0 0 0 36 22 Statue -0.108 0.752 1.202 0 0 0 36 23 Statue -2.238 0.756 -1.820 0 0 0 57 24 Shelf -4.253 2.157 0.771 0 0 0 25 Painting -3.368 1.741 -0.298 0 0 0 26 Shelf -4.253 1.306 0.771 0 0 0 27 Painting -1.756 1.424 -3.595 0 0 0 28 Shelf -4.253 1.690 0.771 0 0 0 29 Shelf -4.261 0.833 0.771 0 0 0 30 Drawer 0.411 0.581 1.221 0 180 0 31 Drawer -0.000 0.170 1.221 0 180 0 32 Drawer -0.000 0.581 1.221 0 180 0 33 Drawer 0.411 0.375 1.221 0 180 0 34 Drawer 0.411 0.170 1.221 0 180 0 35 Drawer -0.000 0.375 1.221 0 180 0 36 Desk -0.352 0.003 1.371 0 180 0 37 FloorLamp 0.391 -0.001 5.157 0 0 0 38 Window -2.828 0.470 -0.157 90 199.328 0 39 Window -4.410 1.702 1.787 90 270 0 40 Window -3.638 1.702 6.735 90 0 0 41 Window -4.410 1.702 2.790 90 270 0 42 Window -2.827 1.702 -0.157 90 199.328 0 43 Window -0.131 1.702 6.735 90 0 0 44 Window -1.013 1.702 -0.154 90 159.633 0 45 Window -4.410 1.702 5.980 90 270 0 46 Television -0.153 1.176 5.790 0 225 0 47 GarbageCan 0.357 0.003 2.159 0 90 0 48 DeskLamp 0.277 0.735 1.381 0 0 0 49 HousePlant -1.819 0.641 -2.011 0 315 0 50 LightSwitch -2.740 1.495 -0.405 0 180 0 51 TVStand -0.118 0.001 5.874 0 45 0 52 Chair -1.353 0.002 -2.872 0 349.207 0 53 Chair -2.220 0.002 -1.298 0 168.118 0 54 Chair -1.515 0.007 -1.331 358.639 187.454 0 55 Chair -2.189 0.002 -2.835 0 2.328 0 56 Safe 0.174 0.001 -0.071 0 323.940 0 57 DiningTable -1.783 0.003 -2.039 0 0 0 58 Chair -0.636 0.010 0.993 0 358.396 0 59 Sofa -2.161 0.006 6.115 0 180 0 60 Sofa -3.782 0.006 4.153 0 90 0 61 Shelf -1.095 0.607 1.321 0 180 0 62 Shelf -1.267 0.607 1.321 0 180 0 63 Shelf -1.267 0.401 1.321 0 180 0 64 Shelf -1.095 0.196 1.320 0 180 0 65 Shelf -1.095 0.401 1.321 0 180 0 66 Shelf -1.267 0.196 1.320 0 180 0 67 ArmChair -2.628 0.009 2.421 0 0 0 68 Chair -0.485 0.010 4.452 0 270 0 69 Chair -0.431 0.010 3.595 0 270 0 70 CoffeeTable -1.965 0.000 4.187 0 0 0 71 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Walk forward through the doorway on the opposite side of the room and walk to the left corner of the table. | STEP 2: Pick up the lid from the table. | STEP 3: Walk around to the opposite side of the table. | STEP 4: Put the lid in the cardboard box. | STEP 5: Pick up the cardboard box from the table. | STEP 6: Walk around to the opposite side of the table, then walk through the doorway until you reach the glass table. | STEP 7: Put the cardboard box down on the glass table. | END" ]
[ [ "STEP 1: Walk forward through the doorway on the opposite side of the room and walk to the left corner of the table. ", " STEP 2: Pick up the lid from the table. ", " STEP 3: Walk around to the opposite side of the table. ", " STEP 4: Put the lid in the cardboard box. ", " STEP 5: Pick up the cardboard box from the table. ", " STEP 6: Walk around to the opposite side of the table, then walk through the doorway until you reach the glass table. ", " STEP 7: Put the cardboard box down on the glass table. ", " END" ] ]
seen
trial_T20190907_211012_217680-1
Move a boxed item from one room to a coffee table in a different room.
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-1.820", " 0", " 0", " 0", " 57" ], [ "24", " Shelf", " -4.253", " 2.157", " 0.771", " 0", " 0", " 0", "" ], [ "25", " Painting", " -3.368", " 1.741", " -0.298", " 0", " 0", " 0", "" ], [ "26", " Shelf", " -4.253", " 1.306", " 0.771", " 0", " 0", " 0", "" ], [ "27", " Painting", " -1.756", " 1.424", " -3.595", " 0", " 0", " 0", "" ], [ "28", " Shelf", " -4.253", " 1.690", " 0.771", " 0", " 0", " 0", "" ], [ "29", " Shelf", " -4.261", " 0.833", " 0.771", " 0", " 0", " 0", "" ], [ "30", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "31", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "33", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "34", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "35", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "36", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "37", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "38", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "39", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "40", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "41", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "42", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "43", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "44", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "45", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "46", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "47", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "48", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "49", " HousePlant", " -1.819", " 0.641", " 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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 0.902 5.25 0 180 0 1 KeyChain -4.168 1.653 0.471 0 0 0 28 2 CellPhone -2.465 0.658 -2.329 0 0 0 57 3 CellPhone 0.242 0.030 -0.110 0 53.940 0 71 4 CreditCard 0.383 0.741 1.202 0 0 0 36 5 CreditCard -0.047 0.329 1.311 0 0 0 35 6 Box -1.329 0.945 -2.329 0 90 0 57 7 Box -1.093 1.031 1.398 0 0 0 36 8 Pillow -1.663 0.446 5.916 0 180 0 59 9 Box -2.557 0.609 2.462 0 180 0 67 10 Vase -0.847 0.750 1.105 0 0 0 36 11 CellPhone -0.093 0.540 1.204 0 0 0 32 12 WateringCan -3.580 0.003 5.507 2.686 0 0 Floor|-04.41| 13 KeyChain -1.102 0.655 -2.074 0 0 0 57 14 Vase -2.238 0.664 -2.456 0 0 0 57 15 Vase -1.102 0.660 -1.693 0 0 0 57 16 Laptop -2.414 0.387 6.006 0 180 0 59 17 Pillow -3.483 0.451 4.415 0 90 0 60 18 RemoteControl -1.102 0.656 -1.947 0 0 0 57 19 CreditCard -0.487 0.692 5.611 0 315 0 51 20 Vase -4.247 1.656 0.771 0 0 0 28 21 Statue -0.108 0.743 1.593 0 0 0 36 22 Statue -0.108 0.752 1.202 0 0 0 36 23 Statue -2.238 0.756 -1.820 0 0 0 57 24 Shelf -4.253 2.157 0.771 0 0 0 25 Painting -3.368 1.741 -0.298 0 0 0 26 Shelf -4.253 1.306 0.771 0 0 0 27 Painting -1.756 1.424 -3.595 0 0 0 28 Shelf -4.253 1.690 0.771 0 0 0 29 Shelf -4.261 0.833 0.771 0 0 0 30 Drawer 0.411 0.581 1.221 0 180 0 31 Drawer -0.000 0.170 1.221 0 180 0 32 Drawer -0.000 0.581 1.221 0 180 0 33 Drawer 0.411 0.375 1.221 0 180 0 34 Drawer 0.411 0.170 1.221 0 180 0 35 Drawer -0.000 0.375 1.221 0 180 0 36 Desk -0.352 0.003 1.371 0 180 0 37 FloorLamp 0.391 -0.001 5.157 0 0 0 38 Window -2.828 0.470 -0.157 90 199.328 0 39 Window -4.410 1.702 1.787 90 270 0 40 Window -3.638 1.702 6.735 90 0 0 41 Window -4.410 1.702 2.790 90 270 0 42 Window -2.827 1.702 -0.157 90 199.328 0 43 Window -0.131 1.702 6.735 90 0 0 44 Window -1.013 1.702 -0.154 90 159.633 0 45 Window -4.410 1.702 5.980 90 270 0 46 Television -0.153 1.176 5.790 0 225 0 47 GarbageCan 0.357 0.003 2.159 0 90 0 48 DeskLamp 0.277 0.735 1.381 0 0 0 49 HousePlant -1.819 0.641 -2.011 0 315 0 50 LightSwitch -2.740 1.495 -0.405 0 180 0 51 TVStand -0.118 0.001 5.874 0 45 0 52 Chair -1.353 0.002 -2.872 0 349.207 0 53 Chair -2.220 0.002 -1.298 0 168.118 0 54 Chair -1.515 0.007 -1.331 358.639 187.454 0 55 Chair -2.189 0.002 -2.835 0 2.328 0 56 Safe 0.174 0.001 -0.071 0 323.940 0 57 DiningTable -1.783 0.003 -2.039 0 0 0 58 Chair -0.636 0.010 0.993 0 358.396 0 59 Sofa -2.161 0.006 6.115 0 180 0 60 Sofa -3.782 0.006 4.153 0 90 0 61 Shelf -1.095 0.607 1.321 0 180 0 62 Shelf -1.267 0.607 1.321 0 180 0 63 Shelf -1.267 0.401 1.321 0 180 0 64 Shelf -1.095 0.196 1.320 0 180 0 65 Shelf -1.095 0.401 1.321 0 180 0 66 Shelf -1.267 0.196 1.320 0 180 0 67 ArmChair -2.628 0.009 2.421 0 0 0 68 Chair -0.485 0.010 4.452 0 270 0 69 Chair -0.431 0.010 3.595 0 270 0 70 CoffeeTable -1.965 0.000 4.187 0 0 0 71 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Move across the room and walk through the doorway into the next room with a table. | STEP 2: Pick the round object up from the left corner of the table. | STEP 3: Carry the round object around the table until you're standing on the opposite side of the table, so you're facing the doorway. | STEP 4: Place the round object in the open box on the table. | STEP 5: Pick up the box with the round object from the table. | STEP 6: Carry the box around the table and through the doorway until you get to the coffee table. | STEP 7: Place the box with the round object on it on the coffee table. | END" ]
[ [ "STEP 1: Move across the room and walk through the doorway into the next room with a table. ", " STEP 2: Pick the round object up from the left corner of the table. ", " STEP 3: Carry the round object around the table until you're standing on the opposite side of the table, so you're facing the doorway. ", " STEP 4: Place the round object in the open box on the table. ", " STEP 5: Pick up the box with the round object from the table. ", " STEP 6: Carry the box around the table and through the doorway until you get to the coffee table. ", " STEP 7: Place the box with the round object on it on the coffee table. ", " END" ] ]
seen
trial_T20190907_211012_217680-2
Put the bowl in the box on the coffee table.
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CellPhone", " -0.093", " 0.540", " 1.204", " 0", " 0", " 0", " 32" ], [ "12", " WateringCan", " -3.580", " 0.003", " 5.507", " 2.686", " 0", " 0", " Floor|-04.41|" ], [ "13", " KeyChain", " -1.102", " 0.655", " -2.074", " 0", " 0", " 0", " 57" ], [ "14", " Vase", " -2.238", " 0.664", " -2.456", " 0", " 0", " 0", " 57" ], [ "15", " Vase", " -1.102", " 0.660", " -1.693", " 0", " 0", " 0", " 57" ], [ "16", " Laptop", " -2.414", " 0.387", " 6.006", " 0", " 180", " 0", " 59" ], [ "17", " Pillow", " -3.483", " 0.451", " 4.415", " 0", " 90", " 0", " 60" ], [ "18", " RemoteControl", " -1.102", " 0.656", " -1.947", " 0", " 0", " 0", " 57" ], [ "19", " CreditCard", " -0.487", " 0.692", " 5.611", " 0", " 315", " 0", " 51" ], [ "20", " Vase", " -4.247", " 1.656", " 0.771", " 0", " 0", " 0", " 28" ], [ "21", " Statue", " -0.108", " 0.743", " 1.593", " 0", " 0", " 0", " 36" ], [ "22", " Statue", " -0.108", " 0.752", " 1.202", " 0", " 0", " 0", " 36" ], [ "23", " Statue", " -2.238", " 0.756", " 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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 0.902 5.25 0 180 0 1 KeyChain -4.168 1.653 0.471 0 0 0 28 2 CellPhone -2.465 0.658 -2.329 0 0 0 57 3 CellPhone 0.242 0.030 -0.110 0 53.940 0 71 4 CreditCard 0.383 0.741 1.202 0 0 0 36 5 CreditCard -0.047 0.329 1.311 0 0 0 35 6 Box -1.329 0.945 -2.329 0 90 0 57 7 Box -1.093 1.031 1.398 0 0 0 36 8 Pillow -1.663 0.446 5.916 0 180 0 59 9 Box -2.557 0.609 2.462 0 180 0 67 10 Vase -0.847 0.750 1.105 0 0 0 36 11 CellPhone -0.093 0.540 1.204 0 0 0 32 12 WateringCan -3.580 0.003 5.507 2.686 0 0 Floor|-04.41| 13 KeyChain -1.102 0.655 -2.074 0 0 0 57 14 Vase -2.238 0.664 -2.456 0 0 0 57 15 Vase -1.102 0.660 -1.693 0 0 0 57 16 Laptop -2.414 0.387 6.006 0 180 0 59 17 Pillow -3.483 0.451 4.415 0 90 0 60 18 RemoteControl -1.102 0.656 -1.947 0 0 0 57 19 CreditCard -0.487 0.692 5.611 0 315 0 51 20 Vase -4.247 1.656 0.771 0 0 0 28 21 Statue -0.108 0.743 1.593 0 0 0 36 22 Statue -0.108 0.752 1.202 0 0 0 36 23 Statue -2.238 0.756 -1.820 0 0 0 57 24 Shelf -4.253 2.157 0.771 0 0 0 25 Painting -3.368 1.741 -0.298 0 0 0 26 Shelf -4.253 1.306 0.771 0 0 0 27 Painting -1.756 1.424 -3.595 0 0 0 28 Shelf -4.253 1.690 0.771 0 0 0 29 Shelf -4.261 0.833 0.771 0 0 0 30 Drawer 0.411 0.581 1.221 0 180 0 31 Drawer -0.000 0.170 1.221 0 180 0 32 Drawer -0.000 0.581 1.221 0 180 0 33 Drawer 0.411 0.375 1.221 0 180 0 34 Drawer 0.411 0.170 1.221 0 180 0 35 Drawer -0.000 0.375 1.221 0 180 0 36 Desk -0.352 0.003 1.371 0 180 0 37 FloorLamp 0.391 -0.001 5.157 0 0 0 38 Window -2.828 0.470 -0.157 90 199.328 0 39 Window -4.410 1.702 1.787 90 270 0 40 Window -3.638 1.702 6.735 90 0 0 41 Window -4.410 1.702 2.790 90 270 0 42 Window -2.827 1.702 -0.157 90 199.328 0 43 Window -0.131 1.702 6.735 90 0 0 44 Window -1.013 1.702 -0.154 90 159.633 0 45 Window -4.410 1.702 5.980 90 270 0 46 Television -0.153 1.176 5.790 0 225 0 47 GarbageCan 0.357 0.003 2.159 0 90 0 48 DeskLamp 0.277 0.735 1.381 0 0 0 49 HousePlant -1.819 0.641 -2.011 0 315 0 50 LightSwitch -2.740 1.495 -0.405 0 180 0 51 TVStand -0.118 0.001 5.874 0 45 0 52 Chair -1.353 0.002 -2.872 0 349.207 0 53 Chair -2.220 0.002 -1.298 0 168.118 0 54 Chair -1.515 0.007 -1.331 358.639 187.454 0 55 Chair -2.189 0.002 -2.835 0 2.328 0 56 Safe 0.174 0.001 -0.071 0 323.940 0 57 DiningTable -1.783 0.003 -2.039 0 0 0 58 Chair -0.636 0.010 0.993 0 358.396 0 59 Sofa -2.161 0.006 6.115 0 180 0 60 Sofa -3.782 0.006 4.153 0 90 0 61 Shelf -1.095 0.607 1.321 0 180 0 62 Shelf -1.267 0.607 1.321 0 180 0 63 Shelf -1.267 0.401 1.321 0 180 0 64 Shelf -1.095 0.196 1.320 0 180 0 65 Shelf -1.095 0.401 1.321 0 180 0 66 Shelf -1.267 0.196 1.320 0 180 0 67 ArmChair -2.628 0.009 2.421 0 0 0 68 Chair -0.485 0.010 4.452 0 270 0 69 Chair -0.431 0.010 3.595 0 270 0 70 CoffeeTable -1.965 0.000 4.187 0 0 0 71 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Walk across the room, go through the door, walk to the dining room table. | STEP 2: Pick up the bowl on the table. | STEP 3: Walk around the table, face the box on the table. | STEP 4: Place the bowl in the box on the table. | STEP 5: Pick up the box off of the table. | STEP 6: Walk back through the door, walk to the coffee table. | STEP 7: Place the box on the coffee table. | END" ]
[ [ "STEP 1: Walk across the room, go through the door, walk to the dining room table. ", " STEP 2: Pick up the bowl on the table. ", " STEP 3: Walk around the table, face the box on the table. ", " STEP 4: Place the bowl in the box on the table. ", " STEP 5: Pick up the box off of the table. ", " STEP 6: Walk back through the door, walk to the coffee table. ", " STEP 7: Place the box on the coffee table. ", " END" ] ]
seen
trial_T20190909_025934_510847-0
Put a pot with a green knife in 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 -1.25 0.900 -2.75 0 90 0 1 Pan -0.308 1.690 -0.560 0 0 0 66 2 Pencil -0.671 0.916 -3.768 0 0 0 49 3 Pencil -0.743 0.916 -3.485 0 0 0 49 4 Pen -2.780 0.926 -2.115 0 0 0 74 5 Potato -0.150 0.947 -2.563 0 0 0 49 6 DishSponge -0.205 1.970 -1.773 0 0 0 51 7 WineBottle -0.222 0.916 -3.368 0 0 0 49 8 Pot -1.129 0.935 -3.498 0 0 0 47 9 Fork -0.398 0.797 -2.155 0 180 0 67 10 Fork -2.210 0.924 -1.423 0 0 0 74 11 Egg -0.815 0.948 -3.485 0 0 0 49 12 Egg -2.438 0.956 -1.884 0 0 0 74 13 SoapBottle -2.438 0.922 -0.963 0 0 0 74 14 SoapBottle -2.666 0.922 -2.115 0 0 0 74 15 Bowl -1.496 1.968 -3.851 0 0 0 58 16 Lettuce -0.295 1.191 -0.979 0 270 0 66 17 PepperShaker -0.499 0.077 -3.205 0 0 0 55 18 Mug -1.204 1.625 -3.936 0 90 0 62 19 Apple -2.096 0.996 -1.193 0 0 0 74 20 Lettuce -0.295 1.483 -0.874 0 270 0 66 21 Glassbottle -2.552 0.924 -1.193 0 0 0 74 22 Egg -1.098 1.663 -3.804 0 0 0 62 23 Pen -2.096 0.926 -2.115 0 0 0 74 24 Fork -0.398 0.797 -2.082 0 180 0 67 25 SoapBottle -1.943 0.025 -3.727 0 0 0 65 26 Pencil -2.552 0.923 -0.963 0 0 0 74 27 WineBottle -2.552 0.924 -2.345 0 0 0 74 28 Spatula -0.222 0.930 -3.771 0 90 0 49 29 Bread -0.415 0.952 -3.625 0 0 0 49 30 Tomato -2.717 0.979 -1.924 0 0 0 74 31 Pan -0.343 1.098 -0.560 0 0 0 66 32 Cup -0.441 1.389 -0.979 0 270 0 66 33 Pot -1.515 0.935 -3.497 0 0 0 46 34 SaltShaker -0.749 0.743 -3.556 0 0 0 48 35 Potato -0.508 0.947 -3.167 0 0 0 49 36 PepperShaker -2.666 0.919 -2.345 0 0 0 74 37 ButterKnife -0.371 0.903 -3.443 0 0 0 49 38 DishSponge -0.449 0.746 -3.297 0 0 0 60 39 Spoon -2.324 0.924 -1.193 0 0 0 74 40 Plate -2.666 0.925 -1.654 0 0 0 74 41 Knife -2.269 0.920 -2.143 90 315 0 74 42 Mug -0.302 0.792 -1.934 0 270 0 67 43 Bowl -0.268 1.689 -0.979 0 270 0 66 44 Cabinet -0.582 0.388 -1.804 0 0 0 45 StoveBurner -1.515 0.928 -3.752 0 90 0 46 StoveBurner -1.515 0.928 -3.497 0 0 0 47 StoveBurner -1.129 0.928 -3.498 0 0 0 48 Drawer -0.749 0.779 -3.551 0 0 0 49 CounterTop -0.303 0.951 -2.793 0 0 0 50 Cabinet -0.883 2.140 -3.687 0 0 0 51 Cabinet -0.312 2.140 -1.543 0 0 0 52 Sink -0.349 0.907 -2.014 0 0 0 53 Cabinet -0.877 0.388 -3.422 0 0 0 54 Cabinet -0.582 0.388 -2.197 0 0 0 55 Cabinet -0.584 0.388 -3.396 0 0 0 56 Cabinet -0.312 2.140 -2.481 0 0 0 57 Cabinet -0.330 1.921 -3.390 0 0 0 58 Cabinet -1.764 2.140 -3.687 0 0 0 59 StoveBurner -1.129 0.928 -3.752 0 90 0 60 Drawer -0.454 0.779 -3.268 0 0 0 61 Cabinet -0.302 1.916 -2.501 0 0 0 62 Microwave -1.317 1.517 -3.801 0 1.440 0 63 CoffeeMachine -0.153 0.903 -3.144 0 270 0 64 LightSwitch -4.323 1.319 0.0 0 180 0 65 GarbageCan -1.943 -7.152 -3.763 0 0 0 66 Fridge -0.330 0.0 -0.769 0 270 0 67 SinkBasin -0.350 0.786 -2.018 0 270 0 68 StoveKnob -1.582 1.082 -3.958 72.287 0 0 69 StoveKnob -1.177 1.082 -3.958 72.287 0 0 70 StoveKnob -1.424 1.082 -3.958 72.287 0 0 71 StoveKnob -1.028 1.082 -3.958 72.287 0 0 72 Toaster -0.181 0.903 -2.764 0 270 0 73 Window -2.503 1.782 -4.185 90 180 0 74 DiningTable -2.432 0.000 -1.694 0 270 0 75 Shelf -2.432 0.150 -1.694 0 270 0 76 Blinds -2.536 2.699 -3.959 0 0 0 77 Faucet -0.079 0.904 -2.034 270 180 0 78 Chair -3.264 0.002 -2.094 0 53.280 0 79 Chair -3.240 0.002 -1.253 0 117.257 0 80 Shelf -2.432 0.523 -1.694 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Turn around, go straight to the green table. | STEP 2: Take the large knife from the table. | STEP 3: Turn left, go to the oven ahead. | STEP 4: Put the knife in the left pot on the stove top. | STEP 5: Take the left pot from the stove top. | STEP 6: Turn around, go straight, turn left at the green table. | STEP 7: Put the pot on the left side of the table. | END" ]
[ [ "STEP 1: Turn around, go straight to the green table. ", " STEP 2: Take the large knife from the table. ", " STEP 3: Turn left, go to the oven ahead. ", " STEP 4: Put the knife in the left pot on the stove top. ", " STEP 5: Take the left pot from the stove top. ", " STEP 6: Turn around, go straight, turn left at the green table. ", " STEP 7: Put the pot on the left side of the table. ", " END" ] ]
seen
trial_T20190909_025934_510847-1
Put a pot with a knife in it on the table.
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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 0.900 -2.75 0 90 0 1 Pan -0.308 1.690 -0.560 0 0 0 66 2 Pencil -0.671 0.916 -3.768 0 0 0 49 3 Pencil -0.743 0.916 -3.485 0 0 0 49 4 Pen -2.780 0.926 -2.115 0 0 0 74 5 Potato -0.150 0.947 -2.563 0 0 0 49 6 DishSponge -0.205 1.970 -1.773 0 0 0 51 7 WineBottle -0.222 0.916 -3.368 0 0 0 49 8 Pot -1.129 0.935 -3.498 0 0 0 47 9 Fork -0.398 0.797 -2.155 0 180 0 67 10 Fork -2.210 0.924 -1.423 0 0 0 74 11 Egg -0.815 0.948 -3.485 0 0 0 49 12 Egg -2.438 0.956 -1.884 0 0 0 74 13 SoapBottle -2.438 0.922 -0.963 0 0 0 74 14 SoapBottle -2.666 0.922 -2.115 0 0 0 74 15 Bowl -1.496 1.968 -3.851 0 0 0 58 16 Lettuce -0.295 1.191 -0.979 0 270 0 66 17 PepperShaker -0.499 0.077 -3.205 0 0 0 55 18 Mug -1.204 1.625 -3.936 0 90 0 62 19 Apple -2.096 0.996 -1.193 0 0 0 74 20 Lettuce -0.295 1.483 -0.874 0 270 0 66 21 Glassbottle -2.552 0.924 -1.193 0 0 0 74 22 Egg -1.098 1.663 -3.804 0 0 0 62 23 Pen -2.096 0.926 -2.115 0 0 0 74 24 Fork -0.398 0.797 -2.082 0 180 0 67 25 SoapBottle -1.943 0.025 -3.727 0 0 0 65 26 Pencil -2.552 0.923 -0.963 0 0 0 74 27 WineBottle -2.552 0.924 -2.345 0 0 0 74 28 Spatula -0.222 0.930 -3.771 0 90 0 49 29 Bread -0.415 0.952 -3.625 0 0 0 49 30 Tomato -2.717 0.979 -1.924 0 0 0 74 31 Pan -0.343 1.098 -0.560 0 0 0 66 32 Cup -0.441 1.389 -0.979 0 270 0 66 33 Pot -1.515 0.935 -3.497 0 0 0 46 34 SaltShaker -0.749 0.743 -3.556 0 0 0 48 35 Potato -0.508 0.947 -3.167 0 0 0 49 36 PepperShaker -2.666 0.919 -2.345 0 0 0 74 37 ButterKnife -0.371 0.903 -3.443 0 0 0 49 38 DishSponge -0.449 0.746 -3.297 0 0 0 60 39 Spoon -2.324 0.924 -1.193 0 0 0 74 40 Plate -2.666 0.925 -1.654 0 0 0 74 41 Knife -2.269 0.920 -2.143 90 315 0 74 42 Mug -0.302 0.792 -1.934 0 270 0 67 43 Bowl -0.268 1.689 -0.979 0 270 0 66 44 Cabinet -0.582 0.388 -1.804 0 0 0 45 StoveBurner -1.515 0.928 -3.752 0 90 0 46 StoveBurner -1.515 0.928 -3.497 0 0 0 47 StoveBurner -1.129 0.928 -3.498 0 0 0 48 Drawer -0.749 0.779 -3.551 0 0 0 49 CounterTop -0.303 0.951 -2.793 0 0 0 50 Cabinet -0.883 2.140 -3.687 0 0 0 51 Cabinet -0.312 2.140 -1.543 0 0 0 52 Sink -0.349 0.907 -2.014 0 0 0 53 Cabinet -0.877 0.388 -3.422 0 0 0 54 Cabinet -0.582 0.388 -2.197 0 0 0 55 Cabinet -0.584 0.388 -3.396 0 0 0 56 Cabinet -0.312 2.140 -2.481 0 0 0 57 Cabinet -0.330 1.921 -3.390 0 0 0 58 Cabinet -1.764 2.140 -3.687 0 0 0 59 StoveBurner -1.129 0.928 -3.752 0 90 0 60 Drawer -0.454 0.779 -3.268 0 0 0 61 Cabinet -0.302 1.916 -2.501 0 0 0 62 Microwave -1.317 1.517 -3.801 0 1.440 0 63 CoffeeMachine -0.153 0.903 -3.144 0 270 0 64 LightSwitch -4.323 1.319 0.0 0 180 0 65 GarbageCan -1.943 -7.152 -3.763 0 0 0 66 Fridge -0.330 0.0 -0.769 0 270 0 67 SinkBasin -0.350 0.786 -2.018 0 270 0 68 StoveKnob -1.582 1.082 -3.958 72.287 0 0 69 StoveKnob -1.177 1.082 -3.958 72.287 0 0 70 StoveKnob -1.424 1.082 -3.958 72.287 0 0 71 StoveKnob -1.028 1.082 -3.958 72.287 0 0 72 Toaster -0.181 0.903 -2.764 0 270 0 73 Window -2.503 1.782 -4.185 90 180 0 74 DiningTable -2.432 0.000 -1.694 0 270 0 75 Shelf -2.432 0.150 -1.694 0 270 0 76 Blinds -2.536 2.699 -3.959 0 0 0 77 Faucet -0.079 0.904 -2.034 270 180 0 78 Chair -3.264 0.002 -2.094 0 53.280 0 79 Chair -3.240 0.002 -1.253 0 117.257 0 80 Shelf -2.432 0.523 -1.694 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Turn around and stand in front of the counter with the knife on it. | STEP 2: Pick the knife up from the counter. | STEP 3: Go left and stand in front of the stove. | STEP 4: Put the knife in the pot on the left side of the stove. | STEP 5: Pick the pot up from the left side of the stove. | STEP 6: Turn around and stand in front of the table. | STEP 7: Put the pot down on the table in front of the bottle. | END" ]
[ [ "STEP 1: Turn around and stand in front of the counter with the knife on it. ", " STEP 2: Pick the knife up from the counter. ", " STEP 3: Go left and stand in front of the stove. ", " STEP 4: Put the knife in the pot on the left side of the stove. ", " STEP 5: Pick the pot up from the left side of the stove. ", " STEP 6: Turn around and stand in front of the table. ", " STEP 7: Put the pot down on the table in front of the bottle. ", " END" ] ]
seen
trial_T20190909_025934_510847-2
Put a knife in a pot on the table.
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0.000", " -1.694", " 0", " 270", " 0", "" ], [ "75", " Shelf", " -2.432", " 0.150", " -1.694", " 0", " 270", " 0", "" ], [ "76", " Blinds", " -2.536", " 2.699", " -3.959", " 0", " 0", " 0", "" ], [ "77", " Faucet", " -0.079", " 0.904", " -2.034", " 270", " 180", " 0", "" ], [ "78", " Chair", " -3.264", " 0.002", " -2.094", " 0", " 53.280", " 0", "" ], [ "79", " Chair", " -3.240", " 0.002", " -1.253", " 0", " 117.257", " 0", "" ], [ "80", " Shelf", " -2.432", " 0.523", " -1.694", " 0", " 270", " 0", "" ], [ "81", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " 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 -0.308 1.690 -0.560 0 0 0 66 2 Pencil -0.671 0.916 -3.768 0 0 0 49 3 Pencil -0.743 0.916 -3.485 0 0 0 49 4 Pen -2.780 0.926 -2.115 0 0 0 74 5 Potato -0.150 0.947 -2.563 0 0 0 49 6 DishSponge -0.205 1.970 -1.773 0 0 0 51 7 WineBottle -0.222 0.916 -3.368 0 0 0 49 8 Pot -1.129 0.935 -3.498 0 0 0 47 9 Fork -0.398 0.797 -2.155 0 180 0 67 10 Fork -2.210 0.924 -1.423 0 0 0 74 11 Egg -0.815 0.948 -3.485 0 0 0 49 12 Egg -2.438 0.956 -1.884 0 0 0 74 13 SoapBottle -2.438 0.922 -0.963 0 0 0 74 14 SoapBottle -2.666 0.922 -2.115 0 0 0 74 15 Bowl -1.496 1.968 -3.851 0 0 0 58 16 Lettuce -0.295 1.191 -0.979 0 270 0 66 17 PepperShaker -0.499 0.077 -3.205 0 0 0 55 18 Mug -1.204 1.625 -3.936 0 90 0 62 19 Apple -2.096 0.996 -1.193 0 0 0 74 20 Lettuce -0.295 1.483 -0.874 0 270 0 66 21 Glassbottle -2.552 0.924 -1.193 0 0 0 74 22 Egg -1.098 1.663 -3.804 0 0 0 62 23 Pen -2.096 0.926 -2.115 0 0 0 74 24 Fork -0.398 0.797 -2.082 0 180 0 67 25 SoapBottle -1.943 0.025 -3.727 0 0 0 65 26 Pencil -2.552 0.923 -0.963 0 0 0 74 27 WineBottle -2.552 0.924 -2.345 0 0 0 74 28 Spatula -0.222 0.930 -3.771 0 90 0 49 29 Bread -0.415 0.952 -3.625 0 0 0 49 30 Tomato -2.717 0.979 -1.924 0 0 0 74 31 Pan -0.343 1.098 -0.560 0 0 0 66 32 Cup -0.441 1.389 -0.979 0 270 0 66 33 Pot -1.515 0.935 -3.497 0 0 0 46 34 SaltShaker -0.749 0.743 -3.556 0 0 0 48 35 Potato -0.508 0.947 -3.167 0 0 0 49 36 PepperShaker -2.666 0.919 -2.345 0 0 0 74 37 ButterKnife -0.371 0.903 -3.443 0 0 0 49 38 DishSponge -0.449 0.746 -3.297 0 0 0 60 39 Spoon -2.324 0.924 -1.193 0 0 0 74 40 Plate -2.666 0.925 -1.654 0 0 0 74 41 Knife -2.269 0.920 -2.143 90 315 0 74 42 Mug -0.302 0.792 -1.934 0 270 0 67 43 Bowl -0.268 1.689 -0.979 0 270 0 66 44 Cabinet -0.582 0.388 -1.804 0 0 0 45 StoveBurner -1.515 0.928 -3.752 0 90 0 46 StoveBurner -1.515 0.928 -3.497 0 0 0 47 StoveBurner -1.129 0.928 -3.498 0 0 0 48 Drawer -0.749 0.779 -3.551 0 0 0 49 CounterTop -0.303 0.951 -2.793 0 0 0 50 Cabinet -0.883 2.140 -3.687 0 0 0 51 Cabinet -0.312 2.140 -1.543 0 0 0 52 Sink -0.349 0.907 -2.014 0 0 0 53 Cabinet -0.877 0.388 -3.422 0 0 0 54 Cabinet -0.582 0.388 -2.197 0 0 0 55 Cabinet -0.584 0.388 -3.396 0 0 0 56 Cabinet -0.312 2.140 -2.481 0 0 0 57 Cabinet -0.330 1.921 -3.390 0 0 0 58 Cabinet -1.764 2.140 -3.687 0 0 0 59 StoveBurner -1.129 0.928 -3.752 0 90 0 60 Drawer -0.454 0.779 -3.268 0 0 0 61 Cabinet -0.302 1.916 -2.501 0 0 0 62 Microwave -1.317 1.517 -3.801 0 1.440 0 63 CoffeeMachine -0.153 0.903 -3.144 0 270 0 64 LightSwitch -4.323 1.319 0.0 0 180 0 65 GarbageCan -1.943 -7.152 -3.763 0 0 0 66 Fridge -0.330 0.0 -0.769 0 270 0 67 SinkBasin -0.350 0.786 -2.018 0 270 0 68 StoveKnob -1.582 1.082 -3.958 72.287 0 0 69 StoveKnob -1.177 1.082 -3.958 72.287 0 0 70 StoveKnob -1.424 1.082 -3.958 72.287 0 0 71 StoveKnob -1.028 1.082 -3.958 72.287 0 0 72 Toaster -0.181 0.903 -2.764 0 270 0 73 Window -2.503 1.782 -4.185 90 180 0 74 DiningTable -2.432 0.000 -1.694 0 270 0 75 Shelf -2.432 0.150 -1.694 0 270 0 76 Blinds -2.536 2.699 -3.959 0 0 0 77 Faucet -0.079 0.904 -2.034 270 180 0 78 Chair -3.264 0.002 -2.094 0 53.280 0 79 Chair -3.240 0.002 -1.253 0 117.257 0 80 Shelf -2.432 0.523 -1.694 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Turn around to go to the table behind you. | STEP 2: Pick up the knife on the table, behind the pen. | STEP 3: Turn around, then turn right to go to the stove. | STEP 4: Put the knife in the left most pot. | STEP 5: Pick up the left most pot on the stove. | STEP 6: Turn around, go forward, then turn left to approach the table. | STEP 7: Place the pot with the knife in it on the table, in front of the wine bottle. | END" ]
[ [ "STEP 1: Turn around to go to the table behind you. ", " STEP 2: Pick up the knife on the table, behind the pen. ", " STEP 3: Turn around, then turn right to go to the stove. ", " STEP 4: Put the knife in the left most pot. ", " STEP 5: Pick up the left most pot on the stove. ", " STEP 6: Turn around, go forward, then turn left to approach the table. ", " STEP 7: Place the pot with the knife in it on the table, in front of the wine bottle. ", " END" ] ]
seen
trial_T20190909_025934_510847-3
To put a knife plus a pan on the table.
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-0.815", " 0.948", " -3.485", " 0", " 0", " 0", " 49" ], [ "12", " Egg", " -2.438", " 0.956", " -1.884", " 0", " 0", " 0", " 74" ], [ "13", " SoapBottle", " -2.438", " 0.922", " -0.963", " 0", " 0", " 0", " 74" ], [ "14", " SoapBottle", " -2.666", " 0.922", " -2.115", " 0", " 0", " 0", " 74" ], [ "15", " Bowl", " -1.496", " 1.968", " -3.851", " 0", " 0", " 0", " 58" ], [ "16", " Lettuce", " -0.295", " 1.191", " -0.979", " 0", " 270", " 0", " 66" ], [ "17", " PepperShaker", " -0.499", " 0.077", " -3.205", " 0", " 0", " 0", " 55" ], [ "18", " Mug", " -1.204", " 1.625", " -3.936", " 0", " 90", " 0", " 62" ], [ "19", " Apple", " -2.096", " 0.996", " -1.193", " 0", " 0", " 0", " 74" ], [ "20", " Lettuce", " -0.295", " 1.483", " -0.874", " 0", " 270", " 0", " 66" ], [ "21", " Glassbottle", " -2.552", " 0.924", " -1.193", " 0", " 0", " 0", " 74" ], [ "22", " Egg", " -1.098", " 1.663", " -3.804", " 0", " 0", " 0", " 62" ], [ "23", " Pen", " -2.096", " 0.926", " -2.115", " 0", " 0", " 0", " 74" ], [ "24", " Fork", " -0.398", " 0.797", " -2.082", " 0", " 180", " 0", " 67" ], [ "25", " SoapBottle", " -1.943", " 0.025", " -3.727", " 0", " 0", " 0", " 65" ], [ "26", " Pencil", " -2.552", " 0.923", " -0.963", " 0", " 0", " 0", " 74" ], [ "27", " WineBottle", " -2.552", " 0.924", " -2.345", " 0", " 0", " 0", " 74" ], [ "28", " Spatula", " -0.222", " 0.930", " -3.771", " 0", " 90", " 0", " 49" ], [ "29", " Bread", " -0.415", " 0.952", " -3.625", " 0", " 0", " 0", " 49" ], [ "30", " Tomato", " -2.717", " 0.979", " -1.924", " 0", " 0", " 0", " 74" ], [ "31", " Pan", " -0.343", " 1.098", " -0.560", " 0", " 0", " 0", " 66" ], [ "32", " Cup", " -0.441", " 1.389", " -0.979", " 0", " 270", " 0", " 66" ], [ "33", " Pot", " -1.515", " 0.935", " -3.497", " 0", " 0", " 0", " 46" ], [ "34", " SaltShaker", " -0.749", " 0.743", " -3.556", " 0", " 0", " 0", " 48" ], [ "35", " Potato", " -0.508", " 0.947", " -3.167", " 0", " 0", " 0", " 49" ], [ "36", " PepperShaker", " -2.666", " 0.919", " -2.345", " 0", " 0", " 0", " 74" ], [ "37", " ButterKnife", " -0.371", " 0.903", " -3.443", " 0", " 0", " 0", " 49" ], [ "38", " DishSponge", " -0.449", " 0.746", " -3.297", " 0", " 0", " 0", " 60" ], [ "39", " Spoon", " -2.324", " 0.924", " -1.193", " 0", " 0", " 0", " 74" ], [ "40", " Plate", " -2.666", " 0.925", " -1.654", " 0", " 0", " 0", " 74" ], [ "41", " Knife", " -2.269", " 0.920", " -2.143", " 90", " 315", " 0", " 74" ], [ "42", " Mug", " -0.302", " 0.792", " -1.934", " 0", " 270", " 0", " 67" ], [ "43", " Bowl", " -0.268", " 1.689", " -0.979", " 0", " 270", " 0", " 66" ], [ "44", " Cabinet", " -0.582", " 0.388", " -1.804", " 0", " 0", " 0", "" ], [ "45", " StoveBurner", " -1.515", " 0.928", " -3.752", " 0", " 90", " 0", "" ], [ "46", " StoveBurner", " -1.515", " 0.928", " -3.497", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -1.129", " 0.928", " -3.498", " 0", " 0", " 0", "" ], [ "48", " Drawer", " -0.749", " 0.779", " -3.551", " 0", " 0", " 0", "" ], [ "49", " CounterTop", " -0.303", " 0.951", " -2.793", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -0.883", " 2.140", " -3.687", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.312", " 2.140", " -1.543", " 0", " 0", " 0", "" ], [ "52", " Sink", " -0.349", " 0.907", " -2.014", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.877", " 0.388", " -3.422", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.582", " 0.388", " -2.197", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.584", " 0.388", " -3.396", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.312", " 2.140", " -2.481", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.330", " 1.921", " -3.390", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -1.764", " 2.140", " -3.687", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -1.129", " 0.928", " -3.752", " 0", " 90", " 0", "" ], [ "60", " Drawer", " -0.454", " 0.779", " -3.268", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.302", " 1.916", " -2.501", " 0", " 0", " 0", "" ], [ "62", " Microwave", " -1.317", " 1.517", " -3.801", " 0", " 1.440", " 0", "" ], [ "63", " CoffeeMachine", " -0.153", " 0.903", " -3.144", " 0", " 270", " 0", "" ], [ "64", " LightSwitch", " -4.323", " 1.319", " 0.0", " 0", " 180", " 0", "" ], [ "65", " GarbageCan", " -1.943", " -7.152", " -3.763", " 0", " 0", " 0", "" ], [ "66", " Fridge", " -0.330", " 0.0", " -0.769", " 0", " 270", " 0", "" ], [ "67", " SinkBasin", " -0.350", " 0.786", " -2.018", " 0", " 270", " 0", "" ], [ "68", " StoveKnob", " -1.582", " 1.082", " -3.958", " 72.287", " 0", " 0", "" ], [ "69", " StoveKnob", " -1.177", " 1.082", " -3.958", " 72.287", " 0", " 0", "" ], [ "70", " StoveKnob", " -1.424", " 1.082", " -3.958", " 72.287", " 0", " 0", "" ], [ "71", " StoveKnob", " -1.028", " 1.082", " -3.958", " 72.287", " 0", " 0", "" ], [ "72", " Toaster", " -0.181", " 0.903", " -2.764", " 0", " 270", " 0", "" ], [ "73", " Window", " -2.503", " 1.782", " -4.185", " 90", " 180", " 0", "" ], [ "74", " DiningTable", " -2.432", " 0.000", " -1.694", " 0", " 270", " 0", "" ], [ "75", " Shelf", " -2.432", " 0.150", " -1.694", " 0", " 270", " 0", "" ], [ "76", " Blinds", " -2.536", " 2.699", " -3.959", " 0", " 0", " 0", "" ], [ "77", " Faucet", " -0.079", " 0.904", " -2.034", " 270", " 180", " 0", "" ], [ "78", " Chair", " -3.264", " 0.002", " -2.094", " 0", " 53.280", " 0", "" ], [ "79", " Chair", " -3.240", " 0.002", " -1.253", " 0", " 117.257", " 0", "" ], [ "80", " Shelf", " -2.432", " 0.523", " -1.694", " 0", " 270", " 0", "" ], [ "81", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " 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 -0.308 1.690 -0.560 0 0 0 66 2 Pencil -0.671 0.916 -3.768 0 0 0 49 3 Pencil -0.743 0.916 -3.485 0 0 0 49 4 Pen -2.780 0.926 -2.115 0 0 0 74 5 Potato -0.150 0.947 -2.563 0 0 0 49 6 DishSponge -0.205 1.970 -1.773 0 0 0 51 7 WineBottle -0.222 0.916 -3.368 0 0 0 49 8 Pot -1.129 0.935 -3.498 0 0 0 47 9 Fork -0.398 0.797 -2.155 0 180 0 67 10 Fork -2.210 0.924 -1.423 0 0 0 74 11 Egg -0.815 0.948 -3.485 0 0 0 49 12 Egg -2.438 0.956 -1.884 0 0 0 74 13 SoapBottle -2.438 0.922 -0.963 0 0 0 74 14 SoapBottle -2.666 0.922 -2.115 0 0 0 74 15 Bowl -1.496 1.968 -3.851 0 0 0 58 16 Lettuce -0.295 1.191 -0.979 0 270 0 66 17 PepperShaker -0.499 0.077 -3.205 0 0 0 55 18 Mug -1.204 1.625 -3.936 0 90 0 62 19 Apple -2.096 0.996 -1.193 0 0 0 74 20 Lettuce -0.295 1.483 -0.874 0 270 0 66 21 Glassbottle -2.552 0.924 -1.193 0 0 0 74 22 Egg -1.098 1.663 -3.804 0 0 0 62 23 Pen -2.096 0.926 -2.115 0 0 0 74 24 Fork -0.398 0.797 -2.082 0 180 0 67 25 SoapBottle -1.943 0.025 -3.727 0 0 0 65 26 Pencil -2.552 0.923 -0.963 0 0 0 74 27 WineBottle -2.552 0.924 -2.345 0 0 0 74 28 Spatula -0.222 0.930 -3.771 0 90 0 49 29 Bread -0.415 0.952 -3.625 0 0 0 49 30 Tomato -2.717 0.979 -1.924 0 0 0 74 31 Pan -0.343 1.098 -0.560 0 0 0 66 32 Cup -0.441 1.389 -0.979 0 270 0 66 33 Pot -1.515 0.935 -3.497 0 0 0 46 34 SaltShaker -0.749 0.743 -3.556 0 0 0 48 35 Potato -0.508 0.947 -3.167 0 0 0 49 36 PepperShaker -2.666 0.919 -2.345 0 0 0 74 37 ButterKnife -0.371 0.903 -3.443 0 0 0 49 38 DishSponge -0.449 0.746 -3.297 0 0 0 60 39 Spoon -2.324 0.924 -1.193 0 0 0 74 40 Plate -2.666 0.925 -1.654 0 0 0 74 41 Knife -2.269 0.920 -2.143 90 315 0 74 42 Mug -0.302 0.792 -1.934 0 270 0 67 43 Bowl -0.268 1.689 -0.979 0 270 0 66 44 Cabinet -0.582 0.388 -1.804 0 0 0 45 StoveBurner -1.515 0.928 -3.752 0 90 0 46 StoveBurner -1.515 0.928 -3.497 0 0 0 47 StoveBurner -1.129 0.928 -3.498 0 0 0 48 Drawer -0.749 0.779 -3.551 0 0 0 49 CounterTop -0.303 0.951 -2.793 0 0 0 50 Cabinet -0.883 2.140 -3.687 0 0 0 51 Cabinet -0.312 2.140 -1.543 0 0 0 52 Sink -0.349 0.907 -2.014 0 0 0 53 Cabinet -0.877 0.388 -3.422 0 0 0 54 Cabinet -0.582 0.388 -2.197 0 0 0 55 Cabinet -0.584 0.388 -3.396 0 0 0 56 Cabinet -0.312 2.140 -2.481 0 0 0 57 Cabinet -0.330 1.921 -3.390 0 0 0 58 Cabinet -1.764 2.140 -3.687 0 0 0 59 StoveBurner -1.129 0.928 -3.752 0 90 0 60 Drawer -0.454 0.779 -3.268 0 0 0 61 Cabinet -0.302 1.916 -2.501 0 0 0 62 Microwave -1.317 1.517 -3.801 0 1.440 0 63 CoffeeMachine -0.153 0.903 -3.144 0 270 0 64 LightSwitch -4.323 1.319 0.0 0 180 0 65 GarbageCan -1.943 -7.152 -3.763 0 0 0 66 Fridge -0.330 0.0 -0.769 0 270 0 67 SinkBasin -0.350 0.786 -2.018 0 270 0 68 StoveKnob -1.582 1.082 -3.958 72.287 0 0 69 StoveKnob -1.177 1.082 -3.958 72.287 0 0 70 StoveKnob -1.424 1.082 -3.958 72.287 0 0 71 StoveKnob -1.028 1.082 -3.958 72.287 0 0 72 Toaster -0.181 0.903 -2.764 0 270 0 73 Window -2.503 1.782 -4.185 90 180 0 74 DiningTable -2.432 0.000 -1.694 0 270 0 75 Shelf -2.432 0.150 -1.694 0 270 0 76 Blinds -2.536 2.699 -3.959 0 0 0 77 Faucet -0.079 0.904 -2.034 270 180 0 78 Chair -3.264 0.002 -2.094 0 53.280 0 79 Chair -3.240 0.002 -1.253 0 117.257 0 80 Shelf -2.432 0.523 -1.694 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Turn around and approach the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn left and walk to the stove. | STEP 4: Put the knife in the pan on the front left burner. | STEP 5: Pick up the Pan on the stove with the knife in it. | STEP 6: Turn around, walk halfway across the room, then turn left and face the table. | STEP 7: Place the pan on the table. | END" ]
[ [ "STEP 1: Turn around and approach the table. ", " STEP 2: Pick up the knife on the table. ", " STEP 3: Turn left and walk to the stove. ", " STEP 4: Put the knife in the pan on the front left burner. ", " STEP 5: Pick up the Pan on the stove with the knife in it. ", " STEP 6: Turn around, walk halfway across the room, then turn left and face the table. ", " STEP 7: Place the pan on the table. ", " END" ] ]
seen
trial_T20190911_060653_582126-0
Put the heated slice tomato in the trash bin
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 3.25 0 90 0 1 Potato -2.694 1.038 2.221 0 90 0 75 2 Fork 0.725 0.823 2.371 0 270 0 48 3 Egg 0.875 0.859 0.895 0 0 0 43 4 Cup -2.497 0.822 3.575 0 0 0 66 5 Cup -2.498 0.718 1.866 0 90 0 75 6 Knife -2.374 0.846 3.799 0 0 0 66 7 SoapBottle -1.317 0.900 1.040 0 90 0 84 8 SoapBottle -0.657 0.900 1.143 0 90 0 84 9 Tomato 0.950 0.891 2.545 0 270 0 48 10 PepperShaker -1.185 0.896 1.555 0 90 0 84 11 Lettuce -2.694 1.266 2.277 0 90 0 75 12 Mug -2.581 1.844 2.398 0 0 0 75 13 Mug -2.747 1.393 3.858 0 0 0 41 14 Apple 0.800 0.884 2.198 0 0 0 48 15 Plate 0.743 0.129 2.533 0 0 0 50 16 Fork 0.771 0.692 2.163 0 90 0 37 17 Bread -2.519 0.820 2.221 0 90 0 75 18 Spatula -0.921 0.915 1.246 0 180 0 84 19 PaperTowelRoll 1.024 0.927 0.850 0 0 0 43 20 Potato -1.053 0.943 1.555 0 90 0 84 21 SoapBottle -0.524 0.900 1.246 0 90 0 84 22 Egg -2.752 0.803 2.109 0 90 0 75 23 Cup -1.053 0.900 1.452 0 90 0 84 24 Pot 0.642 0.850 1.768 0 0 0 70 25 SaltShaker 1.024 0.819 2.371 0 0 0 48 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.650 0.819 2.371 0 0 0 48 28 ButterKnife -1.185 0.900 1.349 0 90 0 84 29 Tomato -2.519 1.064 2.221 0 90 0 75 30 DishSponge -0.789 0.900 1.555 0 90 0 84 31 Lettuce 0.800 0.898 2.545 0 0 0 48 32 Spoon 0.635 0.692 0.944 0 90 0 54 33 Apple -1.317 0.961 1.452 0 90 0 84 34 Knife -1.819 0.846 3.556 0 0 0 66 35 Mug -0.524 0.895 1.555 0 90 0 84 36 Bowl -2.677 1.406 2.389 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Turn to your left then walk straight turn right facing the sink | STEP 2: Pick up the knife in the in front of the sink | STEP 3: Turn to your right then head to he island beside the stove | STEP 4: Slice the tomato on the top of the island | STEP 5: Put the knife on top of the island | STEP 6: Pick up the slice tomato on the island | STEP 7: Turn to your left then walk straight, turn right to the microwave | STEP 8: Open the microwave heat the tomato then get it back close the microwave | STEP 9: Turn to your right then cross the room head to the trash bin | STEP 10: Drop the slice tomato on the trash bin | END" ]
[ [ "STEP 1: Turn to your left then walk straight turn right facing the sink ", " STEP 2: Pick up the knife in the in front of the sink ", " STEP 3: Turn to your right then head to he island beside the stove ", " STEP 4: Slice the tomato on the top of the island ", " STEP 5: Put the knife on top of the island ", " STEP 6: Pick up the slice tomato on the island ", " STEP 7: Turn to your left then walk straight, turn right to the microwave ", " STEP 8: Open the microwave heat the tomato then get it back close the microwave ", " STEP 9: Turn to your right then cross the room head to the trash bin ", " STEP 10: Drop the slice tomato on the trash bin ", " END" ] ]
seen
trial_T20190911_060653_582126-1
Put a heated slice of tomato in the golden trash can.
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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 0.900 3.25 0 90 0 1 Potato -2.694 1.038 2.221 0 90 0 75 2 Fork 0.725 0.823 2.371 0 270 0 48 3 Egg 0.875 0.859 0.895 0 0 0 43 4 Cup -2.497 0.822 3.575 0 0 0 66 5 Cup -2.498 0.718 1.866 0 90 0 75 6 Knife -2.374 0.846 3.799 0 0 0 66 7 SoapBottle -1.317 0.900 1.040 0 90 0 84 8 SoapBottle -0.657 0.900 1.143 0 90 0 84 9 Tomato 0.950 0.891 2.545 0 270 0 48 10 PepperShaker -1.185 0.896 1.555 0 90 0 84 11 Lettuce -2.694 1.266 2.277 0 90 0 75 12 Mug -2.581 1.844 2.398 0 0 0 75 13 Mug -2.747 1.393 3.858 0 0 0 41 14 Apple 0.800 0.884 2.198 0 0 0 48 15 Plate 0.743 0.129 2.533 0 0 0 50 16 Fork 0.771 0.692 2.163 0 90 0 37 17 Bread -2.519 0.820 2.221 0 90 0 75 18 Spatula -0.921 0.915 1.246 0 180 0 84 19 PaperTowelRoll 1.024 0.927 0.850 0 0 0 43 20 Potato -1.053 0.943 1.555 0 90 0 84 21 SoapBottle -0.524 0.900 1.246 0 90 0 84 22 Egg -2.752 0.803 2.109 0 90 0 75 23 Cup -1.053 0.900 1.452 0 90 0 84 24 Pot 0.642 0.850 1.768 0 0 0 70 25 SaltShaker 1.024 0.819 2.371 0 0 0 48 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.650 0.819 2.371 0 0 0 48 28 ButterKnife -1.185 0.900 1.349 0 90 0 84 29 Tomato -2.519 1.064 2.221 0 90 0 75 30 DishSponge -0.789 0.900 1.555 0 90 0 84 31 Lettuce 0.800 0.898 2.545 0 0 0 48 32 Spoon 0.635 0.692 0.944 0 90 0 54 33 Apple -1.317 0.961 1.452 0 90 0 84 34 Knife -1.819 0.846 3.556 0 0 0 66 35 Mug -0.524 0.895 1.555 0 90 0 84 36 Bowl -2.677 1.406 2.389 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Turn around, walk straight and turn to the right to go to the sink | STEP 2: pick up the knife near the sink. | STEP 3: Turn around, walk slightly a head, make a left turn to go to the counter top near the golden trash can. | STEP 4: Cut the tomato on the counter top | STEP 5: Put the knife on top of the fork and nest to the lettuce on the counter top. | STEP 6: Pick up the slice of tomato. | STEP 7: Turn around and walk to the right to go back to the sink. | STEP 8: Open the microwave on top of the sink, heat the tomato for a few seconds, pick it up again and close the microwave. | STEP 9: Turn around and walk to the left to the trash can. | STEP 10: Put the tomato in the trash can. | END" ]
[ [ "STEP 1: Turn around, walk straight and turn to the right to go to the sink ", " STEP 2: pick up the knife near the sink. ", " STEP 3: Turn around, walk slightly a head, make a left turn to go to the counter top near the golden trash can. ", " STEP 4: Cut the tomato on the counter top ", " STEP 5: Put the knife on top of the fork and nest to the lettuce on the counter top. ", " STEP 6: Pick up the slice of tomato. ", " STEP 7: Turn around and walk to the right to go back to the sink. ", " STEP 8: Open the microwave on top of the sink, heat the tomato for a few seconds, pick it up again and close the microwave. ", " STEP 9: Turn around and walk to the left to the trash can. ", " STEP 10: Put the tomato in the trash can. ", " END" ] ]
seen
trial_T20190911_060653_582126-2
Place a warmed tomato slice in the trash can.
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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 0.900 3.25 0 90 0 1 Potato -2.694 1.038 2.221 0 90 0 75 2 Fork 0.725 0.823 2.371 0 270 0 48 3 Egg 0.875 0.859 0.895 0 0 0 43 4 Cup -2.497 0.822 3.575 0 0 0 66 5 Cup -2.498 0.718 1.866 0 90 0 75 6 Knife -2.374 0.846 3.799 0 0 0 66 7 SoapBottle -1.317 0.900 1.040 0 90 0 84 8 SoapBottle -0.657 0.900 1.143 0 90 0 84 9 Tomato 0.950 0.891 2.545 0 270 0 48 10 PepperShaker -1.185 0.896 1.555 0 90 0 84 11 Lettuce -2.694 1.266 2.277 0 90 0 75 12 Mug -2.581 1.844 2.398 0 0 0 75 13 Mug -2.747 1.393 3.858 0 0 0 41 14 Apple 0.800 0.884 2.198 0 0 0 48 15 Plate 0.743 0.129 2.533 0 0 0 50 16 Fork 0.771 0.692 2.163 0 90 0 37 17 Bread -2.519 0.820 2.221 0 90 0 75 18 Spatula -0.921 0.915 1.246 0 180 0 84 19 PaperTowelRoll 1.024 0.927 0.850 0 0 0 43 20 Potato -1.053 0.943 1.555 0 90 0 84 21 SoapBottle -0.524 0.900 1.246 0 90 0 84 22 Egg -2.752 0.803 2.109 0 90 0 75 23 Cup -1.053 0.900 1.452 0 90 0 84 24 Pot 0.642 0.850 1.768 0 0 0 70 25 SaltShaker 1.024 0.819 2.371 0 0 0 48 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.650 0.819 2.371 0 0 0 48 28 ButterKnife -1.185 0.900 1.349 0 90 0 84 29 Tomato -2.519 1.064 2.221 0 90 0 75 30 DishSponge -0.789 0.900 1.555 0 90 0 84 31 Lettuce 0.800 0.898 2.545 0 0 0 48 32 Spoon 0.635 0.692 0.944 0 90 0 54 33 Apple -1.317 0.961 1.452 0 90 0 84 34 Knife -1.819 0.846 3.556 0 0 0 66 35 Mug -0.524 0.895 1.555 0 90 0 84 36 Bowl -2.677 1.406 2.389 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Turn around and walk to face the sink on the right. | STEP 2: Grab the knife from in front of the sink. | STEP 3: Turn around and head left to the counter next to the trash can. | STEP 4: Slice up the tomato. | STEP 5: Place the knife next to the lettuce. | STEP 6: Grab a tomato slice. | STEP 7: Turn around and walk and face the microwave above the sink on the right. | STEP 8: Heat the tomato slice for 2 seconds. | STEP 9: Turn left and walk to the trash can. | STEP 10: Put the tomato slice in the trash can. | END" ]
[ [ "STEP 1: Turn around and walk to face the sink on the right. ", " STEP 2: Grab the knife from in front of the sink. ", " STEP 3: Turn around and head left to the counter next to the trash can. ", " STEP 4: Slice up the tomato. ", " STEP 5: Place the knife next to the lettuce. ", " STEP 6: Grab a tomato slice. ", " STEP 7: Turn around and walk and face the microwave above the sink on the right. ", " STEP 8: Heat the tomato slice for 2 seconds. ", " STEP 9: Turn left and walk to the trash can. ", " STEP 10: Put the tomato slice in the trash can. ", " END" ] ]
seen
trial_T20190909_060750_241366-0
Move two phones to a dresser.
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" 1.261", " 0.773", " -0.401", " 0", " 0", " 0", " 28" ], [ "12", " Book", " -1.552", " 0.604", " -0.628", " 0", " 0", " 0", " 52" ], [ "13", " KeyChain", " -1.657", " 0.973", " 0.464", " 0", " 0", " 0", " 46" ], [ "14", " AlarmClock", " 1.576", " 0.680", " 2.172", " 0", " 270", " 0", " 56" ], [ "15", " Pillow", " 0.537", " 0.836", " -0.401", " 0", " 0", " 0", " 28" ], [ "16", " Pillow", " 0.652", " 0.794", " -1.531", " 0", " 0", " 0", " 28" ], [ "17", " Vase", " -1.662", " 1.626", " -1.791", " 0", " 0", " 0", " 40" ], [ "18", " Laptop", " -1.628", " 0.965", " 0.084", " 0", " 104.999", " 0", " 46" ], [ "19", " Vase", " -1.509", " 0.975", " -0.540", " 0", " 0", " 0", " 46" ], [ "20", " Pencil", " -1.699", " 1.151", " -2.415", " 0", " 90", " 0", " 41" ], [ "21", " CreditCard", " -1.720", " 0.171", " -2.280", " 0", " 0", " 0", " 44" ], [ "22", " Boots", " -1.842", " 0.000", " -1.077", " 0", " 135", " 0", "" ], [ "23", " Pen", " -1.730", " 0.976", " -0.540", " 0", " 0", " 0", " 46" ], [ "24", " CellPhone", " 1.743", " 0.775", " 0.188", " 0", " 0", " 0", " 28" ], [ "25", " CD", " 2.134", " 0.439", " 2.014", " 0", " 90", " 0", " 62" ], [ "26", " Bowl", " -1.684", " 1.135", " -2.300", " 0", " 346.900", " 0", " 41" ], [ "27", " Statue", " -1.764", " 0.965", " -0.758", " 0", " 59.718", " 0", " 46" ], [ "28", " Bed", " 1.017", " 0.003", " -0.686", " 0", " 180", " 0", "" ], [ "29", " HousePlant", " -1.749", " 0.971", " 0.463", " 0", " 0", " 0", "" ], [ "30", " GarbageCan", " -1.665", " -0.000", " 0.953", " 0", " 45", " 0", "" ], [ "31", " Painting", " 0.381", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "32", " Painting", " 0.879", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "33", " Painting", " 1.373", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "34", " LightSwitch", " -0.164", " 1.085", " 2.450", " 0", " 180", " 0", "" ], [ "35", " Mirror", " -1.950", " 1.735", " -0.206", " 0", " 270", " 0", "" ], [ "36", " Window", " -1.098", " 1.570", " -3.230", " 90", " 0", " 0", "" ], [ "37", " DeskLamp", " 1.404", " 0.668", " 2.209", " 0", " 0", " 0", "" ], [ "38", " DeskLamp", " 2.596", " 0.668", " -1.710", " 0", " 0", " 0", "" ], [ "39", " Blinds", " -1.062", " 2.361", " -3.173", " 0", " 0", " 0", "" ], [ "40", " Shelf", " -1.675", " 1.871", " -2.053", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.675", " 1.383", " -2.053", " 0", " 90", " 0", "" ], [ "42", " Drawer", " -1.715", " 0.832", " -2.053", " 0", " 90", " 0", "" ], [ "43", " ShelvingUnit", " -1.723", " 0.007", " -2.053", " 0", " 90", " 0", "" ], [ "44", " Drawer", " -1.713", " 0.339", " -2.053", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.629", " 0.104", " 0.243", " 0", " 90", " 0", "" ], [ "46", " Dresser", " -1.674", " 0.000", " -0.153", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.630", " 0.868", " -0.550", " 0", " 90", " 0", "" ], [ "48", " Drawer", " -1.630", " 0.680", " 0.243", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.629", " 0.104", " -0.550", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.630", " 0.680", " -0.550", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -1.630", " 0.868", " 0.243", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -1.629", " 0.486", " -0.550", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -1.629", " 0.291", " 0.243", " 0", " 90", " 0", "" ], [ "54", " Drawer", " -1.629", " 0.291", " -0.550", " 0", " 90", " 0", "" ], [ "55", " Drawer", " -1.630", " 0.486", " 0.243", " 0", " 90", " 0", "" ], [ "56", " SideTable", " 1.576", " -0.001", " 2.137", " 0", " 180", " 0", "" ], [ "57", " Drawer", " 1.576", " 0.163", " 2.070", " 0", " 180", " 0", "" ], [ "58", " Drawer", " 1.576", " 0.455", " 2.070", " 0", " 180", " 0", "" ], [ "59", " SideTable", " 2.437", " -0.001", " -1.603", " 0", " 0", " 0", "" ], [ "60", " Drawer", " 2.438", " 0.163", " -1.536", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 2.438", " 0.455", " -1.536", " 0", " 0", " 0", "" ], [ "62", " ArmChair", " 2.393", " -0.001", " 1.943", " 0", " 180", " 0", "" ], [ "63", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "66", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 1.25 0 180 0 1 Statue -1.699 1.156 -1.959 0 90 0 41 2 CD 2.593 0.432 1.668 0 90 0 62 3 CellPhone 1.653 0.681 2.217 0 0 0 56 4 Pencil 2.380 0.379 -1.615 0 180 0 61 5 CreditCard -1.804 0.972 0.263 0 0 0 46 6 KeyChain -1.436 0.972 -0.339 0 0 0 46 7 KeyChain -1.605 1.639 -2.187 0 90 0 40 8 Book -1.607 0.035 0.256 0 0 0 45 9 Book -1.608 0.409 -0.351 0 0 0 52 10 Laptop 1.743 0.773 -0.106 0 0 0 28 11 Laptop 1.261 0.773 -0.401 0 0 0 28 12 Book -1.552 0.604 -0.628 0 0 0 52 13 KeyChain -1.657 0.973 0.464 0 0 0 46 14 AlarmClock 1.576 0.680 2.172 0 270 0 56 15 Pillow 0.537 0.836 -0.401 0 0 0 28 16 Pillow 0.652 0.794 -1.531 0 0 0 28 17 Vase -1.662 1.626 -1.791 0 0 0 40 18 Laptop -1.628 0.965 0.084 0 104.999 0 46 19 Vase -1.509 0.975 -0.540 0 0 0 46 20 Pencil -1.699 1.151 -2.415 0 90 0 41 21 CreditCard -1.720 0.171 -2.280 0 0 0 44 22 Boots -1.842 0.000 -1.077 0 135 0 23 Pen -1.730 0.976 -0.540 0 0 0 46 24 CellPhone 1.743 0.775 0.188 0 0 0 28 25 CD 2.134 0.439 2.014 0 90 0 62 26 Bowl -1.684 1.135 -2.300 0 346.900 0 41 27 Statue -1.764 0.965 -0.758 0 59.718 0 46 28 Bed 1.017 0.003 -0.686 0 180 0 29 HousePlant -1.749 0.971 0.463 0 0 0 30 GarbageCan -1.665 -0.000 0.953 0 45 0 31 Painting 0.381 1.976 -1.895 90 0 0 32 Painting 0.879 1.976 -1.895 90 0 0 33 Painting 1.373 1.976 -1.895 90 0 0 34 LightSwitch -0.164 1.085 2.450 0 180 0 35 Mirror -1.950 1.735 -0.206 0 270 0 36 Window -1.098 1.570 -3.230 90 0 0 37 DeskLamp 1.404 0.668 2.209 0 0 0 38 DeskLamp 2.596 0.668 -1.710 0 0 0 39 Blinds -1.062 2.361 -3.173 0 0 0 40 Shelf -1.675 1.871 -2.053 0 90 0 41 Shelf -1.675 1.383 -2.053 0 90 0 42 Drawer -1.715 0.832 -2.053 0 90 0 43 ShelvingUnit -1.723 0.007 -2.053 0 90 0 44 Drawer -1.713 0.339 -2.053 0 90 0 45 Drawer -1.629 0.104 0.243 0 90 0 46 Dresser -1.674 0.000 -0.153 0 90 0 47 Drawer -1.630 0.868 -0.550 0 90 0 48 Drawer -1.630 0.680 0.243 0 90 0 49 Drawer -1.629 0.104 -0.550 0 90 0 50 Drawer -1.630 0.680 -0.550 0 90 0 51 Drawer -1.630 0.868 0.243 0 90 0 52 Drawer -1.629 0.486 -0.550 0 90 0 53 Drawer -1.629 0.291 0.243 0 90 0 54 Drawer -1.629 0.291 -0.550 0 90 0 55 Drawer -1.630 0.486 0.243 0 90 0 56 SideTable 1.576 -0.001 2.137 0 180 0 57 Drawer 1.576 0.163 2.070 0 180 0 58 Drawer 1.576 0.455 2.070 0 180 0 59 SideTable 2.437 -0.001 -1.603 0 0 0 60 Drawer 2.438 0.163 -1.536 0 0 0 61 Drawer 2.438 0.455 -1.536 0 0 0 62 ArmChair 2.393 -0.001 1.943 0 180 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn left and walk towards the wall, then turn right and walk up to the far side of the bed. | STEP 2: Pick up the phone closest to the end of the bed. | STEP 3: Walk around to the other side of the bed and walk up to the black dresser under the mirror on the wall. | STEP 4: Put the phone on the left side of the dresser. | STEP 5: Turn right and walk towards the door, then turn right and walk across the room, hang a left and walk up to the small black dresser to the left of the chair. | STEP 6: Pick up the phone off of the dresser. | STEP 7: Turn left and walk to the black dresser that is against the wall under the mirror. | STEP 8: Put the phone on the front left corner of the dresser. | END" ]
[ [ "STEP 1: Turn left and walk towards the wall, then turn right and walk up to the far side of the bed. ", " STEP 2: Pick up the phone closest to the end of the bed. ", " STEP 3: Walk around to the other side of the bed and walk up to the black dresser under the mirror on the wall. ", " STEP 4: Put the phone on the left side of the dresser. ", " STEP 5: Turn right and walk towards the door, then turn right and walk across the room, hang a left and walk up to the small black dresser to the left of the chair. ", " STEP 6: Pick up the phone off of the dresser. ", " STEP 7: Turn left and walk to the black dresser that is against the wall under the mirror. ", " STEP 8: Put the phone on the front left corner of the dresser. ", " END" ] ]
seen
trial_T20190909_060750_241366-1
Move two cell phones to the dresser.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.5", " 0.900", " 1.25", " 0", " 180", " 0", "" ], [ "1", " Statue", " -1.699", " 1.156", " -1.959", " 0", " 90", " 0", " 41" ], [ "2", " CD", " 2.593", " 0.432", " 1.668", " 0", " 90", " 0", " 62" ], [ "3", " CellPhone", " 1.653", " 0.681", " 2.217", " 0", " 0", " 0", " 56" ], [ "4", " Pencil", " 2.380", " 0.379", " -1.615", " 0", " 180", " 0", " 61" ], [ "5", " CreditCard", " -1.804", " 0.972", " 0.263", " 0", " 0", " 0", " 46" ], [ "6", " KeyChain", " -1.436", " 0.972", " -0.339", " 0", " 0", " 0", " 46" ], [ "7", " KeyChain", " -1.605", " 1.639", " -2.187", " 0", " 90", " 0", " 40" ], [ "8", " Book", " -1.607", " 0.035", " 0.256", " 0", " 0", " 0", " 45" ], [ "9", " Book", " -1.608", " 0.409", " -0.351", " 0", " 0", " 0", " 52" ], [ "10", " Laptop", " 1.743", " 0.773", " -0.106", " 0", " 0", " 0", " 28" ], [ "11", " Laptop", " 1.261", " 0.773", " -0.401", " 0", " 0", " 0", " 28" ], [ "12", " Book", " -1.552", " 0.604", " -0.628", " 0", " 0", " 0", " 52" ], [ "13", " KeyChain", " -1.657", " 0.973", " 0.464", " 0", " 0", " 0", " 46" ], [ "14", " AlarmClock", " 1.576", " 0.680", " 2.172", " 0", " 270", " 0", " 56" ], [ "15", " Pillow", " 0.537", " 0.836", " -0.401", " 0", " 0", " 0", " 28" ], [ "16", " Pillow", " 0.652", " 0.794", " -1.531", " 0", " 0", " 0", " 28" ], [ "17", " Vase", " -1.662", " 1.626", " -1.791", " 0", " 0", " 0", " 40" ], [ "18", " Laptop", " -1.628", " 0.965", " 0.084", " 0", " 104.999", " 0", " 46" ], [ "19", " Vase", " -1.509", " 0.975", " -0.540", " 0", " 0", " 0", " 46" ], [ "20", " Pencil", " -1.699", " 1.151", " -2.415", " 0", " 90", " 0", " 41" ], [ "21", " CreditCard", " -1.720", " 0.171", " -2.280", " 0", " 0", " 0", " 44" ], [ "22", " Boots", " -1.842", " 0.000", " -1.077", " 0", " 135", " 0", "" ], [ "23", " Pen", " -1.730", " 0.976", " -0.540", " 0", " 0", " 0", " 46" ], [ "24", " CellPhone", " 1.743", " 0.775", " 0.188", " 0", " 0", " 0", " 28" ], [ "25", " CD", " 2.134", " 0.439", " 2.014", " 0", " 90", " 0", " 62" ], [ "26", " Bowl", " -1.684", " 1.135", " -2.300", " 0", " 346.900", " 0", " 41" ], [ "27", " Statue", " -1.764", " 0.965", " -0.758", " 0", " 59.718", " 0", " 46" ], [ "28", " Bed", " 1.017", " 0.003", " -0.686", " 0", " 180", " 0", "" ], [ "29", " HousePlant", " -1.749", " 0.971", " 0.463", " 0", " 0", " 0", "" ], [ "30", " GarbageCan", " -1.665", " -0.000", " 0.953", " 0", " 45", " 0", "" ], [ "31", " Painting", " 0.381", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "32", " Painting", " 0.879", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "33", " Painting", " 1.373", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "34", " LightSwitch", " -0.164", " 1.085", " 2.450", " 0", " 180", " 0", "" ], [ "35", " Mirror", " -1.950", " 1.735", " -0.206", " 0", " 270", " 0", "" ], [ "36", " Window", " -1.098", " 1.570", " -3.230", " 90", " 0", " 0", "" ], [ "37", " DeskLamp", " 1.404", " 0.668", " 2.209", " 0", " 0", " 0", "" ], [ "38", " DeskLamp", " 2.596", " 0.668", " -1.710", " 0", " 0", " 0", "" ], [ "39", " Blinds", " -1.062", " 2.361", " -3.173", " 0", " 0", " 0", "" ], [ "40", " Shelf", " -1.675", " 1.871", " -2.053", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.675", " 1.383", " -2.053", " 0", " 90", " 0", "" ], [ "42", " Drawer", " -1.715", " 0.832", " -2.053", " 0", " 90", " 0", "" ], [ "43", " ShelvingUnit", " -1.723", " 0.007", " -2.053", " 0", " 90", " 0", "" ], [ "44", " Drawer", " -1.713", " 0.339", " -2.053", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.629", " 0.104", " 0.243", " 0", " 90", " 0", "" ], [ "46", " Dresser", " -1.674", " 0.000", " -0.153", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.630", " 0.868", " -0.550", " 0", " 90", " 0", "" ], [ "48", " Drawer", " -1.630", " 0.680", " 0.243", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.629", " 0.104", " -0.550", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.630", " 0.680", " -0.550", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -1.630", " 0.868", " 0.243", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -1.629", " 0.486", " -0.550", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -1.629", " 0.291", " 0.243", " 0", " 90", " 0", "" ], [ "54", " Drawer", " -1.629", " 0.291", " -0.550", " 0", " 90", " 0", "" ], [ "55", " Drawer", " -1.630", " 0.486", " 0.243", " 0", " 90", " 0", "" ], [ "56", " SideTable", " 1.576", " -0.001", " 2.137", " 0", " 180", " 0", "" ], [ "57", " Drawer", " 1.576", " 0.163", " 2.070", " 0", " 180", " 0", "" ], [ "58", " Drawer", " 1.576", " 0.455", " 2.070", " 0", " 180", " 0", "" ], [ "59", " SideTable", " 2.437", " -0.001", " -1.603", " 0", " 0", " 0", "" ], [ "60", " Drawer", " 2.438", " 0.163", " -1.536", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 2.438", " 0.455", " -1.536", " 0", " 0", " 0", "" ], [ "62", " ArmChair", " 2.393", " -0.001", " 1.943", " 0", " 180", " 0", "" ], [ "63", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "66", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 1.25 0 180 0 1 Statue -1.699 1.156 -1.959 0 90 0 41 2 CD 2.593 0.432 1.668 0 90 0 62 3 CellPhone 1.653 0.681 2.217 0 0 0 56 4 Pencil 2.380 0.379 -1.615 0 180 0 61 5 CreditCard -1.804 0.972 0.263 0 0 0 46 6 KeyChain -1.436 0.972 -0.339 0 0 0 46 7 KeyChain -1.605 1.639 -2.187 0 90 0 40 8 Book -1.607 0.035 0.256 0 0 0 45 9 Book -1.608 0.409 -0.351 0 0 0 52 10 Laptop 1.743 0.773 -0.106 0 0 0 28 11 Laptop 1.261 0.773 -0.401 0 0 0 28 12 Book -1.552 0.604 -0.628 0 0 0 52 13 KeyChain -1.657 0.973 0.464 0 0 0 46 14 AlarmClock 1.576 0.680 2.172 0 270 0 56 15 Pillow 0.537 0.836 -0.401 0 0 0 28 16 Pillow 0.652 0.794 -1.531 0 0 0 28 17 Vase -1.662 1.626 -1.791 0 0 0 40 18 Laptop -1.628 0.965 0.084 0 104.999 0 46 19 Vase -1.509 0.975 -0.540 0 0 0 46 20 Pencil -1.699 1.151 -2.415 0 90 0 41 21 CreditCard -1.720 0.171 -2.280 0 0 0 44 22 Boots -1.842 0.000 -1.077 0 135 0 23 Pen -1.730 0.976 -0.540 0 0 0 46 24 CellPhone 1.743 0.775 0.188 0 0 0 28 25 CD 2.134 0.439 2.014 0 90 0 62 26 Bowl -1.684 1.135 -2.300 0 346.900 0 41 27 Statue -1.764 0.965 -0.758 0 59.718 0 46 28 Bed 1.017 0.003 -0.686 0 180 0 29 HousePlant -1.749 0.971 0.463 0 0 0 30 GarbageCan -1.665 -0.000 0.953 0 45 0 31 Painting 0.381 1.976 -1.895 90 0 0 32 Painting 0.879 1.976 -1.895 90 0 0 33 Painting 1.373 1.976 -1.895 90 0 0 34 LightSwitch -0.164 1.085 2.450 0 180 0 35 Mirror -1.950 1.735 -0.206 0 270 0 36 Window -1.098 1.570 -3.230 90 0 0 37 DeskLamp 1.404 0.668 2.209 0 0 0 38 DeskLamp 2.596 0.668 -1.710 0 0 0 39 Blinds -1.062 2.361 -3.173 0 0 0 40 Shelf -1.675 1.871 -2.053 0 90 0 41 Shelf -1.675 1.383 -2.053 0 90 0 42 Drawer -1.715 0.832 -2.053 0 90 0 43 ShelvingUnit -1.723 0.007 -2.053 0 90 0 44 Drawer -1.713 0.339 -2.053 0 90 0 45 Drawer -1.629 0.104 0.243 0 90 0 46 Dresser -1.674 0.000 -0.153 0 90 0 47 Drawer -1.630 0.868 -0.550 0 90 0 48 Drawer -1.630 0.680 0.243 0 90 0 49 Drawer -1.629 0.104 -0.550 0 90 0 50 Drawer -1.630 0.680 -0.550 0 90 0 51 Drawer -1.630 0.868 0.243 0 90 0 52 Drawer -1.629 0.486 -0.550 0 90 0 53 Drawer -1.629 0.291 0.243 0 90 0 54 Drawer -1.629 0.291 -0.550 0 90 0 55 Drawer -1.630 0.486 0.243 0 90 0 56 SideTable 1.576 -0.001 2.137 0 180 0 57 Drawer 1.576 0.163 2.070 0 180 0 58 Drawer 1.576 0.455 2.070 0 180 0 59 SideTable 2.437 -0.001 -1.603 0 0 0 60 Drawer 2.438 0.163 -1.536 0 0 0 61 Drawer 2.438 0.455 -1.536 0 0 0 62 ArmChair 2.393 -0.001 1.943 0 180 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn left, move across the room to the chair in the corner, then turn right to stand facing the foot of the bed with the chair on your right. | STEP 2: Pick up the cell phone from the foot of the bed. | STEP 3: Turn right to move around the bed to stand in front of the vase on the dresser. | STEP 4: Place the phone on the dresser next to the keys. | STEP 5: Turn right to move to the white door, then head right again and stop facing the small black end table with the lamp on top. | STEP 6: Pick up the cell phone from the end table. | STEP 7: Turn left to move back to the end of the dresser where you left the other phone. | STEP 8: Place the cell phone on the front left corner of the dresser. | END" ]
[ [ "STEP 1: Turn left, move across the room to the chair in the corner, then turn right to stand facing the foot of the bed with the chair on your right. ", " STEP 2: Pick up the cell phone from the foot of the bed. ", " STEP 3: Turn right to move around the bed to stand in front of the vase on the dresser. ", " STEP 4: Place the phone on the dresser next to the keys. ", " STEP 5: Turn right to move to the white door, then head right again and stop facing the small black end table with the lamp on top. ", " STEP 6: Pick up the cell phone from the end table. ", " STEP 7: Turn left to move back to the end of the dresser where you left the other phone. ", " STEP 8: Place the cell phone on the front left corner of the dresser. ", " END" ] ]
seen
trial_T20190909_060750_241366-2
Put two phones on a dresser.
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" 1.261", " 0.773", " -0.401", " 0", " 0", " 0", " 28" ], [ "12", " Book", " -1.552", " 0.604", " -0.628", " 0", " 0", " 0", " 52" ], [ "13", " KeyChain", " -1.657", " 0.973", " 0.464", " 0", " 0", " 0", " 46" ], [ "14", " AlarmClock", " 1.576", " 0.680", " 2.172", " 0", " 270", " 0", " 56" ], [ "15", " Pillow", " 0.537", " 0.836", " -0.401", " 0", " 0", " 0", " 28" ], [ "16", " Pillow", " 0.652", " 0.794", " -1.531", " 0", " 0", " 0", " 28" ], [ "17", " Vase", " -1.662", " 1.626", " -1.791", " 0", " 0", " 0", " 40" ], [ "18", " Laptop", " -1.628", " 0.965", " 0.084", " 0", " 104.999", " 0", " 46" ], [ "19", " Vase", " -1.509", " 0.975", " -0.540", " 0", " 0", " 0", " 46" ], [ "20", " Pencil", " -1.699", " 1.151", " -2.415", " 0", " 90", " 0", " 41" ], [ "21", " CreditCard", " -1.720", " 0.171", " -2.280", " 0", " 0", " 0", " 44" ], [ "22", " Boots", " -1.842", " 0.000", " -1.077", " 0", " 135", " 0", "" ], [ "23", " Pen", " -1.730", " 0.976", " -0.540", " 0", " 0", " 0", " 46" ], [ "24", " CellPhone", " 1.743", " 0.775", " 0.188", " 0", " 0", " 0", " 28" ], [ "25", " CD", " 2.134", " 0.439", " 2.014", " 0", " 90", " 0", " 62" ], [ "26", " Bowl", " -1.684", " 1.135", " -2.300", " 0", " 346.900", " 0", " 41" ], [ "27", " Statue", " -1.764", " 0.965", " -0.758", " 0", " 59.718", " 0", " 46" ], [ "28", " Bed", " 1.017", " 0.003", " -0.686", " 0", " 180", " 0", "" ], [ "29", " HousePlant", " -1.749", " 0.971", " 0.463", " 0", " 0", " 0", "" ], [ "30", " GarbageCan", " -1.665", " -0.000", " 0.953", " 0", " 45", " 0", "" ], [ "31", " Painting", " 0.381", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "32", " Painting", " 0.879", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "33", " Painting", " 1.373", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "34", " LightSwitch", " -0.164", " 1.085", " 2.450", " 0", " 180", " 0", "" ], [ "35", " Mirror", " -1.950", " 1.735", " -0.206", " 0", " 270", " 0", "" ], [ "36", " Window", " -1.098", " 1.570", " -3.230", " 90", " 0", " 0", "" ], [ "37", " DeskLamp", " 1.404", " 0.668", " 2.209", " 0", " 0", " 0", "" ], [ "38", " DeskLamp", " 2.596", " 0.668", " -1.710", " 0", " 0", " 0", "" ], [ "39", " Blinds", " -1.062", " 2.361", " -3.173", " 0", " 0", " 0", "" ], [ "40", " Shelf", " -1.675", " 1.871", " -2.053", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.675", " 1.383", " -2.053", " 0", " 90", " 0", "" ], [ "42", " Drawer", " -1.715", " 0.832", " -2.053", " 0", " 90", " 0", "" ], [ "43", " ShelvingUnit", " -1.723", " 0.007", " -2.053", " 0", " 90", " 0", "" ], [ "44", " Drawer", " -1.713", " 0.339", " -2.053", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.629", " 0.104", " 0.243", " 0", " 90", " 0", "" ], [ "46", " Dresser", " -1.674", " 0.000", " -0.153", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.630", " 0.868", " -0.550", " 0", " 90", " 0", "" ], [ "48", " Drawer", " -1.630", " 0.680", " 0.243", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.629", " 0.104", " -0.550", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.630", " 0.680", " -0.550", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -1.630", " 0.868", " 0.243", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -1.629", " 0.486", " -0.550", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -1.629", " 0.291", " 0.243", " 0", " 90", " 0", "" ], [ "54", " Drawer", " -1.629", " 0.291", " -0.550", " 0", " 90", " 0", "" ], [ "55", " Drawer", " -1.630", " 0.486", " 0.243", " 0", " 90", " 0", "" ], [ "56", " SideTable", " 1.576", " -0.001", " 2.137", " 0", " 180", " 0", "" ], [ "57", " Drawer", " 1.576", " 0.163", " 2.070", " 0", " 180", " 0", "" ], [ "58", " Drawer", " 1.576", " 0.455", " 2.070", " 0", " 180", " 0", "" ], [ "59", " SideTable", " 2.437", " -0.001", " -1.603", " 0", " 0", " 0", "" ], [ "60", " Drawer", " 2.438", " 0.163", " -1.536", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 2.438", " 0.455", " -1.536", " 0", " 0", " 0", "" ], [ "62", " ArmChair", " 2.393", " -0.001", " 1.943", " 0", " 180", " 0", "" ], [ "63", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "66", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 1.25 0 180 0 1 Statue -1.699 1.156 -1.959 0 90 0 41 2 CD 2.593 0.432 1.668 0 90 0 62 3 CellPhone 1.653 0.681 2.217 0 0 0 56 4 Pencil 2.380 0.379 -1.615 0 180 0 61 5 CreditCard -1.804 0.972 0.263 0 0 0 46 6 KeyChain -1.436 0.972 -0.339 0 0 0 46 7 KeyChain -1.605 1.639 -2.187 0 90 0 40 8 Book -1.607 0.035 0.256 0 0 0 45 9 Book -1.608 0.409 -0.351 0 0 0 52 10 Laptop 1.743 0.773 -0.106 0 0 0 28 11 Laptop 1.261 0.773 -0.401 0 0 0 28 12 Book -1.552 0.604 -0.628 0 0 0 52 13 KeyChain -1.657 0.973 0.464 0 0 0 46 14 AlarmClock 1.576 0.680 2.172 0 270 0 56 15 Pillow 0.537 0.836 -0.401 0 0 0 28 16 Pillow 0.652 0.794 -1.531 0 0 0 28 17 Vase -1.662 1.626 -1.791 0 0 0 40 18 Laptop -1.628 0.965 0.084 0 104.999 0 46 19 Vase -1.509 0.975 -0.540 0 0 0 46 20 Pencil -1.699 1.151 -2.415 0 90 0 41 21 CreditCard -1.720 0.171 -2.280 0 0 0 44 22 Boots -1.842 0.000 -1.077 0 135 0 23 Pen -1.730 0.976 -0.540 0 0 0 46 24 CellPhone 1.743 0.775 0.188 0 0 0 28 25 CD 2.134 0.439 2.014 0 90 0 62 26 Bowl -1.684 1.135 -2.300 0 346.900 0 41 27 Statue -1.764 0.965 -0.758 0 59.718 0 46 28 Bed 1.017 0.003 -0.686 0 180 0 29 HousePlant -1.749 0.971 0.463 0 0 0 30 GarbageCan -1.665 -0.000 0.953 0 45 0 31 Painting 0.381 1.976 -1.895 90 0 0 32 Painting 0.879 1.976 -1.895 90 0 0 33 Painting 1.373 1.976 -1.895 90 0 0 34 LightSwitch -0.164 1.085 2.450 0 180 0 35 Mirror -1.950 1.735 -0.206 0 270 0 36 Window -1.098 1.570 -3.230 90 0 0 37 DeskLamp 1.404 0.668 2.209 0 0 0 38 DeskLamp 2.596 0.668 -1.710 0 0 0 39 Blinds -1.062 2.361 -3.173 0 0 0 40 Shelf -1.675 1.871 -2.053 0 90 0 41 Shelf -1.675 1.383 -2.053 0 90 0 42 Drawer -1.715 0.832 -2.053 0 90 0 43 ShelvingUnit -1.723 0.007 -2.053 0 90 0 44 Drawer -1.713 0.339 -2.053 0 90 0 45 Drawer -1.629 0.104 0.243 0 90 0 46 Dresser -1.674 0.000 -0.153 0 90 0 47 Drawer -1.630 0.868 -0.550 0 90 0 48 Drawer -1.630 0.680 0.243 0 90 0 49 Drawer -1.629 0.104 -0.550 0 90 0 50 Drawer -1.630 0.680 -0.550 0 90 0 51 Drawer -1.630 0.868 0.243 0 90 0 52 Drawer -1.629 0.486 -0.550 0 90 0 53 Drawer -1.629 0.291 0.243 0 90 0 54 Drawer -1.629 0.291 -0.550 0 90 0 55 Drawer -1.630 0.486 0.243 0 90 0 56 SideTable 1.576 -0.001 2.137 0 180 0 57 Drawer 1.576 0.163 2.070 0 180 0 58 Drawer 1.576 0.455 2.070 0 180 0 59 SideTable 2.437 -0.001 -1.603 0 0 0 60 Drawer 2.438 0.163 -1.536 0 0 0 61 Drawer 2.438 0.455 -1.536 0 0 0 62 ArmChair 2.393 -0.001 1.943 0 180 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Go left and then right and then turn to face the computers on the bed. | STEP 2: Pick the phone up from the bed. | STEP 3: Cross the room to face the brown dresser. | STEP 4: Put the phone on the dresser. | STEP 5: Turn around and cross the room and turn to the left to face the small table with the lamp. | STEP 6: Pick the phone on the right up from the table. | STEP 7: Cross the room to face the dresser. | STEP 8: Put the phone down on the dresser. | END" ]
[ [ "STEP 1: Go left and then right and then turn to face the computers on the bed. ", " STEP 2: Pick the phone up from the bed. ", " STEP 3: Cross the room to face the brown dresser. ", " STEP 4: Put the phone on the dresser. ", " STEP 5: Turn around and cross the room and turn to the left to face the small table with the lamp. ", " STEP 6: Pick the phone on the right up from the table. ", " STEP 7: Cross the room to face the dresser. ", " STEP 8: Put the phone down on the dresser. ", " END" ] ]
seen
trial_T20190907_183239_515681-0
examine a trophy with a lamp
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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 0.900 -0.5 0 0 0 1 KeyChain -2.730 0.787 -3.835 0 270 0 33 2 CreditCard 1.780 0.766 0.806 0 0 0 41 3 CreditCard -0.544 0.390 1.652 0 180 0 32 4 Laptop -3.224 0.784 -4.279 0 270 0 33 5 Laptop 0.635 0.466 -0.594 0 225 0 34 6 Box -0.564 0.122 -2.747 0 0 0 33 7 KeyChain -0.403 0.391 1.724 0 180 0 32 8 Laptop -3.348 0.784 -3.613 0 270 0 33 9 Statue 1.767 0.883 1.198 0 0 0 40 10 Pillow 1.036 0.581 -0.213 0 325.391 0 34 11 RemoteControl -2.853 0.787 -3.392 0 270 0 33 12 Statue 1.846 0.883 1.409 0 0 0 40 13 CreditCard 0.889 0.467 -0.569 0 225 0 34 14 Vase -2.853 0.787 -2.948 0 270 0 33 15 Statue -2.977 0.793 -3.170 0 270 0 33 16 Shelf -0.612 0.880 -2.832 0 0 0 17 Shelf -0.612 1.317 -2.832 0 0 0 18 LightSwitch -2.599 1.254 -0.774 0 90 0 19 GarbageCan -1.343 0.015 -4.825 0 0 0 20 HousePlant 0.506 1.097 2.235 0 0 0 21 Painting -0.509 1.742 2.404 90 0 0 22 FloorLamp 1.712 0.001 0.374 0 0 0 23 Painting -5.0 1.626 -3.548 90 270 0 24 Television -2.258 1.245 0.755 0 90 0 25 Shelf -2.238 0.474 0.396 0 90 0 26 Shelf -2.238 0.273 0.396 0 90 0 27 TVStand -2.244 -0.000 0.762 0 90 0 28 Shelf -2.238 0.302 1.130 0 90 0 29 Shelf -2.238 0.442 0.764 0 90 0 30 Shelf -2.238 0.597 1.130 0 90 0 31 Shelf -2.238 0.643 0.396 0 90 0 32 ArmChair -0.559 0.000 1.951 0 180 0 33 DiningTable -3.101 0.000 -3.613 0 270 0 34 Sofa 0.880 0.007 -0.591 0 315 0 35 Ottoman -0.576 0.008 1.052 0 180 0 36 Chair -3.501 0.002 -3.716 0 90 0 37 Chair -3.182 0.002 -2.813 0 165.000 0 38 Chair -3.130 0.002 -4.418 0 345.001 0 39 Chair -2.686 0.002 -3.301 0 285.000 0 40 SideTable 1.825 0.000 1.092 0 270 0 41 Drawer 1.761 0.774 1.092 0 270 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: turn right, turn left, turn right to walk past ottoman, turn left after ottoman, walk a few steps, turn right before piano, walk to the small table | STEP 2: pick up the trophy that is on the table | STEP 3: turn right, take a couple steps, turn left to face other end of table, hold trophy up to lamp on the right | STEP 4: turn on the lamp | END" ]
[ [ "STEP 1: turn right, turn left, turn right to walk past ottoman, turn left after ottoman, walk a few steps, turn right before piano, walk to the small table ", " STEP 2: pick up the trophy that is on the table ", " STEP 3: turn right, take a couple steps, turn left to face other end of table, hold trophy up to lamp on the right ", " STEP 4: turn on the lamp ", " END" ] ]
seen
trial_T20190907_183239_515681-1
Pick up the orange statue and turn on the light.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.25", " 0.900", " -0.5", " 0", " 0", " 0", "" ], [ "1", " KeyChain", " -2.730", " 0.787", " -3.835", " 0", " 270", " 0", " 33" ], [ "2", " CreditCard", " 1.780", " 0.766", " 0.806", " 0", " 0", " 0", " 41" ], [ "3", " CreditCard", " -0.544", " 0.390", " 1.652", " 0", " 180", " 0", " 32" ], [ "4", " Laptop", " -3.224", " 0.784", " -4.279", " 0", " 270", " 0", " 33" ], [ "5", " Laptop", " 0.635", " 0.466", " -0.594", " 0", " 225", " 0", " 34" ], [ "6", " Box", " -0.564", " 0.122", " -2.747", " 0", " 0", " 0", " 33" ], [ "7", " KeyChain", " -0.403", " 0.391", " 1.724", " 0", " 180", " 0", " 32" ], [ "8", " Laptop", " -3.348", " 0.784", " -3.613", " 0", " 270", " 0", " 33" ], [ "9", " Statue", " 1.767", " 0.883", " 1.198", " 0", " 0", " 0", " 40" ], [ "10", " Pillow", " 1.036", " 0.581", " -0.213", " 0", " 325.391", " 0", " 34" ], [ "11", " RemoteControl", " -2.853", " 0.787", " -3.392", " 0", " 270", " 0", " 33" ], [ "12", " Statue", " 1.846", " 0.883", " 1.409", " 0", " 0", " 0", " 40" ], [ "13", " CreditCard", " 0.889", " 0.467", " -0.569", " 0", " 225", " 0", " 34" ], [ "14", " Vase", " -2.853", " 0.787", " -2.948", " 0", " 270", " 0", " 33" ], [ "15", " Statue", " -2.977", " 0.793", " -3.170", " 0", " 270", " 0", " 33" ], [ "16", " Shelf", " -0.612", " 0.880", " -2.832", " 0", " 0", " 0", "" ], [ "17", " Shelf", " -0.612", " 1.317", " -2.832", " 0", " 0", " 0", "" ], [ "18", " LightSwitch", " -2.599", " 1.254", " -0.774", " 0", " 90", " 0", "" ], [ "19", " GarbageCan", " -1.343", " 0.015", " -4.825", " 0", " 0", " 0", "" ], [ "20", " HousePlant", " 0.506", " 1.097", " 2.235", " 0", " 0", " 0", "" ], [ "21", " Painting", " -0.509", " 1.742", " 2.404", " 90", " 0", " 0", "" ], [ "22", " FloorLamp", " 1.712", " 0.001", " 0.374", " 0", " 0", " 0", "" ], [ "23", " Painting", " -5.0", " 1.626", " -3.548", " 90", " 270", " 0", "" ], [ "24", " Television", " -2.258", " 1.245", " 0.755", " 0", " 90", " 0", "" ], [ "25", " Shelf", " -2.238", " 0.474", " 0.396", " 0", " 90", " 0", "" ], [ "26", " Shelf", " -2.238", " 0.273", " 0.396", " 0", " 90", " 0", "" ], [ "27", " TVStand", " -2.244", " -0.000", " 0.762", " 0", " 90", " 0", "" ], [ "28", " Shelf", " -2.238", " 0.302", " 1.130", " 0", " 90", " 0", "" ], [ "29", " Shelf", " -2.238", " 0.442", " 0.764", " 0", " 90", " 0", "" ], [ "30", " Shelf", " -2.238", " 0.597", " 1.130", " 0", " 90", " 0", "" ], [ "31", " Shelf", " -2.238", " 0.643", " 0.396", " 0", " 90", " 0", "" ], [ "32", " ArmChair", " -0.559", " 0.000", " 1.951", " 0", " 180", " 0", "" ], [ "33", " DiningTable", " -3.101", " 0.000", " -3.613", " 0", " 270", " 0", "" ], [ "34", " Sofa", " 0.880", " 0.007", " -0.591", " 0", " 315", " 0", "" ], [ "35", " Ottoman", " -0.576", " 0.008", " 1.052", " 0", " 180", " 0", "" ], [ "36", " Chair", " -3.501", " 0.002", " -3.716", " 0", " 90", " 0", "" ], [ "37", " Chair", " -3.182", " 0.002", " -2.813", " 0", " 165.000", " 0", "" ], [ "38", " Chair", " -3.130", " 0.002", " -4.418", " 0", " 345.001", " 0", "" ], [ "39", " Chair", " -2.686", " 0.002", " -3.301", " 0", " 285.000", " 0", "" ], [ "40", " SideTable", " 1.825", " 0.000", " 1.092", " 0", " 270", " 0", "" ], [ "41", " Drawer", " 1.761", " 0.774", " 1.092", " 0", " 270", " 0", "" ], [ "42", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 -0.5 0 0 0 1 KeyChain -2.730 0.787 -3.835 0 270 0 33 2 CreditCard 1.780 0.766 0.806 0 0 0 41 3 CreditCard -0.544 0.390 1.652 0 180 0 32 4 Laptop -3.224 0.784 -4.279 0 270 0 33 5 Laptop 0.635 0.466 -0.594 0 225 0 34 6 Box -0.564 0.122 -2.747 0 0 0 33 7 KeyChain -0.403 0.391 1.724 0 180 0 32 8 Laptop -3.348 0.784 -3.613 0 270 0 33 9 Statue 1.767 0.883 1.198 0 0 0 40 10 Pillow 1.036 0.581 -0.213 0 325.391 0 34 11 RemoteControl -2.853 0.787 -3.392 0 270 0 33 12 Statue 1.846 0.883 1.409 0 0 0 40 13 CreditCard 0.889 0.467 -0.569 0 225 0 34 14 Vase -2.853 0.787 -2.948 0 270 0 33 15 Statue -2.977 0.793 -3.170 0 270 0 33 16 Shelf -0.612 0.880 -2.832 0 0 0 17 Shelf -0.612 1.317 -2.832 0 0 0 18 LightSwitch -2.599 1.254 -0.774 0 90 0 19 GarbageCan -1.343 0.015 -4.825 0 0 0 20 HousePlant 0.506 1.097 2.235 0 0 0 21 Painting -0.509 1.742 2.404 90 0 0 22 FloorLamp 1.712 0.001 0.374 0 0 0 23 Painting -5.0 1.626 -3.548 90 270 0 24 Television -2.258 1.245 0.755 0 90 0 25 Shelf -2.238 0.474 0.396 0 90 0 26 Shelf -2.238 0.273 0.396 0 90 0 27 TVStand -2.244 -0.000 0.762 0 90 0 28 Shelf -2.238 0.302 1.130 0 90 0 29 Shelf -2.238 0.442 0.764 0 90 0 30 Shelf -2.238 0.597 1.130 0 90 0 31 Shelf -2.238 0.643 0.396 0 90 0 32 ArmChair -0.559 0.000 1.951 0 180 0 33 DiningTable -3.101 0.000 -3.613 0 270 0 34 Sofa 0.880 0.007 -0.591 0 315 0 35 Ottoman -0.576 0.008 1.052 0 180 0 36 Chair -3.501 0.002 -3.716 0 90 0 37 Chair -3.182 0.002 -2.813 0 165.000 0 38 Chair -3.130 0.002 -4.418 0 345.001 0 39 Chair -2.686 0.002 -3.301 0 285.000 0 40 SideTable 1.825 0.000 1.092 0 270 0 41 Drawer 1.761 0.774 1.092 0 270 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: Turn right and walk to the desk next to the piano. | STEP 2: Pick up the orange statue from the desk. | STEP 3: Turn right and go to the lamp. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Turn right and walk to the desk next to the piano. ", " STEP 2: Pick up the orange statue from the desk. ", " STEP 3: Turn right and go to the lamp. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190907_183239_515681-2
Turn the lamp on with a statue in hand.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.25", " 0.900", " -0.5", " 0", " 0", " 0", "" ], [ "1", " KeyChain", " -2.730", " 0.787", " -3.835", " 0", " 270", " 0", " 33" ], [ "2", " CreditCard", " 1.780", " 0.766", " 0.806", " 0", " 0", " 0", " 41" ], [ "3", " CreditCard", " -0.544", " 0.390", " 1.652", " 0", " 180", " 0", " 32" ], [ "4", " Laptop", " -3.224", " 0.784", " -4.279", " 0", " 270", " 0", " 33" ], [ "5", " Laptop", " 0.635", " 0.466", " -0.594", " 0", " 225", " 0", " 34" ], [ "6", " Box", " -0.564", " 0.122", " -2.747", " 0", " 0", " 0", " 33" ], [ "7", " KeyChain", " -0.403", " 0.391", " 1.724", " 0", " 180", " 0", " 32" ], [ "8", " Laptop", " -3.348", " 0.784", " -3.613", " 0", " 270", " 0", " 33" ], [ "9", " Statue", " 1.767", " 0.883", " 1.198", " 0", " 0", " 0", " 40" ], [ "10", " Pillow", " 1.036", " 0.581", " -0.213", " 0", " 325.391", " 0", " 34" ], [ "11", " RemoteControl", " -2.853", " 0.787", " -3.392", " 0", " 270", " 0", " 33" ], [ "12", " Statue", " 1.846", " 0.883", " 1.409", " 0", " 0", " 0", " 40" ], [ "13", " CreditCard", " 0.889", " 0.467", " -0.569", " 0", " 225", " 0", " 34" ], [ "14", " Vase", " -2.853", " 0.787", " -2.948", " 0", " 270", " 0", " 33" ], [ "15", " Statue", " -2.977", " 0.793", " -3.170", " 0", " 270", " 0", " 33" ], [ "16", " Shelf", " -0.612", " 0.880", " -2.832", " 0", " 0", " 0", "" ], [ "17", " Shelf", " -0.612", " 1.317", " -2.832", " 0", " 0", " 0", "" ], [ "18", " LightSwitch", " -2.599", " 1.254", " -0.774", " 0", " 90", " 0", "" ], [ "19", " GarbageCan", " -1.343", " 0.015", " -4.825", " 0", " 0", " 0", "" ], [ "20", " HousePlant", " 0.506", " 1.097", " 2.235", " 0", " 0", " 0", "" ], [ "21", " Painting", " -0.509", " 1.742", " 2.404", " 90", " 0", " 0", "" ], [ "22", " FloorLamp", " 1.712", " 0.001", " 0.374", " 0", " 0", " 0", "" ], [ "23", " Painting", " -5.0", " 1.626", " -3.548", " 90", " 270", " 0", "" ], [ "24", " Television", " -2.258", " 1.245", " 0.755", " 0", " 90", " 0", "" ], [ "25", " Shelf", " -2.238", " 0.474", " 0.396", " 0", " 90", " 0", "" ], [ "26", " Shelf", " -2.238", " 0.273", " 0.396", " 0", " 90", " 0", "" ], [ "27", " TVStand", " -2.244", " -0.000", " 0.762", " 0", " 90", " 0", "" ], [ "28", " Shelf", " -2.238", " 0.302", " 1.130", " 0", " 90", " 0", "" ], [ "29", " Shelf", " -2.238", " 0.442", " 0.764", " 0", " 90", " 0", "" ], [ "30", " Shelf", " -2.238", " 0.597", " 1.130", " 0", " 90", " 0", "" ], [ "31", " Shelf", " -2.238", " 0.643", " 0.396", " 0", " 90", " 0", "" ], [ "32", " ArmChair", " -0.559", " 0.000", " 1.951", " 0", " 180", " 0", "" ], [ "33", " DiningTable", " -3.101", " 0.000", " -3.613", " 0", " 270", " 0", "" ], [ "34", " Sofa", " 0.880", " 0.007", " -0.591", " 0", " 315", " 0", "" ], [ "35", " Ottoman", " -0.576", " 0.008", " 1.052", " 0", " 180", " 0", "" ], [ "36", " Chair", " -3.501", " 0.002", " -3.716", " 0", " 90", " 0", "" ], [ "37", " Chair", " -3.182", " 0.002", " -2.813", " 0", " 165.000", " 0", "" ], [ "38", " Chair", " -3.130", " 0.002", " -4.418", " 0", " 345.001", " 0", "" ], [ "39", " Chair", " -2.686", " 0.002", " -3.301", " 0", " 285.000", " 0", "" ], [ "40", " SideTable", " 1.825", " 0.000", " 1.092", " 0", " 270", " 0", "" ], [ "41", " Drawer", " 1.761", " 0.774", " 1.092", " 0", " 270", " 0", "" ], [ "42", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 -0.5 0 0 0 1 KeyChain -2.730 0.787 -3.835 0 270 0 33 2 CreditCard 1.780 0.766 0.806 0 0 0 41 3 CreditCard -0.544 0.390 1.652 0 180 0 32 4 Laptop -3.224 0.784 -4.279 0 270 0 33 5 Laptop 0.635 0.466 -0.594 0 225 0 34 6 Box -0.564 0.122 -2.747 0 0 0 33 7 KeyChain -0.403 0.391 1.724 0 180 0 32 8 Laptop -3.348 0.784 -3.613 0 270 0 33 9 Statue 1.767 0.883 1.198 0 0 0 40 10 Pillow 1.036 0.581 -0.213 0 325.391 0 34 11 RemoteControl -2.853 0.787 -3.392 0 270 0 33 12 Statue 1.846 0.883 1.409 0 0 0 40 13 CreditCard 0.889 0.467 -0.569 0 225 0 34 14 Vase -2.853 0.787 -2.948 0 270 0 33 15 Statue -2.977 0.793 -3.170 0 270 0 33 16 Shelf -0.612 0.880 -2.832 0 0 0 17 Shelf -0.612 1.317 -2.832 0 0 0 18 LightSwitch -2.599 1.254 -0.774 0 90 0 19 GarbageCan -1.343 0.015 -4.825 0 0 0 20 HousePlant 0.506 1.097 2.235 0 0 0 21 Painting -0.509 1.742 2.404 90 0 0 22 FloorLamp 1.712 0.001 0.374 0 0 0 23 Painting -5.0 1.626 -3.548 90 270 0 24 Television -2.258 1.245 0.755 0 90 0 25 Shelf -2.238 0.474 0.396 0 90 0 26 Shelf -2.238 0.273 0.396 0 90 0 27 TVStand -2.244 -0.000 0.762 0 90 0 28 Shelf -2.238 0.302 1.130 0 90 0 29 Shelf -2.238 0.442 0.764 0 90 0 30 Shelf -2.238 0.597 1.130 0 90 0 31 Shelf -2.238 0.643 0.396 0 90 0 32 ArmChair -0.559 0.000 1.951 0 180 0 33 DiningTable -3.101 0.000 -3.613 0 270 0 34 Sofa 0.880 0.007 -0.591 0 315 0 35 Ottoman -0.576 0.008 1.052 0 180 0 36 Chair -3.501 0.002 -3.716 0 90 0 37 Chair -3.182 0.002 -2.813 0 165.000 0 38 Chair -3.130 0.002 -4.418 0 345.001 0 39 Chair -2.686 0.002 -3.301 0 285.000 0 40 SideTable 1.825 0.000 1.092 0 270 0 41 Drawer 1.761 0.774 1.092 0 270 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: Go right and cross the room to stand in front of the cabinet with statues on it. | STEP 2: Pick the statue on the left up from the cabinet. | STEP 3: Go to the right and stand near the lamp. | STEP 4: Turn the lamp on. | END" ]
[ [ "STEP 1: Go right and cross the room to stand in front of the cabinet with statues on it. ", " STEP 2: Pick the statue on the left up from the cabinet. ", " STEP 3: Go to the right and stand near the lamp. ", " STEP 4: Turn the lamp on. ", " END" ] ]
seen
trial_T20190908_030828_744767-0
Put toilet paper from the back of a toilet on the holder on the wall.
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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 3.5 0 270 0 1 Candle -3.828 0.550 1.109 0 90 0 32 2 SprayBottle -2.227 0.035 4.948 0 0 0 31 3 Candle -2.917 0.685 3.186 0 348.434 0 17 4 SoapBottle -1.279 0.044 5.006 0 0 0 26 5 HandTowel -2.093 1.442 5.107 0 0 0 33 6 Towel -0.181 1.419 2.425 0 270 0 30 7 SoapBar -2.905 0.676 2.906 0 348.434 0 17 8 ToiletPaper -0.188 1.036 3.374 0 0 0 36 9 TissueBox -1.051 0.964 4.866 0 0 0 22 10 Cloth -1.796 0.038 4.768 0 0 0 24 11 ToiletPaper -3.828 0.538 1.477 0 90 0 32 12 SprayBottle -1.929 0.964 4.809 0 0 0 22 13 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 14 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 15 BathtubBasin -3.404 0.166 2.904 0 0 0 16 Cabinet -0.124 0.364 4.634 0 0 0 17 Bathtub -2.896 0.667 2.860 0 0 0 18 Faucet -3.475 0.711 3.811 0 0 0 19 ShowerGlass 0.0 0.0 0.0 0 0 0 20 ShowerDoor -0.282 1.228 1.730 0 0 0 21 Faucet -1.524 1.047 5.096 0 180 0 22 CounterTop -1.023 0.954 4.884 0 0 0 23 Mirror -0.975 1.577 5.145 0 0 0 24 Cabinet -1.962 0.364 4.634 0 0 0 25 Cabinet -1.027 0.364 4.634 0 0 0 26 Cabinet -1.059 0.364 4.634 0 0 0 27 Window -1.993 1.888 0.144 0 0 0 28 LightSwitch -2.496 1.366 5.146 0 180 0 29 TowelHolder -1.720 1.213 1.740 0 0 0 30 TowelHolder -0.074 1.404 2.424 0 270 0 31 GarbageCan -2.346 0.002 4.878 0 180 0 32 Shelf -3.713 0.531 0.951 0 90 0 33 HandTowelHolder -2.094 1.544 5.145 0 90 0 34 HandTowelHolder -0.074 1.569 4.810 0 180 0 35 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 36 Toilet -0.517 -0.000 3.220 0 0 0 37 ShowerHead -0.182 1.256 0.875 0 0 0 38 SinkBasin -0.569 0.986 4.886 0 180 0 39 Sink -0.579 0.926 4.874 0 180 0 40 Sink -1.524 0.926 4.874 0 180 0 41 SinkBasin -1.514 0.986 4.886 0 180 0 42 Faucet -0.583 1.047 5.096 0 180 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: Turn around and cross the room to face the left side of the toilet. | STEP 2: Pick the toilet paper roll up from the back of the toilet. | STEP 3: Turn to the left and face the toilet paper holder on the wall. | STEP 4: Put the toilet paper on the holder on the wall. | END" ]
[ [ "STEP 1: Turn around and cross the room to face the left side of the toilet. ", " STEP 2: Pick the toilet paper roll up from the back of the toilet. ", " STEP 3: Turn to the left and face the toilet paper holder on the wall. ", " STEP 4: Put the toilet paper on the holder on the wall. ", " END" ] ]
seen
trial_T20190908_030828_744767-1
Place toilet paper on the toilet paper holder
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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 3.5 0 270 0 1 Candle -3.828 0.550 1.109 0 90 0 32 2 SprayBottle -2.227 0.035 4.948 0 0 0 31 3 Candle -2.917 0.685 3.186 0 348.434 0 17 4 SoapBottle -1.279 0.044 5.006 0 0 0 26 5 HandTowel -2.093 1.442 5.107 0 0 0 33 6 Towel -0.181 1.419 2.425 0 270 0 30 7 SoapBar -2.905 0.676 2.906 0 348.434 0 17 8 ToiletPaper -0.188 1.036 3.374 0 0 0 36 9 TissueBox -1.051 0.964 4.866 0 0 0 22 10 Cloth -1.796 0.038 4.768 0 0 0 24 11 ToiletPaper -3.828 0.538 1.477 0 90 0 32 12 SprayBottle -1.929 0.964 4.809 0 0 0 22 13 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 14 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 15 BathtubBasin -3.404 0.166 2.904 0 0 0 16 Cabinet -0.124 0.364 4.634 0 0 0 17 Bathtub -2.896 0.667 2.860 0 0 0 18 Faucet -3.475 0.711 3.811 0 0 0 19 ShowerGlass 0.0 0.0 0.0 0 0 0 20 ShowerDoor -0.282 1.228 1.730 0 0 0 21 Faucet -1.524 1.047 5.096 0 180 0 22 CounterTop -1.023 0.954 4.884 0 0 0 23 Mirror -0.975 1.577 5.145 0 0 0 24 Cabinet -1.962 0.364 4.634 0 0 0 25 Cabinet -1.027 0.364 4.634 0 0 0 26 Cabinet -1.059 0.364 4.634 0 0 0 27 Window -1.993 1.888 0.144 0 0 0 28 LightSwitch -2.496 1.366 5.146 0 180 0 29 TowelHolder -1.720 1.213 1.740 0 0 0 30 TowelHolder -0.074 1.404 2.424 0 270 0 31 GarbageCan -2.346 0.002 4.878 0 180 0 32 Shelf -3.713 0.531 0.951 0 90 0 33 HandTowelHolder -2.094 1.544 5.145 0 90 0 34 HandTowelHolder -0.074 1.569 4.810 0 180 0 35 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 36 Toilet -0.517 -0.000 3.220 0 0 0 37 ShowerHead -0.182 1.256 0.875 0 0 0 38 SinkBasin -0.569 0.986 4.886 0 180 0 39 Sink -0.579 0.926 4.874 0 180 0 40 Sink -1.524 0.926 4.874 0 180 0 41 SinkBasin -1.514 0.986 4.886 0 180 0 42 Faucet -0.583 1.047 5.096 0 180 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: turn to the right and take a few steps and turn to the right and go to the wall and turn to the right facing the toilet | STEP 2: pick up the toilet paper from the toilet tank | STEP 3: turn to the left facing the toilet paper holder | STEP 4: put the toilet paper on the toilet paper holder | END" ]
[ [ "STEP 1: turn to the right and take a few steps and turn to the right and go to the wall and turn to the right facing the toilet ", " STEP 2: pick up the toilet paper from the toilet tank ", " STEP 3: turn to the left facing the toilet paper holder ", " STEP 4: put the toilet paper on the toilet paper holder ", " END" ] ]
seen
trial_T20190908_030828_744767-2
Put the roll of toilet paper on the holder
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.900", " 3.5", " 0", " 270", " 0", "" ], [ "1", " Candle", " -3.828", " 0.550", " 1.109", " 0", " 90", " 0", " 32" ], [ "2", " SprayBottle", " -2.227", " 0.035", " 4.948", " 0", " 0", " 0", " 31" ], [ "3", " Candle", " -2.917", " 0.685", " 3.186", " 0", " 348.434", " 0", " 17" ], [ "4", " SoapBottle", " -1.279", " 0.044", " 5.006", " 0", " 0", " 0", " 26" ], [ "5", " HandTowel", " -2.093", " 1.442", " 5.107", " 0", " 0", " 0", " 33" ], [ "6", " Towel", " -0.181", " 1.419", " 2.425", " 0", " 270", " 0", " 30" ], [ "7", " SoapBar", " -2.905", " 0.676", " 2.906", " 0", " 348.434", " 0", " 17" ], [ "8", " ToiletPaper", " -0.188", " 1.036", " 3.374", " 0", " 0", " 0", " 36" ], [ "9", " TissueBox", " -1.051", " 0.964", " 4.866", " 0", " 0", " 0", " 22" ], [ "10", " Cloth", " -1.796", " 0.038", " 4.768", " 0", " 0", " 0", " 24" ], [ "11", " ToiletPaper", " -3.828", " 0.538", " 1.477", " 0", " 90", " 0", " 32" ], [ "12", " SprayBottle", " -1.929", " 0.964", " 4.809", " 0", " 0", " 0", " 22" ], [ "13", " ScrubBrush", " -0.231", " -0.000", " 3.857", " 0", " 0", " 0", " Floor|+00.00|" ], [ "14", " Plunger", " -0.212", " -0.000", " 3.536", " 0", " 0", " 0", " Floor|+00.00|" ], [ "15", " BathtubBasin", " -3.404", " 0.166", " 2.904", " 0", " 0", " 0", "" ], [ "16", " Cabinet", " -0.124", " 0.364", " 4.634", " 0", " 0", " 0", "" ], [ "17", " Bathtub", " -2.896", " 0.667", " 2.860", " 0", " 0", " 0", "" ], [ "18", " Faucet", " -3.475", " 0.711", " 3.811", " 0", " 0", " 0", "" ], [ "19", " ShowerGlass", " 0.0", " 0.0", " 0.0", " 0", " 0", " 0", "" ], [ "20", " ShowerDoor", " -0.282", " 1.228", " 1.730", " 0", " 0", " 0", "" ], [ "21", " Faucet", " -1.524", " 1.047", " 5.096", " 0", " 180", " 0", "" ], [ "22", " CounterTop", " -1.023", " 0.954", " 4.884", " 0", " 0", " 0", "" ], [ "23", " Mirror", " -0.975", " 1.577", " 5.145", " 0", " 0", " 0", "" ], [ "24", " Cabinet", " -1.962", " 0.364", " 4.634", " 0", " 0", " 0", "" ], [ "25", " Cabinet", " -1.027", " 0.364", " 4.634", " 0", " 0", " 0", "" ], [ "26", " Cabinet", " -1.059", " 0.364", " 4.634", " 0", " 0", " 0", "" ], [ "27", " Window", " -1.993", " 1.888", " 0.144", " 0", " 0", " 0", "" ], [ "28", " LightSwitch", " -2.496", " 1.366", " 5.146", " 0", " 180", " 0", "" ], [ "29", " TowelHolder", " -1.720", " 1.213", " 1.740", " 0", " 0", " 0", "" ], [ "30", " TowelHolder", " -0.074", " 1.404", " 2.424", " 0", " 270", " 0", "" ], [ "31", " GarbageCan", " -2.346", " 0.002", " 4.878", " 0", " 180", " 0", "" ], [ "32", " Shelf", " -3.713", " 0.531", " 0.951", " 0", " 90", " 0", "" ], [ "33", " HandTowelHolder", " -2.094", " 1.544", " 5.145", " 0", " 90", " 0", "" ], [ "34", " HandTowelHolder", " -0.074", " 1.569", " 4.810", " 0", " 180", " 0", "" ], [ "35", " ToiletPaperHanger", " -0.074", " 1.126", " 3.686", " 0", " 270", " 0", "" ], [ "36", " Toilet", " -0.517", " -0.000", " 3.220", " 0", " 0", " 0", "" ], [ "37", " ShowerHead", " -0.182", " 1.256", " 0.875", " 0", " 0", " 0", "" ], [ "38", " SinkBasin", " -0.569", " 0.986", " 4.886", " 0", " 180", " 0", "" ], [ "39", " Sink", " -0.579", " 0.926", " 4.874", " 0", " 180", " 0", "" ], [ "40", " Sink", " -1.524", " 0.926", " 4.874", " 0", " 180", " 0", "" ], [ "41", " SinkBasin", " -1.514", " 0.986", " 4.886", " 0", " 180", " 0", "" ], [ "42", " Faucet", " -0.583", " 1.047", " 5.096", " 0", " 180", " 0", "" ], [ "43", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 3.5 0 270 0 1 Candle -3.828 0.550 1.109 0 90 0 32 2 SprayBottle -2.227 0.035 4.948 0 0 0 31 3 Candle -2.917 0.685 3.186 0 348.434 0 17 4 SoapBottle -1.279 0.044 5.006 0 0 0 26 5 HandTowel -2.093 1.442 5.107 0 0 0 33 6 Towel -0.181 1.419 2.425 0 270 0 30 7 SoapBar -2.905 0.676 2.906 0 348.434 0 17 8 ToiletPaper -0.188 1.036 3.374 0 0 0 36 9 TissueBox -1.051 0.964 4.866 0 0 0 22 10 Cloth -1.796 0.038 4.768 0 0 0 24 11 ToiletPaper -3.828 0.538 1.477 0 90 0 32 12 SprayBottle -1.929 0.964 4.809 0 0 0 22 13 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 14 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 15 BathtubBasin -3.404 0.166 2.904 0 0 0 16 Cabinet -0.124 0.364 4.634 0 0 0 17 Bathtub -2.896 0.667 2.860 0 0 0 18 Faucet -3.475 0.711 3.811 0 0 0 19 ShowerGlass 0.0 0.0 0.0 0 0 0 20 ShowerDoor -0.282 1.228 1.730 0 0 0 21 Faucet -1.524 1.047 5.096 0 180 0 22 CounterTop -1.023 0.954 4.884 0 0 0 23 Mirror -0.975 1.577 5.145 0 0 0 24 Cabinet -1.962 0.364 4.634 0 0 0 25 Cabinet -1.027 0.364 4.634 0 0 0 26 Cabinet -1.059 0.364 4.634 0 0 0 27 Window -1.993 1.888 0.144 0 0 0 28 LightSwitch -2.496 1.366 5.146 0 180 0 29 TowelHolder -1.720 1.213 1.740 0 0 0 30 TowelHolder -0.074 1.404 2.424 0 270 0 31 GarbageCan -2.346 0.002 4.878 0 180 0 32 Shelf -3.713 0.531 0.951 0 90 0 33 HandTowelHolder -2.094 1.544 5.145 0 90 0 34 HandTowelHolder -0.074 1.569 4.810 0 180 0 35 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 36 Toilet -0.517 -0.000 3.220 0 0 0 37 ShowerHead -0.182 1.256 0.875 0 0 0 38 SinkBasin -0.569 0.986 4.886 0 180 0 39 Sink -0.579 0.926 4.874 0 180 0 40 Sink -1.524 0.926 4.874 0 180 0 41 SinkBasin -1.514 0.986 4.886 0 180 0 42 Faucet -0.583 1.047 5.096 0 180 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: Turn around, take a few steps to the toilet | STEP 2: Turn to the right | STEP 3: Take the roll of toilet paper from the toilet | STEP 4: Put the roll of toilet paper on the roll | END" ]
[ [ "STEP 1: Turn around, take a few steps to the toilet ", " STEP 2: Turn to the right ", " STEP 3: Take the roll of toilet paper from the toilet ", " STEP 4: Put the roll of toilet paper on the roll ", " END" ] ]
seen
trial_T20190908_131001_656023-0
Put two rags in the drawer in the cabinet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.902", " 0.75", " 0", " 180", " 0", "" ], [ "1", " Cloth", " -2.120", " 0.702", " -0.755", " 0", " 90", " 0", " 28" ], [ "2", " TissueBox", " -2.343", " 0.176", " -0.683", " 0", " 90", " 0", " 25" ], [ "3", " SprayBottle", " -0.732", " 0.951", " -0.775", " 0", " 90", " 0", " 40" ], [ "4", " Candle", " -0.919", " 0.954", " -0.749", " 0", " 90", " 0", " 40" ], [ "5", " SoapBar", " -1.892", " 0.703", " -0.471", " 0", " 90", " 0", " 28" ], [ "6", " SoapBottle", " -3.180", " 0.615", " 1.723", " 0", " 0", " 0", " 33" ], [ "7", " SoapBottle", " -1.999", " 1.095", " 2.164", " 0", " 180", " 0", " 23" ], [ "8", " Towel", " -3.66", " 1.567", " -0.459", " 0", " 0", " 0", " 35" ], [ "9", " Candle", " -1.589", " 0.442", " -0.732", " 0", " 90", " 0", " 22" ], [ "10", " HandTowel", " -2.576", " 1.683", " 2.244", " 0", " 0", " 0", " 37" ], [ "11", " SoapBar", " -3.176", " 0.612", " 0.866", " 0", " 0", " 0", " 33" ], [ "12", " ToiletPaper", " -1.380", " 0.695", " -0.751", " 0", " 0", " 0", " 28" ], [ "13", " Plunger", " -1.088", " 0.000", " -0.526", " 0", " 0", " 0", " Floor|-02.42|" ], [ "14", " SprayBottle", " -2.347", " 0.700", " -0.585", " 0", " 90", " 0", " 28" ], [ "15", " SoapBottle", " -0.607", " 0.956", " -0.775", " 0", " 90", " 0", " 40" ], [ "16", " TissueBox", " -2.575", " 0.704", " -0.698", " 0", " 90", " 0", " 28" ], [ "17", " ToiletPaper", " -0.529", " 0.941", " 0.245", " 0", " 270", " 90", " 41" ], [ "18", " PaperTowelRoll", " -0.857", " 1.060", " -0.749", " 0", " 180", " 0", " 40" ], [ "19", " ScrubBrush", " -1.041", " 0.001", " -0.707", " 0", " 0", " 0", " Floor|-02.42|" ], [ "20", " Cloth", " -3.602", " 0.038", " 0.039", " 0", " 0", " 0", " 42" ], [ "21", " DishSponge", " -2.075", " 1.021", " 1.951", " 0", " 180", " 0", " 43" ], [ "22", " Drawer", " -1.444", " 0.531", " -0.620", " 0", " 90", " 0", "" ], [ "23", " Sink", " -1.919", " 0.441", " 2.032", " 0", " 180", " 0", "" ], [ "24", " Drawer", " -2.343", " 0.531", " -0.620", " 0", " 90", " 0", "" ], [ "25", " Drawer", " -2.343", " 0.271", " -0.620", " 0", " 90", " 0", "" ], [ "26", " Drawer", " -1.894", " 0.271", " -0.620", " 0", " 90", " 0", "" ], [ "27", " Drawer", " -2.791", " 0.271", " -0.620", " 0", " 90", " 0", "" ], [ "28", " CounterTop", " -2.799", " 0.001", " -0.593", " 0", " 90", " 0", "" ], [ "29", " Drawer", " -1.894", " 0.531", " -0.620", " 0", " 90", " 0", "" ], [ "30", " Mirror", " -1.909", " 1.748", " 2.280", " 0", " 0", " 0", "" ], [ "31", " Drawer", " -2.791", " 0.531", " -0.620", " 0", " 90", " 0", "" ], [ "32", " Drawer", " -1.444", " 0.271", " -0.620", " 0", " 90", " 0", "" ], [ "33", " Bathtub", " -3.706", " 0.342", " 0.636", " 0", " 0", " 0", "" ], [ "34", " Faucet", " -1.919", " 1.064", " 2.182", " 0", " 180", " 0", "" ], [ "35", " TowelHolder", " -3.660", " 1.552", " -0.558", " 0", " 0", " 0", "" ], [ "36", " GarbageCan", " -1.560", " -0.000", " 1.909", " 0", " 164.999", " 0", "" ], [ "37", " HandTowelHolder", " -2.575", " 1.784", " 2.282", " 0", " 90", " 0", "" ], [ "38", " HandTowelHolder", " -1.274", " 1.784", " 2.282", " 0", " 90", " 0", "" ], [ "39", " LightSwitch", " -0.558", " 1.282", " 2.281", " 0", " 180", " 0", "" ], [ "40", " Toilet", " -0.720", " 0.001", " -0.310", " 0", " 0", " 0", "" ], [ "41", " ToiletPaperHanger", " -0.427", " 0.940", " 0.187", " 0", " 270", " 0", "" ], [ "42", " BathtubBasin", " -3.788", " 0.028", " 0.595", " 0", " 0", " 0", "" ], [ "43", " SinkBasin", " -1.908", " 1.011", " 1.981", " 0", " 180", " 0", "" ], [ "44", " ShowerHead", " -3.740", " 1.858", " 1.827", " 0", " 0", " 0", "" ], [ "45", " ShowerCurtain", " -3.039", " 2.229", " 1.720", " 0", " 180", " 0", "" ], [ "46", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "48", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.902 0.75 0 180 0 1 Cloth -2.120 0.702 -0.755 0 90 0 28 2 TissueBox -2.343 0.176 -0.683 0 90 0 25 3 SprayBottle -0.732 0.951 -0.775 0 90 0 40 4 Candle -0.919 0.954 -0.749 0 90 0 40 5 SoapBar -1.892 0.703 -0.471 0 90 0 28 6 SoapBottle -3.180 0.615 1.723 0 0 0 33 7 SoapBottle -1.999 1.095 2.164 0 180 0 23 8 Towel -3.66 1.567 -0.459 0 0 0 35 9 Candle -1.589 0.442 -0.732 0 90 0 22 10 HandTowel -2.576 1.683 2.244 0 0 0 37 11 SoapBar -3.176 0.612 0.866 0 0 0 33 12 ToiletPaper -1.380 0.695 -0.751 0 0 0 28 13 Plunger -1.088 0.000 -0.526 0 0 0 Floor|-02.42| 14 SprayBottle -2.347 0.700 -0.585 0 90 0 28 15 SoapBottle -0.607 0.956 -0.775 0 90 0 40 16 TissueBox -2.575 0.704 -0.698 0 90 0 28 17 ToiletPaper -0.529 0.941 0.245 0 270 90 41 18 PaperTowelRoll -0.857 1.060 -0.749 0 180 0 40 19 ScrubBrush -1.041 0.001 -0.707 0 0 0 Floor|-02.42| 20 Cloth -3.602 0.038 0.039 0 0 0 42 21 DishSponge -2.075 1.021 1.951 0 180 0 43 22 Drawer -1.444 0.531 -0.620 0 90 0 23 Sink -1.919 0.441 2.032 0 180 0 24 Drawer -2.343 0.531 -0.620 0 90 0 25 Drawer -2.343 0.271 -0.620 0 90 0 26 Drawer -1.894 0.271 -0.620 0 90 0 27 Drawer -2.791 0.271 -0.620 0 90 0 28 CounterTop -2.799 0.001 -0.593 0 90 0 29 Drawer -1.894 0.531 -0.620 0 90 0 30 Mirror -1.909 1.748 2.280 0 0 0 31 Drawer -2.791 0.531 -0.620 0 90 0 32 Drawer -1.444 0.271 -0.620 0 90 0 33 Bathtub -3.706 0.342 0.636 0 0 0 34 Faucet -1.919 1.064 2.182 0 180 0 35 TowelHolder -3.660 1.552 -0.558 0 0 0 36 GarbageCan -1.560 -0.000 1.909 0 164.999 0 37 HandTowelHolder -2.575 1.784 2.282 0 90 0 38 HandTowelHolder -1.274 1.784 2.282 0 90 0 39 LightSwitch -0.558 1.282 2.281 0 180 0 40 Toilet -0.720 0.001 -0.310 0 0 0 41 ToiletPaperHanger -0.427 0.940 0.187 0 270 0 42 BathtubBasin -3.788 0.028 0.595 0 0 0 43 SinkBasin -1.908 1.011 1.981 0 180 0 44 ShowerHead -3.740 1.858 1.827 0 0 0 45 ShowerCurtain -3.039 2.229 1.720 0 180 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Turn and go to the cabinet. | STEP 2: Pick up the rag on the cabinet. | STEP 3: Turn and go to the cabinet. | STEP 4: Put the rag in the drawer of the cabinet. | STEP 5: Turn and go to the bathtub. | STEP 6: Pick up the rag in the bathtub. | STEP 7: Turn around and go to the cabinet. | STEP 8: Put the rag in the drawer of the cabinet. | END" ]
[ [ "STEP 1: Turn and go to the cabinet. ", " STEP 2: Pick up the rag on the cabinet. ", " STEP 3: Turn and go to the cabinet. ", " STEP 4: Put the rag in the drawer of the cabinet. ", " STEP 5: Turn and go to the bathtub. ", " STEP 6: Pick up the rag in the bathtub. ", " STEP 7: Turn around and go to the cabinet. ", " STEP 8: Put the rag in the drawer of the cabinet. ", " END" ] ]
seen