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trial_T20190909_041225_296350-0
clean the sauce pan on the stove
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.25 0 180 0 1 Pan 1.765 0.938 0.384 0 180 0 70 2 Potato -1.716 0.863 0.295 0 90 0 90 3 Potato -1.749 0.863 0.013 0 90 0 90 4 CellPhone 1.661 0.468 0.116 0 0 0 63 5 DishSponge -1.050 0.911 -1.610 0 0 0 67 6 ButterKnife -0.213 0.925 0.273 0 0 0 75 7 ButterKnife 1.764 0.470 -0.088 0 0 0 63 8 Spoon 0.107 0.926 0.738 0 0 0 75 9 Spoon 1.764 0.471 -0.020 0 0 0 52 10 Pot -1.814 0.915 -1.013 0 0 0 67 11 Pot 0.000 0.929 0.506 0 0 0 75 12 Cup 1.988 1.004 -0.704 0 270 0 88 13 Cup -1.803 1.671 -0.269 0 90 0 90 14 Plate 1.962 1.658 -1.053 0 270 0 55 15 Plate 0.107 0.924 1.202 0 0 0 75 16 Bowl 0.000 0.924 0.041 0 0 0 75 17 Bowl 0.250 0.111 -1.534 0 0 0 56 18 SaltShaker 0.417 0.109 -1.282 0 0 0 56 19 PepperShaker 0.214 0.921 0.506 0 0 0 75 20 Bread -1.750 1.549 0.107 0 90 0 90 21 Mug -0.106 0.920 0.738 0 0 0 75 22 SoapBottle -0.320 0.929 0.738 0 0 0 75 23 Cup 0.214 0.923 0.738 0 0 0 75 24 Pot 1.975 0.938 0.819 0 180 0 77 25 Fork 1.760 0.695 0.478 0 0 0 68 26 Ladle 0.214 0.969 -0.190 0 0 0 75 27 Kettle 0.000 0.926 -0.190 0 0 0 75 28 Egg -1.664 0.404 0.201 0 90 0 90 29 Plate -0.193 0.113 -1.347 0 0 0 46 30 Pan -1.286 0.9 -1.348 0 79.769 0 67 31 Lettuce -1.710 0.883 -0.137 0 304.909 0 90 32 Spatula 1.860 0.710 0.113 0 270 0 51 33 Apple 2.073 0.964 1.032 0 0 0 67 34 Knife 2.073 0.933 1.258 0 90 0 67 35 SaltShaker -1.668 0.907 -1.513 0 0 0 67 36 PepperShaker 1.860 0.691 0.478 0 0 0 68 37 CellPhone 1.658 0.580 -0.019 0 270 0 52 38 ButterKnife 1.712 0.545 1.284 0 0 0 65 39 Bread 0.321 1.006 0.506 0 0 0 75 40 Tomato 1.986 0.966 1.333 0 0 0 67 41 Potato -1.750 1.700 0.201 0 90 0 90 42 DishSponge 1.658 0.582 0.125 0 270 0 52 43 Spoon -1.639 0.912 -1.013 0 0 0 67 44 Mug 1.117 0.104 -1.606 0 90 0 56 45 Bowl -1.692 0.561 0.107 0 90 0 90 46 Cabinet -0.495 0.474 -1.149 0 0 0 47 Window -0.010 1.582 -1.821 0 0 0 48 Drawer 0.805 0.475 -1.159 0 0 0 49 StoveBurner 1.764 0.902 0.601 0 270 0 50 Drawer 1.5 0.196 -0.019 0 0 0 51 Drawer 1.5 0.629 -0.018 0 0 0 52 Drawer 1.5 0.602 -0.019 0 270 0 53 StoveBurner 1.975 0.902 0.384 0 270 0 54 Cabinet -1.703 2.022 -1.453 0 90 0 55 Cabinet 1.789 2.019 -0.819 0 270 0 56 Cabinet 0.494 0.474 -1.149 0 0 0 57 Cabinet 0.409 0.475 0.444 0 0 0 58 Drawer -0.696 0.475 -1.159 0 0 0 59 Drawer 1.5 0.140 0.599 0 270 0 60 Cabinet 1.389 0.474 -1.149 0 0 0 61 Drawer 1.5 0.305 0.600 0 0 0 62 StoveBurner 1.975 0.902 0.601 0 270 0 63 Drawer 1.5 0.429 -0.019 0 0 0 64 StoveBurner 1.764 0.902 0.819 0 270 0 65 Drawer 1.5 0.519 1.220 0 0 0 66 Cabinet 1.705 2.019 -1.449 0 0 0 67 CounterTop 0.002 0.947 -1.513 0 0 0 68 Drawer 1.5 0.629 0.605 0 0 0 69 Cabinet -0.627 2.019 -1.449 0 0 0 70 StoveBurner 1.764 0.902 0.384 0 270 0 71 Drawer 1.5 0.538 0.600 0 0 0 72 Sink 0.0 0.893 -1.434 0 0 0 73 Drawer 1.5 0.782 1.220 0 270 0 74 Window 2.217 1.565 -0.384 0 0 0 75 CounterTop -0.014 0.961 0.505 0 0 0 76 Drawer 1.5 0.200 1.220 0 0 0 77 StoveBurner 1.975 0.902 0.819 0 270 0 78 Window -3.240 1.616 2.693 0 270 0 79 Cabinet -1.389 0.474 -1.149 0 0 0 80 LightSwitch -0.153 1.291 3.700 0 180 0 81 GarbageCan -1.796 0.009 1.330 0 270 358.295 82 StoveKnob 1.602 0.917 0.570 0 270 180 83 StoveKnob 1.602 0.917 0.625 0 270 180 84 StoveKnob 1.602 0.917 0.739 0 270 180 85 StoveKnob 1.602 0.917 0.680 0 270 180 86 StoveKnob 1.602 0.917 0.462 0 270 180 87 StoveKnob 1.602 0.917 0.517 0 270 180 88 Microwave 1.932 0.899 -0.766 0 270 0 89 CoffeeMachine 1.355 0.899 -1.596 0 0 0 90 Fridge -1.764 0.0 0.014 0 90 0 91 SinkBasin -0.014 0.736 -1.435 0 0 0 92 Toaster 1.977 0.900 -0.336 0 270 0 93 Faucet -0.020 1.137 -1.605 0 270 0 94 Chair -9.354 0.000 1.242 0 180 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: walk over to the kitchen stove top | STEP 2: take the dirty sauce pan off of the stove top | STEP 3: bring the sauce pan over to the kitchen sink | STEP 4: place the sauce pan inside the sink and rinse it off, then pick it up again | STEP 5: take the sauce pan over to the kitchen stove | STEP 6: place the sauce pan on the same burner it was originally on | END" ]
[ [ "STEP 1: walk over to the kitchen stove top ", " STEP 2: take the dirty sauce pan off of the stove top ", " STEP 3: bring the sauce pan over to the kitchen sink ", " STEP 4: place the sauce pan inside the sink and rinse it off, then pick it up again ", " STEP 5: take the sauce pan over to the kitchen stove ", " STEP 6: place the sauce pan on the same burner it was originally on ", " END" ] ]
seen
trial_T20190909_041225_296350-1
Put a cleaned pan on the lower right of the stove.
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" 0.429", " -0.019", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " 1.764", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "65", " Drawer", " 1.5", " 0.519", " 1.220", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.705", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "67", " CounterTop", " 0.002", " 0.947", " -1.513", " 0", " 0", " 0", "" ], [ "68", " Drawer", " 1.5", " 0.629", " 0.605", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.627", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "70", " StoveBurner", " 1.764", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "71", " Drawer", " 1.5", " 0.538", " 0.600", " 0", " 0", " 0", "" ], [ "72", " Sink", " 0.0", " 0.893", " -1.434", " 0", " 0", " 0", "" ], [ "73", " Drawer", " 1.5", " 0.782", " 1.220", " 0", " 270", " 0", "" ], [ "74", " Window", " 2.217", " 1.565", " -0.384", " 0", " 0", " 0", "" ], [ "75", " CounterTop", " -0.014", " 0.961", " 0.505", " 0", " 0", " 0", "" ], [ "76", " Drawer", " 1.5", " 0.200", " 1.220", " 0", " 0", " 0", "" ], [ "77", " StoveBurner", " 1.975", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "78", " Window", " -3.240", " 1.616", " 2.693", " 0", " 270", " 0", "" ], [ "79", " Cabinet", " -1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "80", " LightSwitch", " -0.153", " 1.291", " 3.700", " 0", " 180", " 0", "" ], [ "81", " GarbageCan", " -1.796", " 0.009", " 1.330", " 0", " 270", " 358.295", "" ], [ "82", " StoveKnob", " 1.602", " 0.917", " 0.570", " 0", " 270", " 180", "" ], [ "83", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "84", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "85", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "86", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "87", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "88", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "89", " CoffeeMachine", " 1.355", " 0.899", " -1.596", " 0", " 0", " 0", "" ], [ "90", " Fridge", " -1.764", " 0.0", " 0.014", " 0", " 90", " 0", "" ], [ "91", " SinkBasin", " -0.014", " 0.736", " -1.435", " 0", " 0", " 0", "" ], [ "92", " Toaster", " 1.977", " 0.900", " -0.336", " 0", " 270", " 0", "" ], [ "93", " Faucet", " -0.020", " 1.137", " -1.605", " 0", " 270", " 0", "" ], [ "94", " Chair", " -9.354", " 0.000", " 1.242", " 0", " 180", " 0", "" ], [ "95", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "98", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.25 0 180 0 1 Pan 1.765 0.938 0.384 0 180 0 70 2 Potato -1.716 0.863 0.295 0 90 0 90 3 Potato -1.749 0.863 0.013 0 90 0 90 4 CellPhone 1.661 0.468 0.116 0 0 0 63 5 DishSponge -1.050 0.911 -1.610 0 0 0 67 6 ButterKnife -0.213 0.925 0.273 0 0 0 75 7 ButterKnife 1.764 0.470 -0.088 0 0 0 63 8 Spoon 0.107 0.926 0.738 0 0 0 75 9 Spoon 1.764 0.471 -0.020 0 0 0 52 10 Pot -1.814 0.915 -1.013 0 0 0 67 11 Pot 0.000 0.929 0.506 0 0 0 75 12 Cup 1.988 1.004 -0.704 0 270 0 88 13 Cup -1.803 1.671 -0.269 0 90 0 90 14 Plate 1.962 1.658 -1.053 0 270 0 55 15 Plate 0.107 0.924 1.202 0 0 0 75 16 Bowl 0.000 0.924 0.041 0 0 0 75 17 Bowl 0.250 0.111 -1.534 0 0 0 56 18 SaltShaker 0.417 0.109 -1.282 0 0 0 56 19 PepperShaker 0.214 0.921 0.506 0 0 0 75 20 Bread -1.750 1.549 0.107 0 90 0 90 21 Mug -0.106 0.920 0.738 0 0 0 75 22 SoapBottle -0.320 0.929 0.738 0 0 0 75 23 Cup 0.214 0.923 0.738 0 0 0 75 24 Pot 1.975 0.938 0.819 0 180 0 77 25 Fork 1.760 0.695 0.478 0 0 0 68 26 Ladle 0.214 0.969 -0.190 0 0 0 75 27 Kettle 0.000 0.926 -0.190 0 0 0 75 28 Egg -1.664 0.404 0.201 0 90 0 90 29 Plate -0.193 0.113 -1.347 0 0 0 46 30 Pan -1.286 0.9 -1.348 0 79.769 0 67 31 Lettuce -1.710 0.883 -0.137 0 304.909 0 90 32 Spatula 1.860 0.710 0.113 0 270 0 51 33 Apple 2.073 0.964 1.032 0 0 0 67 34 Knife 2.073 0.933 1.258 0 90 0 67 35 SaltShaker -1.668 0.907 -1.513 0 0 0 67 36 PepperShaker 1.860 0.691 0.478 0 0 0 68 37 CellPhone 1.658 0.580 -0.019 0 270 0 52 38 ButterKnife 1.712 0.545 1.284 0 0 0 65 39 Bread 0.321 1.006 0.506 0 0 0 75 40 Tomato 1.986 0.966 1.333 0 0 0 67 41 Potato -1.750 1.700 0.201 0 90 0 90 42 DishSponge 1.658 0.582 0.125 0 270 0 52 43 Spoon -1.639 0.912 -1.013 0 0 0 67 44 Mug 1.117 0.104 -1.606 0 90 0 56 45 Bowl -1.692 0.561 0.107 0 90 0 90 46 Cabinet -0.495 0.474 -1.149 0 0 0 47 Window -0.010 1.582 -1.821 0 0 0 48 Drawer 0.805 0.475 -1.159 0 0 0 49 StoveBurner 1.764 0.902 0.601 0 270 0 50 Drawer 1.5 0.196 -0.019 0 0 0 51 Drawer 1.5 0.629 -0.018 0 0 0 52 Drawer 1.5 0.602 -0.019 0 270 0 53 StoveBurner 1.975 0.902 0.384 0 270 0 54 Cabinet -1.703 2.022 -1.453 0 90 0 55 Cabinet 1.789 2.019 -0.819 0 270 0 56 Cabinet 0.494 0.474 -1.149 0 0 0 57 Cabinet 0.409 0.475 0.444 0 0 0 58 Drawer -0.696 0.475 -1.159 0 0 0 59 Drawer 1.5 0.140 0.599 0 270 0 60 Cabinet 1.389 0.474 -1.149 0 0 0 61 Drawer 1.5 0.305 0.600 0 0 0 62 StoveBurner 1.975 0.902 0.601 0 270 0 63 Drawer 1.5 0.429 -0.019 0 0 0 64 StoveBurner 1.764 0.902 0.819 0 270 0 65 Drawer 1.5 0.519 1.220 0 0 0 66 Cabinet 1.705 2.019 -1.449 0 0 0 67 CounterTop 0.002 0.947 -1.513 0 0 0 68 Drawer 1.5 0.629 0.605 0 0 0 69 Cabinet -0.627 2.019 -1.449 0 0 0 70 StoveBurner 1.764 0.902 0.384 0 270 0 71 Drawer 1.5 0.538 0.600 0 0 0 72 Sink 0.0 0.893 -1.434 0 0 0 73 Drawer 1.5 0.782 1.220 0 270 0 74 Window 2.217 1.565 -0.384 0 0 0 75 CounterTop -0.014 0.961 0.505 0 0 0 76 Drawer 1.5 0.200 1.220 0 0 0 77 StoveBurner 1.975 0.902 0.819 0 270 0 78 Window -3.240 1.616 2.693 0 270 0 79 Cabinet -1.389 0.474 -1.149 0 0 0 80 LightSwitch -0.153 1.291 3.700 0 180 0 81 GarbageCan -1.796 0.009 1.330 0 270 358.295 82 StoveKnob 1.602 0.917 0.570 0 270 180 83 StoveKnob 1.602 0.917 0.625 0 270 180 84 StoveKnob 1.602 0.917 0.739 0 270 180 85 StoveKnob 1.602 0.917 0.680 0 270 180 86 StoveKnob 1.602 0.917 0.462 0 270 180 87 StoveKnob 1.602 0.917 0.517 0 270 180 88 Microwave 1.932 0.899 -0.766 0 270 0 89 CoffeeMachine 1.355 0.899 -1.596 0 0 0 90 Fridge -1.764 0.0 0.014 0 90 0 91 SinkBasin -0.014 0.736 -1.435 0 0 0 92 Toaster 1.977 0.900 -0.336 0 270 0 93 Faucet -0.020 1.137 -1.605 0 270 0 94 Chair -9.354 0.000 1.242 0 180 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Move to the stove. | STEP 2: Pick up the the dirty pan from the lower right of the stove. | STEP 3: Bring the pan to the sink. | STEP 4: Clean the pan in the sink. | STEP 5: Bring the pan to the stove. | STEP 6: Put the pan on the lower right of the stove. | END" ]
[ [ "STEP 1: Move to the stove. ", " STEP 2: Pick up the the dirty pan from the lower right of the stove. ", " STEP 3: Bring the pan to the sink. ", " STEP 4: Clean the pan in the sink. ", " STEP 5: Bring the pan to the stove. ", " STEP 6: Put the pan on the lower right of the stove. ", " END" ] ]
seen
trial_T20190909_041225_296350-2
Place a clean pan on the stove.
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" 0", "" ], [ "77", " StoveBurner", " 1.975", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "78", " Window", " -3.240", " 1.616", " 2.693", " 0", " 270", " 0", "" ], [ "79", " Cabinet", " -1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "80", " LightSwitch", " -0.153", " 1.291", " 3.700", " 0", " 180", " 0", "" ], [ "81", " GarbageCan", " -1.796", " 0.009", " 1.330", " 0", " 270", " 358.295", "" ], [ "82", " StoveKnob", " 1.602", " 0.917", " 0.570", " 0", " 270", " 180", "" ], [ "83", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "84", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "85", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "86", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "87", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "88", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "89", " CoffeeMachine", " 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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 0.25 0 180 0 1 Pan 1.765 0.938 0.384 0 180 0 70 2 Potato -1.716 0.863 0.295 0 90 0 90 3 Potato -1.749 0.863 0.013 0 90 0 90 4 CellPhone 1.661 0.468 0.116 0 0 0 63 5 DishSponge -1.050 0.911 -1.610 0 0 0 67 6 ButterKnife -0.213 0.925 0.273 0 0 0 75 7 ButterKnife 1.764 0.470 -0.088 0 0 0 63 8 Spoon 0.107 0.926 0.738 0 0 0 75 9 Spoon 1.764 0.471 -0.020 0 0 0 52 10 Pot -1.814 0.915 -1.013 0 0 0 67 11 Pot 0.000 0.929 0.506 0 0 0 75 12 Cup 1.988 1.004 -0.704 0 270 0 88 13 Cup -1.803 1.671 -0.269 0 90 0 90 14 Plate 1.962 1.658 -1.053 0 270 0 55 15 Plate 0.107 0.924 1.202 0 0 0 75 16 Bowl 0.000 0.924 0.041 0 0 0 75 17 Bowl 0.250 0.111 -1.534 0 0 0 56 18 SaltShaker 0.417 0.109 -1.282 0 0 0 56 19 PepperShaker 0.214 0.921 0.506 0 0 0 75 20 Bread -1.750 1.549 0.107 0 90 0 90 21 Mug -0.106 0.920 0.738 0 0 0 75 22 SoapBottle -0.320 0.929 0.738 0 0 0 75 23 Cup 0.214 0.923 0.738 0 0 0 75 24 Pot 1.975 0.938 0.819 0 180 0 77 25 Fork 1.760 0.695 0.478 0 0 0 68 26 Ladle 0.214 0.969 -0.190 0 0 0 75 27 Kettle 0.000 0.926 -0.190 0 0 0 75 28 Egg -1.664 0.404 0.201 0 90 0 90 29 Plate -0.193 0.113 -1.347 0 0 0 46 30 Pan -1.286 0.9 -1.348 0 79.769 0 67 31 Lettuce -1.710 0.883 -0.137 0 304.909 0 90 32 Spatula 1.860 0.710 0.113 0 270 0 51 33 Apple 2.073 0.964 1.032 0 0 0 67 34 Knife 2.073 0.933 1.258 0 90 0 67 35 SaltShaker -1.668 0.907 -1.513 0 0 0 67 36 PepperShaker 1.860 0.691 0.478 0 0 0 68 37 CellPhone 1.658 0.580 -0.019 0 270 0 52 38 ButterKnife 1.712 0.545 1.284 0 0 0 65 39 Bread 0.321 1.006 0.506 0 0 0 75 40 Tomato 1.986 0.966 1.333 0 0 0 67 41 Potato -1.750 1.700 0.201 0 90 0 90 42 DishSponge 1.658 0.582 0.125 0 270 0 52 43 Spoon -1.639 0.912 -1.013 0 0 0 67 44 Mug 1.117 0.104 -1.606 0 90 0 56 45 Bowl -1.692 0.561 0.107 0 90 0 90 46 Cabinet -0.495 0.474 -1.149 0 0 0 47 Window -0.010 1.582 -1.821 0 0 0 48 Drawer 0.805 0.475 -1.159 0 0 0 49 StoveBurner 1.764 0.902 0.601 0 270 0 50 Drawer 1.5 0.196 -0.019 0 0 0 51 Drawer 1.5 0.629 -0.018 0 0 0 52 Drawer 1.5 0.602 -0.019 0 270 0 53 StoveBurner 1.975 0.902 0.384 0 270 0 54 Cabinet -1.703 2.022 -1.453 0 90 0 55 Cabinet 1.789 2.019 -0.819 0 270 0 56 Cabinet 0.494 0.474 -1.149 0 0 0 57 Cabinet 0.409 0.475 0.444 0 0 0 58 Drawer -0.696 0.475 -1.159 0 0 0 59 Drawer 1.5 0.140 0.599 0 270 0 60 Cabinet 1.389 0.474 -1.149 0 0 0 61 Drawer 1.5 0.305 0.600 0 0 0 62 StoveBurner 1.975 0.902 0.601 0 270 0 63 Drawer 1.5 0.429 -0.019 0 0 0 64 StoveBurner 1.764 0.902 0.819 0 270 0 65 Drawer 1.5 0.519 1.220 0 0 0 66 Cabinet 1.705 2.019 -1.449 0 0 0 67 CounterTop 0.002 0.947 -1.513 0 0 0 68 Drawer 1.5 0.629 0.605 0 0 0 69 Cabinet -0.627 2.019 -1.449 0 0 0 70 StoveBurner 1.764 0.902 0.384 0 270 0 71 Drawer 1.5 0.538 0.600 0 0 0 72 Sink 0.0 0.893 -1.434 0 0 0 73 Drawer 1.5 0.782 1.220 0 270 0 74 Window 2.217 1.565 -0.384 0 0 0 75 CounterTop -0.014 0.961 0.505 0 0 0 76 Drawer 1.5 0.200 1.220 0 0 0 77 StoveBurner 1.975 0.902 0.819 0 270 0 78 Window -3.240 1.616 2.693 0 270 0 79 Cabinet -1.389 0.474 -1.149 0 0 0 80 LightSwitch -0.153 1.291 3.700 0 180 0 81 GarbageCan -1.796 0.009 1.330 0 270 358.295 82 StoveKnob 1.602 0.917 0.570 0 270 180 83 StoveKnob 1.602 0.917 0.625 0 270 180 84 StoveKnob 1.602 0.917 0.739 0 270 180 85 StoveKnob 1.602 0.917 0.680 0 270 180 86 StoveKnob 1.602 0.917 0.462 0 270 180 87 StoveKnob 1.602 0.917 0.517 0 270 180 88 Microwave 1.932 0.899 -0.766 0 270 0 89 CoffeeMachine 1.355 0.899 -1.596 0 0 0 90 Fridge -1.764 0.0 0.014 0 90 0 91 SinkBasin -0.014 0.736 -1.435 0 0 0 92 Toaster 1.977 0.900 -0.336 0 270 0 93 Faucet -0.020 1.137 -1.605 0 270 0 94 Chair -9.354 0.000 1.242 0 180 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Turn around and face the stove on your right. | STEP 2: Pick up the pan from the stove. | STEP 3: Turn right, then right again and face the sink on your left. | STEP 4: Place the pot in the sink, wash the pot, drain the water from the sink, and pick up the pot in the sink. | STEP 5: Turn left, then left again and face the stove on your right. | STEP 6: Place the pan on the stove in front of you. | END" ]
[ [ "STEP 1: Turn around and face the stove on your right. ", " STEP 2: Pick up the pan from the stove. ", " STEP 3: Turn right, then right again and face the sink on your left. ", " STEP 4: Place the pot in the sink, wash the pot, drain the water from the sink, and pick up the pot in the sink. ", " STEP 5: Turn left, then left again and face the stove on your right. ", " STEP 6: Place the pan on the stove in front of you. ", " END" ] ]
seen
trial_T20190907_212056_467170-0
Examine a debit card under a tall lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.75", " 0.902", " -3.5", " 0", " 0", " 0", "" ], [ "1", " Watch", " -3.788", " 0.704", " -5.188", " 0", " 0", " 0", " 35" ], [ "2", " Watch", " -4.022", " 0.076", " -5.001", " 0", " 0", " 0", " 37" ], [ "3", " CreditCard", " -3.908", " 0.076", " -5.074", " 0", " 0", " 0", " 37" ], [ "4", " Box", " -2.362", " 0.261", " -1.647", " 0", " 76.161", " 0", " Floor|-04.47|" ], [ "5", " Book", " -4.337", " 0.334", " -3.665", " 0", " 90", " 0", " 29" ], [ "6", " Newspaper", " -4.265", " 0.34", " -2.164", " 0", " 0", " 0", " 34" ], [ "7", " Watch", " -2.257", " 0.588", " -2.161", " 0", " 0", " 0", " 32" ], [ "8", " Pen", " -3.503", " 0.710", " -5.093", " 0", " 0", " 0", " 35" ], [ "9", " WateringCan", " -7.991", " 0.000", " -4.629", " 0", " 296.796", " 0", " Floor|-04.47|" ], [ "10", " Pillow", " -4.282", " 0.454", " -1.736", " 0", " 270", " 0", " 34" ], [ "11", " CreditCard", " -4.358", " 0.704", " -5.093", " 0", " 0", " 0", " 35" ], [ "12", " Vase", " -4.477", " 0.697", " -5.076", " 0", " 0", " 0", " 35" ], [ "13", " KeyChain", " -2.864", " 0.076", " -5.050", " 0", " 0", " 0", " 38" ], [ "14", " Vase", " -4.218", " 0.697", " -5.046", " 0", " 0", " 0", " 35" ], [ "15", " Laptop", " -2.469", " 0.585", " -1.996", " 0", " 0", " 0", " 32" ], [ "16", " Statue", " -2.469", " 0.594", " -2.326", " 0", " 0", " 0", " 32" ], [ "17", " Vase", " -2.363", " 0.592", " -2.987", " 0", " 0", " 0", " 32" ], [ "18", " RemoteControl", " -2.786", " 0.590", " -2.326", " 0", " 0", " 0", " 32" ], [ "19", " Vase", " -3.503", " 0.704", " -5.188", " 0", " 0", " 0", " 35" ], [ "20", " Mirror", " -3.402", " 2.028", " 0.000", " 0", " 0", " 0", "" ], [ "21", " FloorLamp", " -4.821", " 0.000", " -5.118", " 0", " 0", " 0", "" ], [ "22", " LightSwitch", " -5.763", " 1.330", " 0.010", " 0", " 180", " 0", "" ], [ "23", " GarbageCan", " -0.969", " -0.027", " -5.058", " 0", " 0", " 0", "" ], [ "24", " HousePlant", " -5.629", " 0.478", " -5.126", " 0", " 0", " 0", "" ], [ "25", " Painting", " -3.372", " 1.800", " -5.392", " 90", " 180", " 0", "" ], [ "26", " Television", " -0.606", " 1.674", " -2.602", " 0", " 270", " 0", "" ], [ "27", " Window", " -8.237", " 1.411", " -1.509", " 90", " 270", " 0", "" ], [ "28", " Window", " -8.237", " 1.411", " -4.081", " 90", " 270", " 0", "" ], [ "29", " ArmChair", " -4.334", " 0.001", " -3.528", " 0", " 90", " 0", "" ], [ "30", " Shelf", " -2.475", " 0.124", " -2.486", " 0", " 90", " 0", "" ], [ "31", " SideTable", " -2.016", " 0.002", " -5.075", " 0", " 180", " 0", "" ], [ "32", " CoffeeTable", " -2.474", " 0.001", " -2.489", " 0", " 90", " 0", "" ], [ "33", " SideTable", " -5.428", " 0.002", " -5.123", " 0", " 180", " 0", "" ], [ "34", " Sofa", " -4.354", " 0.009", " -2.089", " 0", " 90", " 0", "" ], [ "35", " Dresser", " -3.505", " 0.003", " -5.101", " 0", " 0", " 0", "" ], [ "36", " Drawer", " -2.981", " 0.481", " -5.031", " 0", " 0", " 0", "" ], [ "37", " Drawer", " -4.022", " 0.169", " -5.013", " 0", " 0", " 0", "" ], [ "38", " Drawer", " -2.978", " 0.169", " -5.013", " 0", " 0", " 0", "" ], [ "39", " Drawer", " -4.022", " 0.477", " -5.013", " 0", " 0", " 0", "" ], [ "40", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.902 -3.5 0 0 0 1 Watch -3.788 0.704 -5.188 0 0 0 35 2 Watch -4.022 0.076 -5.001 0 0 0 37 3 CreditCard -3.908 0.076 -5.074 0 0 0 37 4 Box -2.362 0.261 -1.647 0 76.161 0 Floor|-04.47| 5 Book -4.337 0.334 -3.665 0 90 0 29 6 Newspaper -4.265 0.34 -2.164 0 0 0 34 7 Watch -2.257 0.588 -2.161 0 0 0 32 8 Pen -3.503 0.710 -5.093 0 0 0 35 9 WateringCan -7.991 0.000 -4.629 0 296.796 0 Floor|-04.47| 10 Pillow -4.282 0.454 -1.736 0 270 0 34 11 CreditCard -4.358 0.704 -5.093 0 0 0 35 12 Vase -4.477 0.697 -5.076 0 0 0 35 13 KeyChain -2.864 0.076 -5.050 0 0 0 38 14 Vase -4.218 0.697 -5.046 0 0 0 35 15 Laptop -2.469 0.585 -1.996 0 0 0 32 16 Statue -2.469 0.594 -2.326 0 0 0 32 17 Vase -2.363 0.592 -2.987 0 0 0 32 18 RemoteControl -2.786 0.590 -2.326 0 0 0 32 19 Vase -3.503 0.704 -5.188 0 0 0 35 20 Mirror -3.402 2.028 0.000 0 0 0 21 FloorLamp -4.821 0.000 -5.118 0 0 0 22 LightSwitch -5.763 1.330 0.010 0 180 0 23 GarbageCan -0.969 -0.027 -5.058 0 0 0 24 HousePlant -5.629 0.478 -5.126 0 0 0 25 Painting -3.372 1.800 -5.392 90 180 0 26 Television -0.606 1.674 -2.602 0 270 0 27 Window -8.237 1.411 -1.509 90 270 0 28 Window -8.237 1.411 -4.081 90 270 0 29 ArmChair -4.334 0.001 -3.528 0 90 0 30 Shelf -2.475 0.124 -2.486 0 90 0 31 SideTable -2.016 0.002 -5.075 0 180 0 32 CoffeeTable -2.474 0.001 -2.489 0 90 0 33 SideTable -5.428 0.002 -5.123 0 180 0 34 Sofa -4.354 0.009 -2.089 0 90 0 35 Dresser -3.505 0.003 -5.101 0 0 0 36 Drawer -2.981 0.481 -5.031 0 0 0 37 Drawer -4.022 0.169 -5.013 0 0 0 38 Drawer -2.978 0.169 -5.013 0 0 0 39 Drawer -4.022 0.477 -5.013 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Turn around and walk to the long brown dresser that's along the wall | STEP 2: Pick up the red debit card that is sitting on the dresser in between the two vases. | STEP 3: Take a step over to the right so you are in front of the lamp | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Turn around and walk to the long brown dresser that's along the wall ", " STEP 2: Pick up the red debit card that is sitting on the dresser in between the two vases. ", " STEP 3: Take a step over to the right so you are in front of the lamp ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190907_212056_467170-1
Hold a credit card while turning on a lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.75", " 0.902", " -3.5", " 0", " 0", " 0", "" ], [ "1", " Watch", " -3.788", " 0.704", " -5.188", " 0", " 0", " 0", " 35" ], [ "2", " Watch", " -4.022", " 0.076", " -5.001", " 0", " 0", " 0", " 37" ], [ "3", " CreditCard", " -3.908", " 0.076", " -5.074", " 0", " 0", " 0", " 37" ], [ "4", " Box", " -2.362", " 0.261", " -1.647", " 0", " 76.161", " 0", " Floor|-04.47|" ], [ "5", " Book", " -4.337", " 0.334", " -3.665", " 0", " 90", " 0", " 29" ], [ "6", " Newspaper", " -4.265", " 0.34", " -2.164", " 0", " 0", " 0", " 34" ], [ "7", " Watch", " -2.257", " 0.588", " -2.161", " 0", " 0", " 0", " 32" ], [ "8", " Pen", " -3.503", " 0.710", " -5.093", " 0", " 0", " 0", " 35" ], [ "9", " WateringCan", " -7.991", " 0.000", " -4.629", " 0", " 296.796", " 0", " Floor|-04.47|" ], [ "10", " Pillow", " -4.282", " 0.454", " -1.736", " 0", " 270", " 0", " 34" ], [ "11", " CreditCard", " -4.358", " 0.704", " -5.093", " 0", " 0", " 0", " 35" ], [ "12", " Vase", " -4.477", " 0.697", " -5.076", " 0", " 0", " 0", " 35" ], [ "13", " KeyChain", " -2.864", " 0.076", " -5.050", " 0", " 0", " 0", " 38" ], [ "14", " Vase", " -4.218", " 0.697", " -5.046", " 0", " 0", " 0", " 35" ], [ "15", " Laptop", " -2.469", " 0.585", " -1.996", " 0", " 0", " 0", " 32" ], [ "16", " Statue", " -2.469", " 0.594", " -2.326", " 0", " 0", " 0", " 32" ], [ "17", " Vase", " -2.363", " 0.592", " -2.987", " 0", " 0", " 0", " 32" ], [ "18", " RemoteControl", " -2.786", " 0.590", " -2.326", " 0", " 0", " 0", " 32" ], [ "19", " Vase", " -3.503", " 0.704", " -5.188", " 0", " 0", " 0", " 35" ], [ "20", " Mirror", " -3.402", " 2.028", " 0.000", " 0", " 0", " 0", "" ], [ "21", " FloorLamp", " -4.821", " 0.000", " -5.118", " 0", " 0", " 0", "" ], [ "22", " LightSwitch", " -5.763", " 1.330", " 0.010", " 0", " 180", " 0", "" ], [ "23", " GarbageCan", " -0.969", " -0.027", " -5.058", " 0", " 0", " 0", "" ], [ "24", " HousePlant", " -5.629", " 0.478", " -5.126", " 0", " 0", " 0", "" ], [ "25", " Painting", " -3.372", " 1.800", " -5.392", " 90", " 180", " 0", "" ], [ "26", " Television", " -0.606", " 1.674", " -2.602", " 0", " 270", " 0", "" ], [ "27", " Window", " -8.237", " 1.411", " -1.509", " 90", " 270", " 0", "" ], [ "28", " Window", " -8.237", " 1.411", " -4.081", " 90", " 270", " 0", "" ], [ "29", " ArmChair", " -4.334", " 0.001", " -3.528", " 0", " 90", " 0", "" ], [ "30", " Shelf", " -2.475", " 0.124", " -2.486", " 0", " 90", " 0", "" ], [ "31", " SideTable", " -2.016", " 0.002", " -5.075", " 0", " 180", " 0", "" ], [ "32", " CoffeeTable", " -2.474", " 0.001", " -2.489", " 0", " 90", " 0", "" ], [ "33", " SideTable", " -5.428", " 0.002", " -5.123", " 0", " 180", " 0", "" ], [ "34", " Sofa", " -4.354", " 0.009", " -2.089", " 0", " 90", " 0", "" ], [ "35", " Dresser", " -3.505", " 0.003", " -5.101", " 0", " 0", " 0", "" ], [ "36", " Drawer", " -2.981", " 0.481", " -5.031", " 0", " 0", " 0", "" ], [ "37", " Drawer", " -4.022", " 0.169", " -5.013", " 0", " 0", " 0", "" ], [ "38", " Drawer", " -2.978", " 0.169", " -5.013", " 0", " 0", " 0", "" ], [ "39", " Drawer", " -4.022", " 0.477", " -5.013", " 0", " 0", " 0", "" ], [ "40", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.902 -3.5 0 0 0 1 Watch -3.788 0.704 -5.188 0 0 0 35 2 Watch -4.022 0.076 -5.001 0 0 0 37 3 CreditCard -3.908 0.076 -5.074 0 0 0 37 4 Box -2.362 0.261 -1.647 0 76.161 0 Floor|-04.47| 5 Book -4.337 0.334 -3.665 0 90 0 29 6 Newspaper -4.265 0.34 -2.164 0 0 0 34 7 Watch -2.257 0.588 -2.161 0 0 0 32 8 Pen -3.503 0.710 -5.093 0 0 0 35 9 WateringCan -7.991 0.000 -4.629 0 296.796 0 Floor|-04.47| 10 Pillow -4.282 0.454 -1.736 0 270 0 34 11 CreditCard -4.358 0.704 -5.093 0 0 0 35 12 Vase -4.477 0.697 -5.076 0 0 0 35 13 KeyChain -2.864 0.076 -5.050 0 0 0 38 14 Vase -4.218 0.697 -5.046 0 0 0 35 15 Laptop -2.469 0.585 -1.996 0 0 0 32 16 Statue -2.469 0.594 -2.326 0 0 0 32 17 Vase -2.363 0.592 -2.987 0 0 0 32 18 RemoteControl -2.786 0.590 -2.326 0 0 0 32 19 Vase -3.503 0.704 -5.188 0 0 0 35 20 Mirror -3.402 2.028 0.000 0 0 0 21 FloorLamp -4.821 0.000 -5.118 0 0 0 22 LightSwitch -5.763 1.330 0.010 0 180 0 23 GarbageCan -0.969 -0.027 -5.058 0 0 0 24 HousePlant -5.629 0.478 -5.126 0 0 0 25 Painting -3.372 1.800 -5.392 90 180 0 26 Television -0.606 1.674 -2.602 0 270 0 27 Window -8.237 1.411 -1.509 90 270 0 28 Window -8.237 1.411 -4.081 90 270 0 29 ArmChair -4.334 0.001 -3.528 0 90 0 30 Shelf -2.475 0.124 -2.486 0 90 0 31 SideTable -2.016 0.002 -5.075 0 180 0 32 CoffeeTable -2.474 0.001 -2.489 0 90 0 33 SideTable -5.428 0.002 -5.123 0 180 0 34 Sofa -4.354 0.009 -2.089 0 90 0 35 Dresser -3.505 0.003 -5.101 0 0 0 36 Drawer -2.981 0.481 -5.031 0 0 0 37 Drawer -4.022 0.169 -5.013 0 0 0 38 Drawer -2.978 0.169 -5.013 0 0 0 39 Drawer -4.022 0.477 -5.013 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Move to the right side of the wooden dresser that has four drawers | STEP 2: Pick up the red credit card sitting between the two vases on top of the dresser | STEP 3: Carry the credit card and move to the floor lamp to the left of the dresser | STEP 4: Turn on the floor lamp | END" ]
[ [ "STEP 1: Move to the right side of the wooden dresser that has four drawers ", " STEP 2: Pick up the red credit card sitting between the two vases on top of the dresser ", " STEP 3: Carry the credit card and move to the floor lamp to the left of the dresser ", " STEP 4: Turn on the floor lamp ", " END" ] ]
seen
trial_T20190907_212056_467170-2
Turn on a lamp while holding a credit card.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.902 -3.5 0 0 0 1 Watch -3.788 0.704 -5.188 0 0 0 35 2 Watch -4.022 0.076 -5.001 0 0 0 37 3 CreditCard -3.908 0.076 -5.074 0 0 0 37 4 Box -2.362 0.261 -1.647 0 76.161 0 Floor|-04.47| 5 Book -4.337 0.334 -3.665 0 90 0 29 6 Newspaper -4.265 0.34 -2.164 0 0 0 34 7 Watch -2.257 0.588 -2.161 0 0 0 32 8 Pen -3.503 0.710 -5.093 0 0 0 35 9 WateringCan -7.991 0.000 -4.629 0 296.796 0 Floor|-04.47| 10 Pillow -4.282 0.454 -1.736 0 270 0 34 11 CreditCard -4.358 0.704 -5.093 0 0 0 35 12 Vase -4.477 0.697 -5.076 0 0 0 35 13 KeyChain -2.864 0.076 -5.050 0 0 0 38 14 Vase -4.218 0.697 -5.046 0 0 0 35 15 Laptop -2.469 0.585 -1.996 0 0 0 32 16 Statue -2.469 0.594 -2.326 0 0 0 32 17 Vase -2.363 0.592 -2.987 0 0 0 32 18 RemoteControl -2.786 0.590 -2.326 0 0 0 32 19 Vase -3.503 0.704 -5.188 0 0 0 35 20 Mirror -3.402 2.028 0.000 0 0 0 21 FloorLamp -4.821 0.000 -5.118 0 0 0 22 LightSwitch -5.763 1.330 0.010 0 180 0 23 GarbageCan -0.969 -0.027 -5.058 0 0 0 24 HousePlant -5.629 0.478 -5.126 0 0 0 25 Painting -3.372 1.800 -5.392 90 180 0 26 Television -0.606 1.674 -2.602 0 270 0 27 Window -8.237 1.411 -1.509 90 270 0 28 Window -8.237 1.411 -4.081 90 270 0 29 ArmChair -4.334 0.001 -3.528 0 90 0 30 Shelf -2.475 0.124 -2.486 0 90 0 31 SideTable -2.016 0.002 -5.075 0 180 0 32 CoffeeTable -2.474 0.001 -2.489 0 90 0 33 SideTable -5.428 0.002 -5.123 0 180 0 34 Sofa -4.354 0.009 -2.089 0 90 0 35 Dresser -3.505 0.003 -5.101 0 0 0 36 Drawer -2.981 0.481 -5.031 0 0 0 37 Drawer -4.022 0.169 -5.013 0 0 0 38 Drawer -2.978 0.169 -5.013 0 0 0 39 Drawer -4.022 0.477 -5.013 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Turn around to the bench behind along the wall. | STEP 2: Pick up the credit card from in between the bowls on the bench. | STEP 3: Take the credit card and take a few steps to the right to locate the lamp. | STEP 4: Hold the card and turn on the lamp. | END" ]
[ [ "STEP 1: Turn around to the bench behind along the wall. ", " STEP 2: Pick up the credit card from in between the bowls on the bench. ", " STEP 3: Take the credit card and take a few steps to the right to locate the lamp. ", " STEP 4: Hold the card and turn on the lamp. ", " END" ] ]
seen
trial_T20190909_042742_043093-0
cook a tomato and put it down on the white table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.908 3.0 0 90 0 1 SprayBottle 1.523 0.910 0.706 0 0 0 67 2 SprayBottle -1.123 0.911 -0.907 0 0 0 73 3 Potato -1.383 0.793 2.830 0 0 0 48 4 CellPhone -0.919 0.746 2.273 0 0 0 48 5 CellPhone -0.503 0.909 -0.907 0 0 0 73 6 DishSponge -1.290 0.748 2.087 0 0 0 48 7 DishSponge -0.919 0.748 2.087 0 0 0 48 8 ButterKnife 1.200 0.886 2.800 0 0 0 99 9 Glassbottle -0.020 0.762 -0.651 0 0 0 94 10 Spoon 1.444 0.912 -0.428 0 0 0 67 11 Spatula -1.513 0.927 -0.732 0 90 0 73 12 Spatula -1.197 0.764 1.902 0 180 0 48 13 Plate 1.325 1.656 -0.333 0 0 0 49 14 Plate 1.444 0.912 0.139 0 0 0 67 15 Knife -0.130 0.934 -0.354 0 0 0 73 16 Knife -1.197 0.770 2.459 0 0 0 48 17 SoapBottle -1.383 0.750 2.459 0 0 0 48 18 Bread 1.367 0.949 2.261 0 0 0 99 19 Mug 1.215 0.943 -0.633 0 320.314 0 86 20 Mug -1.225 0.336 0.778 0 90 0 87 21 Apple -1.513 0.972 -0.902 0 0 0 73 22 Bread -1.320 0.814 0.778 0 90 0 87 23 Glassbottle -0.170 0.117 -0.577 0 0 0 63 24 Fork -1.105 0.749 3.015 0 0 0 48 25 Kettle 0.802 0.939 -0.740 0 90 0 76 26 Tomato -1.286 0.961 -0.392 0 0 0 73 27 Plate -1.197 0.749 2.644 0 0 0 48 28 CellPhone 1.444 0.909 -0.144 0 0 0 67 29 Lettuce -1.206 1.707 0.984 0 90 0 87 30 Pot 0.802 0.939 -0.473 0 0 0 75 31 SoapBottle 0.250 0.117 -0.446 0 0 0 62 32 WineBottle -1.320 0.752 1.302 0 90 0 87 33 Spatula 1.284 0.901 2.261 0 0 0 99 34 Bowl -1.263 1.419 1.092 0 90 0 87 35 Apple -1.206 1.697 1.289 0 90 0 87 36 Cup -1.206 1.420 0.673 0 90 0 87 37 Knife -1.105 0.771 2.273 0 0 0 48 38 Egg 1.286 0.945 0.706 0 0 0 67 39 SaltShaker -1.475 0.745 1.902 0 0 0 48 40 PepperShaker 1.049 0.907 0.139 0 0 0 67 41 Potato -1.263 0.796 1.092 0 90 0 87 42 ButterKnife -1.135 0.912 -0.562 0 0 0 73 43 DishSponge 1.155 0.776 1.082 0 0 0 77 44 Pan -1.332 0.9 -0.699 0 345.0 0 73 45 Spoon 0.165 0.759 -0.651 0 90 0 94 46 SprayBottle 0.127 0.116 -0.490 0 0 0 62 47 Mug 1.444 0.906 0.706 0 0 0 67 48 DiningTable -1.182 0.006 2.414 0 90 0 49 Cabinet 1.184 2.059 0.375 0 0 0 50 Cabinet 1.184 2.059 -0.635 0 0 0 51 Cabinet 0.591 2.309 -0.645 0 0 0 52 Cabinet -0.574 2.059 -0.644 0 0 0 53 Cabinet -1.103 2.059 -0.644 0 0 0 54 Cabinet -1.185 2.059 -0.331 0 0 0 55 Cabinet -1.185 2.059 -0.281 0 0 0 56 Cabinet -1.185 2.059 0.375 0 0 0 57 Cabinet 1.184 2.309 1.174 0 0 0 58 Cabinet 1.184 2.309 0.424 0 0 0 59 Cabinet 0.988 0.402 0.581 0 0 0 60 Cabinet 0.988 0.402 0.531 0 0 0 61 Cabinet 0.988 0.402 -0.178 0 0 0 62 Cabinet 0.335 0.402 -0.348 0 0 0 63 Cabinet -0.374 0.402 -0.348 0 0 0 64 Cabinet 0.988 0.402 1.231 0 0 0 65 Cabinet -1.185 2.309 1.374 0 0 0 66 Cabinet -1.185 2.309 0.424 0 0 0 67 CounterTop 1.274 0.947 0.064 0 0 0 68 Drawer 1.116 0.792 -0.015 0 0 0 69 Drawer -1.116 0.792 0.210 0 180 0 70 Cabinet -0.990 0.402 0.374 0 180 0 71 Drawer -1.116 0.792 -0.170 0 180 0 72 Cabinet -0.990 0.402 -0.335 0 180 0 73 CounterTop -1.001 0.947 -0.669 0 0 0 74 StoveBurner 0.502 0.932 -0.740 0 90 0 75 StoveBurner 0.801 0.932 -0.473 0 0 0 76 StoveBurner 0.801 0.932 -0.740 0 90 0 77 Drawer 1.116 0.792 1.081 0 0 0 78 Sink -0.013 0.912 -0.615 0 0 0 79 Drawer 1.116 0.792 0.732 0 0 0 80 StoveBurner 0.502 0.932 -0.469 0 0 0 81 Drawer 1.116 0.792 0.367 0 0 0 82 StoveKnob 0.550 1.085 -0.912 287.970 180 0 83 StoveKnob 0.884 1.085 -0.912 287.970 180 0 84 StoveKnob 0.432 1.085 -0.912 287.970 180 0 85 StoveKnob 0.777 1.085 -0.912 287.970 180 0 86 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 87 Fridge -1.300 0.008 0.987 0 90 0 88 GarbageCan 1.296 -0.024 1.465 0 0 0 89 Window -0.012 1.641 -0.972 90 0 0 90 Window 1.598 1.646 2.489 90 270 0 91 Toaster 1.356 0.900 1.044 0 270 0 92 LightSwitch 0.118 1.353 3.799 0 180 0 93 Microwave -1.343 0.900 0.053 0 90 0 94 SinkBasin -0.029 0.748 -0.612 0 0 0 95 Faucet -0.026 0.927 -0.808 0 0 0 96 Shelf -1.182 0.127 2.414 0 90 0 97 Stool 1.140 0.007 3.262 1.206 20.753 0 98 Shelf -1.182 0.435 2.414 0 90 0 99 DiningTable 1.169 0.014 2.569 0 0 1.896 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: turn right then walk straight towards the sink then turn right towards the microwave | STEP 2: pick up the tomato next to the microwave | STEP 3: open the microwave and put the tomato inside and close the door then turn on the timer then open the door and remove the tomato and close the door | STEP 4: turn right then walk straight towards the door then turn right and walk towards the table then turn right again and then right again and look up | STEP 5: put the tomato down on the white table | END" ]
[ [ "STEP 1: turn right then walk straight towards the sink then turn right towards the microwave ", " STEP 2: pick up the tomato next to the microwave ", " STEP 3: open the microwave and put the tomato inside and close the door then turn on the timer then open the door and remove the tomato and close the door ", " STEP 4: turn right then walk straight towards the door then turn right and walk towards the table then turn right again and then right again and look up ", " STEP 5: put the tomato down on the white table ", " END" ] ]
seen
trial_T20190909_042742_043093-1
Heat a tomato and place it on the white table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.908 3.0 0 90 0 1 SprayBottle 1.523 0.910 0.706 0 0 0 67 2 SprayBottle -1.123 0.911 -0.907 0 0 0 73 3 Potato -1.383 0.793 2.830 0 0 0 48 4 CellPhone -0.919 0.746 2.273 0 0 0 48 5 CellPhone -0.503 0.909 -0.907 0 0 0 73 6 DishSponge -1.290 0.748 2.087 0 0 0 48 7 DishSponge -0.919 0.748 2.087 0 0 0 48 8 ButterKnife 1.200 0.886 2.800 0 0 0 99 9 Glassbottle -0.020 0.762 -0.651 0 0 0 94 10 Spoon 1.444 0.912 -0.428 0 0 0 67 11 Spatula -1.513 0.927 -0.732 0 90 0 73 12 Spatula -1.197 0.764 1.902 0 180 0 48 13 Plate 1.325 1.656 -0.333 0 0 0 49 14 Plate 1.444 0.912 0.139 0 0 0 67 15 Knife -0.130 0.934 -0.354 0 0 0 73 16 Knife -1.197 0.770 2.459 0 0 0 48 17 SoapBottle -1.383 0.750 2.459 0 0 0 48 18 Bread 1.367 0.949 2.261 0 0 0 99 19 Mug 1.215 0.943 -0.633 0 320.314 0 86 20 Mug -1.225 0.336 0.778 0 90 0 87 21 Apple -1.513 0.972 -0.902 0 0 0 73 22 Bread -1.320 0.814 0.778 0 90 0 87 23 Glassbottle -0.170 0.117 -0.577 0 0 0 63 24 Fork -1.105 0.749 3.015 0 0 0 48 25 Kettle 0.802 0.939 -0.740 0 90 0 76 26 Tomato -1.286 0.961 -0.392 0 0 0 73 27 Plate -1.197 0.749 2.644 0 0 0 48 28 CellPhone 1.444 0.909 -0.144 0 0 0 67 29 Lettuce -1.206 1.707 0.984 0 90 0 87 30 Pot 0.802 0.939 -0.473 0 0 0 75 31 SoapBottle 0.250 0.117 -0.446 0 0 0 62 32 WineBottle -1.320 0.752 1.302 0 90 0 87 33 Spatula 1.284 0.901 2.261 0 0 0 99 34 Bowl -1.263 1.419 1.092 0 90 0 87 35 Apple -1.206 1.697 1.289 0 90 0 87 36 Cup -1.206 1.420 0.673 0 90 0 87 37 Knife -1.105 0.771 2.273 0 0 0 48 38 Egg 1.286 0.945 0.706 0 0 0 67 39 SaltShaker -1.475 0.745 1.902 0 0 0 48 40 PepperShaker 1.049 0.907 0.139 0 0 0 67 41 Potato -1.263 0.796 1.092 0 90 0 87 42 ButterKnife -1.135 0.912 -0.562 0 0 0 73 43 DishSponge 1.155 0.776 1.082 0 0 0 77 44 Pan -1.332 0.9 -0.699 0 345.0 0 73 45 Spoon 0.165 0.759 -0.651 0 90 0 94 46 SprayBottle 0.127 0.116 -0.490 0 0 0 62 47 Mug 1.444 0.906 0.706 0 0 0 67 48 DiningTable -1.182 0.006 2.414 0 90 0 49 Cabinet 1.184 2.059 0.375 0 0 0 50 Cabinet 1.184 2.059 -0.635 0 0 0 51 Cabinet 0.591 2.309 -0.645 0 0 0 52 Cabinet -0.574 2.059 -0.644 0 0 0 53 Cabinet -1.103 2.059 -0.644 0 0 0 54 Cabinet -1.185 2.059 -0.331 0 0 0 55 Cabinet -1.185 2.059 -0.281 0 0 0 56 Cabinet -1.185 2.059 0.375 0 0 0 57 Cabinet 1.184 2.309 1.174 0 0 0 58 Cabinet 1.184 2.309 0.424 0 0 0 59 Cabinet 0.988 0.402 0.581 0 0 0 60 Cabinet 0.988 0.402 0.531 0 0 0 61 Cabinet 0.988 0.402 -0.178 0 0 0 62 Cabinet 0.335 0.402 -0.348 0 0 0 63 Cabinet -0.374 0.402 -0.348 0 0 0 64 Cabinet 0.988 0.402 1.231 0 0 0 65 Cabinet -1.185 2.309 1.374 0 0 0 66 Cabinet -1.185 2.309 0.424 0 0 0 67 CounterTop 1.274 0.947 0.064 0 0 0 68 Drawer 1.116 0.792 -0.015 0 0 0 69 Drawer -1.116 0.792 0.210 0 180 0 70 Cabinet -0.990 0.402 0.374 0 180 0 71 Drawer -1.116 0.792 -0.170 0 180 0 72 Cabinet -0.990 0.402 -0.335 0 180 0 73 CounterTop -1.001 0.947 -0.669 0 0 0 74 StoveBurner 0.502 0.932 -0.740 0 90 0 75 StoveBurner 0.801 0.932 -0.473 0 0 0 76 StoveBurner 0.801 0.932 -0.740 0 90 0 77 Drawer 1.116 0.792 1.081 0 0 0 78 Sink -0.013 0.912 -0.615 0 0 0 79 Drawer 1.116 0.792 0.732 0 0 0 80 StoveBurner 0.502 0.932 -0.469 0 0 0 81 Drawer 1.116 0.792 0.367 0 0 0 82 StoveKnob 0.550 1.085 -0.912 287.970 180 0 83 StoveKnob 0.884 1.085 -0.912 287.970 180 0 84 StoveKnob 0.432 1.085 -0.912 287.970 180 0 85 StoveKnob 0.777 1.085 -0.912 287.970 180 0 86 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 87 Fridge -1.300 0.008 0.987 0 90 0 88 GarbageCan 1.296 -0.024 1.465 0 0 0 89 Window -0.012 1.641 -0.972 90 0 0 90 Window 1.598 1.646 2.489 90 270 0 91 Toaster 1.356 0.900 1.044 0 270 0 92 LightSwitch 0.118 1.353 3.799 0 180 0 93 Microwave -1.343 0.900 0.053 0 90 0 94 SinkBasin -0.029 0.748 -0.612 0 0 0 95 Faucet -0.026 0.927 -0.808 0 0 0 96 Shelf -1.182 0.127 2.414 0 90 0 97 Stool 1.140 0.007 3.262 1.206 20.753 0 98 Shelf -1.182 0.435 2.414 0 90 0 99 DiningTable 1.169 0.014 2.569 0 0 1.896 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Turn around and walk across the room to face the counter to the left of the microwave. | STEP 2: Pick up the tomato on the counter. | STEP 3: Heat the tomato in the microwave and remove it. | STEP 4: Turn right and walk forward and turn left to face the white table. | STEP 5: Place the tomato on the white table. | END" ]
[ [ "STEP 1: Turn around and walk across the room to face the counter to the left of the microwave. ", " STEP 2: Pick up the tomato on the counter. ", " STEP 3: Heat the tomato in the microwave and remove it. ", " STEP 4: Turn right and walk forward and turn left to face the white table. ", " STEP 5: Place the tomato on the white table. ", " END" ] ]
seen
trial_T20190909_042742_043093-2
To heat a tomato and put it on the table.
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", "" ], [ "102", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "103", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.908 3.0 0 90 0 1 SprayBottle 1.523 0.910 0.706 0 0 0 67 2 SprayBottle -1.123 0.911 -0.907 0 0 0 73 3 Potato -1.383 0.793 2.830 0 0 0 48 4 CellPhone -0.919 0.746 2.273 0 0 0 48 5 CellPhone -0.503 0.909 -0.907 0 0 0 73 6 DishSponge -1.290 0.748 2.087 0 0 0 48 7 DishSponge -0.919 0.748 2.087 0 0 0 48 8 ButterKnife 1.200 0.886 2.800 0 0 0 99 9 Glassbottle -0.020 0.762 -0.651 0 0 0 94 10 Spoon 1.444 0.912 -0.428 0 0 0 67 11 Spatula -1.513 0.927 -0.732 0 90 0 73 12 Spatula -1.197 0.764 1.902 0 180 0 48 13 Plate 1.325 1.656 -0.333 0 0 0 49 14 Plate 1.444 0.912 0.139 0 0 0 67 15 Knife -0.130 0.934 -0.354 0 0 0 73 16 Knife -1.197 0.770 2.459 0 0 0 48 17 SoapBottle -1.383 0.750 2.459 0 0 0 48 18 Bread 1.367 0.949 2.261 0 0 0 99 19 Mug 1.215 0.943 -0.633 0 320.314 0 86 20 Mug -1.225 0.336 0.778 0 90 0 87 21 Apple -1.513 0.972 -0.902 0 0 0 73 22 Bread -1.320 0.814 0.778 0 90 0 87 23 Glassbottle -0.170 0.117 -0.577 0 0 0 63 24 Fork -1.105 0.749 3.015 0 0 0 48 25 Kettle 0.802 0.939 -0.740 0 90 0 76 26 Tomato -1.286 0.961 -0.392 0 0 0 73 27 Plate -1.197 0.749 2.644 0 0 0 48 28 CellPhone 1.444 0.909 -0.144 0 0 0 67 29 Lettuce -1.206 1.707 0.984 0 90 0 87 30 Pot 0.802 0.939 -0.473 0 0 0 75 31 SoapBottle 0.250 0.117 -0.446 0 0 0 62 32 WineBottle -1.320 0.752 1.302 0 90 0 87 33 Spatula 1.284 0.901 2.261 0 0 0 99 34 Bowl -1.263 1.419 1.092 0 90 0 87 35 Apple -1.206 1.697 1.289 0 90 0 87 36 Cup -1.206 1.420 0.673 0 90 0 87 37 Knife -1.105 0.771 2.273 0 0 0 48 38 Egg 1.286 0.945 0.706 0 0 0 67 39 SaltShaker -1.475 0.745 1.902 0 0 0 48 40 PepperShaker 1.049 0.907 0.139 0 0 0 67 41 Potato -1.263 0.796 1.092 0 90 0 87 42 ButterKnife -1.135 0.912 -0.562 0 0 0 73 43 DishSponge 1.155 0.776 1.082 0 0 0 77 44 Pan -1.332 0.9 -0.699 0 345.0 0 73 45 Spoon 0.165 0.759 -0.651 0 90 0 94 46 SprayBottle 0.127 0.116 -0.490 0 0 0 62 47 Mug 1.444 0.906 0.706 0 0 0 67 48 DiningTable -1.182 0.006 2.414 0 90 0 49 Cabinet 1.184 2.059 0.375 0 0 0 50 Cabinet 1.184 2.059 -0.635 0 0 0 51 Cabinet 0.591 2.309 -0.645 0 0 0 52 Cabinet -0.574 2.059 -0.644 0 0 0 53 Cabinet -1.103 2.059 -0.644 0 0 0 54 Cabinet -1.185 2.059 -0.331 0 0 0 55 Cabinet -1.185 2.059 -0.281 0 0 0 56 Cabinet -1.185 2.059 0.375 0 0 0 57 Cabinet 1.184 2.309 1.174 0 0 0 58 Cabinet 1.184 2.309 0.424 0 0 0 59 Cabinet 0.988 0.402 0.581 0 0 0 60 Cabinet 0.988 0.402 0.531 0 0 0 61 Cabinet 0.988 0.402 -0.178 0 0 0 62 Cabinet 0.335 0.402 -0.348 0 0 0 63 Cabinet -0.374 0.402 -0.348 0 0 0 64 Cabinet 0.988 0.402 1.231 0 0 0 65 Cabinet -1.185 2.309 1.374 0 0 0 66 Cabinet -1.185 2.309 0.424 0 0 0 67 CounterTop 1.274 0.947 0.064 0 0 0 68 Drawer 1.116 0.792 -0.015 0 0 0 69 Drawer -1.116 0.792 0.210 0 180 0 70 Cabinet -0.990 0.402 0.374 0 180 0 71 Drawer -1.116 0.792 -0.170 0 180 0 72 Cabinet -0.990 0.402 -0.335 0 180 0 73 CounterTop -1.001 0.947 -0.669 0 0 0 74 StoveBurner 0.502 0.932 -0.740 0 90 0 75 StoveBurner 0.801 0.932 -0.473 0 0 0 76 StoveBurner 0.801 0.932 -0.740 0 90 0 77 Drawer 1.116 0.792 1.081 0 0 0 78 Sink -0.013 0.912 -0.615 0 0 0 79 Drawer 1.116 0.792 0.732 0 0 0 80 StoveBurner 0.502 0.932 -0.469 0 0 0 81 Drawer 1.116 0.792 0.367 0 0 0 82 StoveKnob 0.550 1.085 -0.912 287.970 180 0 83 StoveKnob 0.884 1.085 -0.912 287.970 180 0 84 StoveKnob 0.432 1.085 -0.912 287.970 180 0 85 StoveKnob 0.777 1.085 -0.912 287.970 180 0 86 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 87 Fridge -1.300 0.008 0.987 0 90 0 88 GarbageCan 1.296 -0.024 1.465 0 0 0 89 Window -0.012 1.641 -0.972 90 0 0 90 Window 1.598 1.646 2.489 90 270 0 91 Toaster 1.356 0.900 1.044 0 270 0 92 LightSwitch 0.118 1.353 3.799 0 180 0 93 Microwave -1.343 0.900 0.053 0 90 0 94 SinkBasin -0.029 0.748 -0.612 0 0 0 95 Faucet -0.026 0.927 -0.808 0 0 0 96 Shelf -1.182 0.127 2.414 0 90 0 97 Stool 1.140 0.007 3.262 1.206 20.753 0 98 Shelf -1.182 0.435 2.414 0 90 0 99 DiningTable 1.169 0.014 2.569 0 0 1.896 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Turn right and walk to the counter with the microwave on it. | STEP 2: Pick up the tomato to the left of the microwave. | STEP 3: Put the tomato in the microwave, heat the tomato, take the tomato out of the microwave. | STEP 4: walk to the table after the fridge on the left. | STEP 5: Put the tomato on the table to the right of the cell phone. | END" ]
[ [ "STEP 1: Turn right and walk to the counter with the microwave on it. ", " STEP 2: Pick up the tomato to the left of the microwave. ", " STEP 3: Put the tomato in the microwave, heat the tomato, take the tomato out of the microwave. ", " STEP 4: walk to the table after the fridge on the left. ", " STEP 5: Put the tomato on the table to the right of the cell phone. ", " END" ] ]
seen
trial_T20190909_001842_530744-0
Inspect a laptop by lamp light.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.901", " 1.25", " 0", " 270", " 0", "" ], [ "1", " Bowl", " 0.201", " 0.973", " -1.852", " 0", " 270", " 0", " 35" ], [ "2", " CellPhone", " 1.693", " 0.043", " -1.867", " 0", " 88.075", " 0", " 48" ], [ "3", " CellPhone", " 2.166", " 0.473", " 1.301", " 0", " 0", " 0", " 32" ], [ "4", " Pen", " -0.393", " 0.223", " -1.768", " 0", " 270", " 0", " 43" ], [ "5", " Pencil", " 0.000", " 0.974", " -1.852", " 0", " 270", " 0", " 35" ], [ "6", " Pencil", " 2.252", " 0.570", " 1.185", " 0", " 180", " 0", " 33" ], [ "7", " Book", " 0.398", " 0.038", " -1.711", " 0", " 270", " 0", " 41" ], [ "8", " Pillow", " 1.145", " 0.477", " -0.247", " 0", " 0", " 0", " 45" ], [ "9", " Box", " -1.751", " 0.252", " 1.499", " 0", " 340.773", " 0", " Floor|+00.00|" ], [ "10", " Book", " 1.640", " 0.417", " -0.413", " 0", " 0", " 0", " 45" ], [ "11", " Cloth", " -1.146", " 0.000", " -2.123", " 0", " 0", " 0", " Floor|+00.00|" ], [ "12", " CellPhone", " 2.305", " 0.565", " 1.292", " 0", " 175.209", " 0", " 33" ], [ "13", " Pencil", " -0.394", " 0.039", " -1.711", " 0", " 270", " 0", " 36" ], [ "14", " AlarmClock", " 2.168", " 0.565", " 1.216", " 0", " 210.981", " 0", " 33" ], [ "15", " TeddyBear", " -2.236", " 0.000", " 1.457", " 0", " 319.128", " 0", " Floor|+00.00|" ], [ "16", " CreditCard", " 0.604", " 0.970", " -1.631", " 0", " 270", " 0", " 35" ], [ "17", " KeyChain", " 0.398", " 0.218", " -1.824", " 0", " 0", " 0", " 42" ], [ "18", " Pillow", " 0.649", " 0.477", " 0.252", " 0", " 0", " 0", " 45" ], [ "19", " Pillow", " 1.145", " 0.477", " 0.252", " 0", " 0", " 0", " 45" ], [ "20", " Laptop", " -0.5", " 0.965", " -1.715", " 0", " 24.156", " 0", " 35" ], [ "21", " Bowl", " 0.000", " 0.972", " -1.631", " 0", " 270", " 0", " 35" ], [ "22", " Cloth", " -1.288", " 0.000", " -1.936", " 0", " 357.341", " 356.936", " Floor|+00.00|" ], [ "23", " CD", " 1.700", " 0.040", " -2.076", " 0", " 88.075", " 0", " 48" ], [ "24", " Pen", " 0.305", " 0.222", " -1.656", " 0", " 270", " 0", " 42" ], [ "25", " DeskLamp", " 2.302", " 0.561", " 1.435", " 0", " 315", " 0", "" ], [ "26", " GarbageCan", " -2.208", " -0.023", " -1.742", " 0", " 77.663", " 0", "" ], [ "27", " Poster", " 2.439", " 1.508", " 0.014", " 90", " 270", " 0", "" ], [ "28", " LightSwitch", " -2.457", " 1.274", " -0.096", " 0", " 90", " 0", "" ], [ "29", " Mirror", " 2.454", " 1.322", " -1.414", " 0", " 90", " 0", "" ], [ "30", " Window", " -1.440", " 1.815", " -2.354", " 90", " 0", " 0", "" ], [ "31", " Window", " 1.401", " 1.815", " -2.354", " 90", " 0", " 0", "" ], [ "32", " Drawer", " 2.251", " 0.468", " 1.333", " 0", " 270", " 0", "" ], [ "33", " SideTable", " 2.243", " -0.001", " 1.331", " 0", " 270", " 0", "" ], [ "34", " Drawer", " -0.385", " 0.681", " -1.631", " 0", " 0", " 0", "" ], [ "35", " Dresser", " 0.011", " 0.001", " -1.676", " 0", " 0", " 0", "" ], [ "36", " Drawer", " -0.385", " 0.105", " -1.631", " 0", " 0", " 0", "" ], [ "37", " Drawer", " 0.408", " 0.868", " -1.632", " 0", " 0", " 0", "" ], [ "38", " Drawer", " -0.385", " 0.487", " -1.631", " 0", " 0", " 0", "" ], [ "39", " Drawer", " -0.385", " 0.868", " -1.632", " 0", " 0", " 0", "" ], [ "40", " Drawer", " 0.408", " 0.681", " -1.631", " 0", " 0", " 0", "" ], [ "41", " Drawer", " 0.408", " 0.105", " -1.631", " 0", " 0", " 0", "" ], [ "42", " Drawer", " 0.408", " 0.292", " -1.631", " 0", " 0", " 0", "" ], [ "43", " Drawer", " -0.385", " 0.292", " -1.631", " 0", " 0", " 0", "" ], [ "44", " Drawer", " 0.408", " 0.487", " -1.631", " 0", " 0", " 0", "" ], [ "45", " Bed", " 1.377", " 0.004", " 0.072", " 0", " 90", " 0", "" ], [ "46", " Blinds", " 1.422", " 3.115", " -2.339", " 0", " 0", " 0", "" ], [ "47", " Blinds", " -1.422", " 3.115", " -2.339", " 0", " 0", " 0", "" ], [ "48", " Safe", " 1.640", " 0.000", " -2.040", " 0", " 355.244", " 0", "" ], [ "49", " LaundryHamper", " -1.564", " 0.001", " -1.927", " 0", " 45", " 0", "" ], [ "50", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "52", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "53", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 1.25 0 270 0 1 Bowl 0.201 0.973 -1.852 0 270 0 35 2 CellPhone 1.693 0.043 -1.867 0 88.075 0 48 3 CellPhone 2.166 0.473 1.301 0 0 0 32 4 Pen -0.393 0.223 -1.768 0 270 0 43 5 Pencil 0.000 0.974 -1.852 0 270 0 35 6 Pencil 2.252 0.570 1.185 0 180 0 33 7 Book 0.398 0.038 -1.711 0 270 0 41 8 Pillow 1.145 0.477 -0.247 0 0 0 45 9 Box -1.751 0.252 1.499 0 340.773 0 Floor|+00.00| 10 Book 1.640 0.417 -0.413 0 0 0 45 11 Cloth -1.146 0.000 -2.123 0 0 0 Floor|+00.00| 12 CellPhone 2.305 0.565 1.292 0 175.209 0 33 13 Pencil -0.394 0.039 -1.711 0 270 0 36 14 AlarmClock 2.168 0.565 1.216 0 210.981 0 33 15 TeddyBear -2.236 0.000 1.457 0 319.128 0 Floor|+00.00| 16 CreditCard 0.604 0.970 -1.631 0 270 0 35 17 KeyChain 0.398 0.218 -1.824 0 0 0 42 18 Pillow 0.649 0.477 0.252 0 0 0 45 19 Pillow 1.145 0.477 0.252 0 0 0 45 20 Laptop -0.5 0.965 -1.715 0 24.156 0 35 21 Bowl 0.000 0.972 -1.631 0 270 0 35 22 Cloth -1.288 0.000 -1.936 0 357.341 356.936 Floor|+00.00| 23 CD 1.700 0.040 -2.076 0 88.075 0 48 24 Pen 0.305 0.222 -1.656 0 270 0 42 25 DeskLamp 2.302 0.561 1.435 0 315 0 26 GarbageCan -2.208 -0.023 -1.742 0 77.663 0 27 Poster 2.439 1.508 0.014 90 270 0 28 LightSwitch -2.457 1.274 -0.096 0 90 0 29 Mirror 2.454 1.322 -1.414 0 90 0 30 Window -1.440 1.815 -2.354 90 0 0 31 Window 1.401 1.815 -2.354 90 0 0 32 Drawer 2.251 0.468 1.333 0 270 0 33 SideTable 2.243 -0.001 1.331 0 270 0 34 Drawer -0.385 0.681 -1.631 0 0 0 35 Dresser 0.011 0.001 -1.676 0 0 0 36 Drawer -0.385 0.105 -1.631 0 0 0 37 Drawer 0.408 0.868 -1.632 0 0 0 38 Drawer -0.385 0.487 -1.631 0 0 0 39 Drawer -0.385 0.868 -1.632 0 0 0 40 Drawer 0.408 0.681 -1.631 0 0 0 41 Drawer 0.408 0.105 -1.631 0 0 0 42 Drawer 0.408 0.292 -1.631 0 0 0 43 Drawer -0.385 0.292 -1.631 0 0 0 44 Drawer 0.408 0.487 -1.631 0 0 0 45 Bed 1.377 0.004 0.072 0 90 0 46 Blinds 1.422 3.115 -2.339 0 0 0 47 Blinds -1.422 3.115 -2.339 0 0 0 48 Safe 1.640 0.000 -2.040 0 355.244 0 49 LaundryHamper -1.564 0.001 -1.927 0 45 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: Turn left and walk to the laptop on the dresser in front of you. | STEP 2: Close the laptop and pick it up please. | STEP 3: Turn around and walk to the wall then turn right and walk to the small night stand. | STEP 4: Turn on the light that's on the night stand. | END" ]
[ [ "STEP 1: Turn left and walk to the laptop on the dresser in front of you. ", " STEP 2: Close the laptop and pick it up please. ", " STEP 3: Turn around and walk to the wall then turn right and walk to the small night stand. ", " STEP 4: Turn on the light that's on the night stand. ", " END" ] ]
seen
trial_T20190909_001842_530744-1
examine a computer with a lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.901", " 1.25", " 0", " 270", " 0", "" ], [ "1", " Bowl", " 0.201", " 0.973", " -1.852", " 0", " 270", " 0", " 35" ], [ "2", " CellPhone", " 1.693", " 0.043", " -1.867", " 0", " 88.075", " 0", " 48" ], [ "3", " CellPhone", " 2.166", " 0.473", " 1.301", " 0", " 0", " 0", " 32" ], [ "4", " Pen", " -0.393", " 0.223", " -1.768", " 0", " 270", " 0", " 43" ], [ "5", " Pencil", " 0.000", " 0.974", " -1.852", " 0", " 270", " 0", " 35" ], [ "6", " Pencil", " 2.252", " 0.570", " 1.185", " 0", " 180", " 0", " 33" ], [ "7", " Book", " 0.398", " 0.038", " -1.711", " 0", " 270", " 0", " 41" ], [ "8", " Pillow", " 1.145", " 0.477", " -0.247", " 0", " 0", " 0", " 45" ], [ "9", " Box", " -1.751", " 0.252", " 1.499", " 0", " 340.773", " 0", " Floor|+00.00|" ], [ "10", " Book", " 1.640", " 0.417", " -0.413", " 0", " 0", " 0", " 45" ], [ "11", " Cloth", " -1.146", " 0.000", " -2.123", " 0", " 0", " 0", " Floor|+00.00|" ], [ "12", " CellPhone", " 2.305", " 0.565", " 1.292", " 0", " 175.209", " 0", " 33" ], [ "13", " Pencil", " -0.394", " 0.039", " -1.711", " 0", " 270", " 0", " 36" ], [ "14", " AlarmClock", " 2.168", " 0.565", " 1.216", " 0", " 210.981", " 0", " 33" ], [ "15", " TeddyBear", " -2.236", " 0.000", " 1.457", " 0", " 319.128", " 0", " Floor|+00.00|" ], [ "16", " CreditCard", " 0.604", " 0.970", " -1.631", " 0", " 270", " 0", " 35" ], [ "17", " KeyChain", " 0.398", " 0.218", " -1.824", " 0", " 0", " 0", " 42" ], [ "18", " Pillow", " 0.649", " 0.477", " 0.252", " 0", " 0", " 0", " 45" ], [ "19", " Pillow", " 1.145", " 0.477", " 0.252", " 0", " 0", " 0", " 45" ], [ "20", " Laptop", " -0.5", " 0.965", " -1.715", " 0", " 24.156", " 0", " 35" ], [ "21", " Bowl", " 0.000", " 0.972", " -1.631", " 0", " 270", " 0", " 35" ], [ "22", " Cloth", " -1.288", " 0.000", " -1.936", " 0", " 357.341", " 356.936", " Floor|+00.00|" ], [ "23", " CD", " 1.700", " 0.040", " -2.076", " 0", " 88.075", " 0", " 48" ], [ "24", " Pen", " 0.305", " 0.222", " -1.656", " 0", " 270", " 0", " 42" ], [ "25", " DeskLamp", " 2.302", " 0.561", " 1.435", " 0", " 315", " 0", "" ], [ "26", " GarbageCan", " -2.208", " -0.023", " -1.742", " 0", " 77.663", " 0", "" ], [ "27", " Poster", " 2.439", " 1.508", " 0.014", " 90", " 270", " 0", "" ], [ "28", " LightSwitch", " -2.457", " 1.274", " -0.096", " 0", " 90", " 0", "" ], [ "29", " Mirror", " 2.454", " 1.322", " -1.414", " 0", " 90", " 0", "" ], [ "30", " Window", " -1.440", " 1.815", " -2.354", " 90", " 0", " 0", "" ], [ "31", " Window", " 1.401", " 1.815", " -2.354", " 90", " 0", " 0", "" ], [ "32", " Drawer", " 2.251", " 0.468", " 1.333", " 0", " 270", " 0", "" ], [ "33", " SideTable", " 2.243", " -0.001", " 1.331", " 0", " 270", " 0", "" ], [ "34", " Drawer", " -0.385", " 0.681", " -1.631", " 0", " 0", " 0", "" ], [ "35", " Dresser", " 0.011", " 0.001", " -1.676", " 0", " 0", " 0", "" ], [ "36", " Drawer", " -0.385", " 0.105", " -1.631", " 0", " 0", " 0", "" ], [ "37", " Drawer", " 0.408", " 0.868", " -1.632", " 0", " 0", " 0", "" ], [ "38", " Drawer", " -0.385", " 0.487", " -1.631", " 0", " 0", " 0", "" ], [ "39", " Drawer", " -0.385", " 0.868", " -1.632", " 0", " 0", " 0", "" ], [ "40", " Drawer", " 0.408", " 0.681", " -1.631", " 0", " 0", " 0", "" ], [ "41", " Drawer", " 0.408", " 0.105", " -1.631", " 0", " 0", " 0", "" ], [ "42", " Drawer", " 0.408", " 0.292", " -1.631", " 0", " 0", " 0", "" ], [ "43", " Drawer", " -0.385", " 0.292", " -1.631", " 0", " 0", " 0", "" ], [ "44", " Drawer", " 0.408", " 0.487", " -1.631", " 0", " 0", " 0", "" ], [ "45", " Bed", " 1.377", " 0.004", " 0.072", " 0", " 90", " 0", "" ], [ "46", " Blinds", " 1.422", " 3.115", " -2.339", " 0", " 0", " 0", "" ], [ "47", " Blinds", " -1.422", " 3.115", " -2.339", " 0", " 0", " 0", "" ], [ "48", " Safe", " 1.640", " 0.000", " -2.040", " 0", " 355.244", " 0", "" ], [ "49", " LaundryHamper", " -1.564", " 0.001", " -1.927", " 0", " 45", " 0", "" ], [ "50", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "52", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "53", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 1.25 0 270 0 1 Bowl 0.201 0.973 -1.852 0 270 0 35 2 CellPhone 1.693 0.043 -1.867 0 88.075 0 48 3 CellPhone 2.166 0.473 1.301 0 0 0 32 4 Pen -0.393 0.223 -1.768 0 270 0 43 5 Pencil 0.000 0.974 -1.852 0 270 0 35 6 Pencil 2.252 0.570 1.185 0 180 0 33 7 Book 0.398 0.038 -1.711 0 270 0 41 8 Pillow 1.145 0.477 -0.247 0 0 0 45 9 Box -1.751 0.252 1.499 0 340.773 0 Floor|+00.00| 10 Book 1.640 0.417 -0.413 0 0 0 45 11 Cloth -1.146 0.000 -2.123 0 0 0 Floor|+00.00| 12 CellPhone 2.305 0.565 1.292 0 175.209 0 33 13 Pencil -0.394 0.039 -1.711 0 270 0 36 14 AlarmClock 2.168 0.565 1.216 0 210.981 0 33 15 TeddyBear -2.236 0.000 1.457 0 319.128 0 Floor|+00.00| 16 CreditCard 0.604 0.970 -1.631 0 270 0 35 17 KeyChain 0.398 0.218 -1.824 0 0 0 42 18 Pillow 0.649 0.477 0.252 0 0 0 45 19 Pillow 1.145 0.477 0.252 0 0 0 45 20 Laptop -0.5 0.965 -1.715 0 24.156 0 35 21 Bowl 0.000 0.972 -1.631 0 270 0 35 22 Cloth -1.288 0.000 -1.936 0 357.341 356.936 Floor|+00.00| 23 CD 1.700 0.040 -2.076 0 88.075 0 48 24 Pen 0.305 0.222 -1.656 0 270 0 42 25 DeskLamp 2.302 0.561 1.435 0 315 0 26 GarbageCan -2.208 -0.023 -1.742 0 77.663 0 27 Poster 2.439 1.508 0.014 90 270 0 28 LightSwitch -2.457 1.274 -0.096 0 90 0 29 Mirror 2.454 1.322 -1.414 0 90 0 30 Window -1.440 1.815 -2.354 90 0 0 31 Window 1.401 1.815 -2.354 90 0 0 32 Drawer 2.251 0.468 1.333 0 270 0 33 SideTable 2.243 -0.001 1.331 0 270 0 34 Drawer -0.385 0.681 -1.631 0 0 0 35 Dresser 0.011 0.001 -1.676 0 0 0 36 Drawer -0.385 0.105 -1.631 0 0 0 37 Drawer 0.408 0.868 -1.632 0 0 0 38 Drawer -0.385 0.487 -1.631 0 0 0 39 Drawer -0.385 0.868 -1.632 0 0 0 40 Drawer 0.408 0.681 -1.631 0 0 0 41 Drawer 0.408 0.105 -1.631 0 0 0 42 Drawer 0.408 0.292 -1.631 0 0 0 43 Drawer -0.385 0.292 -1.631 0 0 0 44 Drawer 0.408 0.487 -1.631 0 0 0 45 Bed 1.377 0.004 0.072 0 90 0 46 Blinds 1.422 3.115 -2.339 0 0 0 47 Blinds -1.422 3.115 -2.339 0 0 0 48 Safe 1.640 0.000 -2.040 0 355.244 0 49 LaundryHamper -1.564 0.001 -1.927 0 45 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: turn around, take a step, turn right, walk to the dresser | STEP 2: close the computer that is on the dresser, pick it up | STEP 3: turn around, walk to the wall, turn right, walk to the small table | STEP 4: turn the lamp on | END" ]
[ [ "STEP 1: turn around, take a step, turn right, walk to the dresser ", " STEP 2: close the computer that is on the dresser, pick it up ", " STEP 3: turn around, walk to the wall, turn right, walk to the small table ", " STEP 4: turn the lamp on ", " END" ] ]
seen
trial_T20190909_001842_530744-2
Examine a computer by the light of the lamp in the corner.
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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 1.25 0 270 0 1 Bowl 0.201 0.973 -1.852 0 270 0 35 2 CellPhone 1.693 0.043 -1.867 0 88.075 0 48 3 CellPhone 2.166 0.473 1.301 0 0 0 32 4 Pen -0.393 0.223 -1.768 0 270 0 43 5 Pencil 0.000 0.974 -1.852 0 270 0 35 6 Pencil 2.252 0.570 1.185 0 180 0 33 7 Book 0.398 0.038 -1.711 0 270 0 41 8 Pillow 1.145 0.477 -0.247 0 0 0 45 9 Box -1.751 0.252 1.499 0 340.773 0 Floor|+00.00| 10 Book 1.640 0.417 -0.413 0 0 0 45 11 Cloth -1.146 0.000 -2.123 0 0 0 Floor|+00.00| 12 CellPhone 2.305 0.565 1.292 0 175.209 0 33 13 Pencil -0.394 0.039 -1.711 0 270 0 36 14 AlarmClock 2.168 0.565 1.216 0 210.981 0 33 15 TeddyBear -2.236 0.000 1.457 0 319.128 0 Floor|+00.00| 16 CreditCard 0.604 0.970 -1.631 0 270 0 35 17 KeyChain 0.398 0.218 -1.824 0 0 0 42 18 Pillow 0.649 0.477 0.252 0 0 0 45 19 Pillow 1.145 0.477 0.252 0 0 0 45 20 Laptop -0.5 0.965 -1.715 0 24.156 0 35 21 Bowl 0.000 0.972 -1.631 0 270 0 35 22 Cloth -1.288 0.000 -1.936 0 357.341 356.936 Floor|+00.00| 23 CD 1.700 0.040 -2.076 0 88.075 0 48 24 Pen 0.305 0.222 -1.656 0 270 0 42 25 DeskLamp 2.302 0.561 1.435 0 315 0 26 GarbageCan -2.208 -0.023 -1.742 0 77.663 0 27 Poster 2.439 1.508 0.014 90 270 0 28 LightSwitch -2.457 1.274 -0.096 0 90 0 29 Mirror 2.454 1.322 -1.414 0 90 0 30 Window -1.440 1.815 -2.354 90 0 0 31 Window 1.401 1.815 -2.354 90 0 0 32 Drawer 2.251 0.468 1.333 0 270 0 33 SideTable 2.243 -0.001 1.331 0 270 0 34 Drawer -0.385 0.681 -1.631 0 0 0 35 Dresser 0.011 0.001 -1.676 0 0 0 36 Drawer -0.385 0.105 -1.631 0 0 0 37 Drawer 0.408 0.868 -1.632 0 0 0 38 Drawer -0.385 0.487 -1.631 0 0 0 39 Drawer -0.385 0.868 -1.632 0 0 0 40 Drawer 0.408 0.681 -1.631 0 0 0 41 Drawer 0.408 0.105 -1.631 0 0 0 42 Drawer 0.408 0.292 -1.631 0 0 0 43 Drawer -0.385 0.292 -1.631 0 0 0 44 Drawer 0.408 0.487 -1.631 0 0 0 45 Bed 1.377 0.004 0.072 0 90 0 46 Blinds 1.422 3.115 -2.339 0 0 0 47 Blinds -1.422 3.115 -2.339 0 0 0 48 Safe 1.640 0.000 -2.040 0 355.244 0 49 LaundryHamper -1.564 0.001 -1.927 0 45 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: Go to the computer on the dresser to your left. | STEP 2: Pick up the computer on the dresser. | STEP 3: Turn around, bring the computer around the left side of the bed to the lamp on the table in the corner. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Go to the computer on the dresser to your left. ", " STEP 2: Pick up the computer on the dresser. ", " STEP 3: Turn around, bring the computer around the left side of the bed to the lamp on the table in the corner. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190908_000314_718780-0
Place a chilled apple in a microwave.
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" -0.939", " 0.119", " -1.105", " 0", " 0", " 0", " 43" ], [ "12", " Plate", " -2.847", " 1.666", " 0.100", " 0", " 0", " 0", " 56" ], [ "13", " Egg", " -0.662", " 0.946", " -1.199", " 0", " 0", " 0", " 70" ], [ "14", " PepperShaker", " 0.756", " 0.113", " -1.052", " 0", " 0", " 0", " 50" ], [ "15", " PepperShaker", " 0.842", " 0.907", " -1.365", " 0", " 0", " 0", " 70" ], [ "16", " SaltShaker", " -2.060", " 1.658", " -1.435", " 0", " 0", " 0", " 45" ], [ "17", " SaltShaker", " -2.736", " 2.039", " 1.222", " 0", " 0", " 0", " 55" ], [ "18", " Mug", " -2.490", " 1.657", " -1.360", " 0", " 0", " 0", " 53" ], [ "19", " Mug", " -2.740", " 1.668", " 0.771", " 0", " 90", " 0", " 82" ], [ "20", " Apple", " 0.284", " 1.154", " 1.580", " 0", " 0", " 0", " 63" ], [ "21", " Fork", " -1.505", " 0.852", " -1.305", " 0", " 90", " 0", " 80" ], [ "22", " Kettle", " -2.620", " 0.922", " -0.724", " 0", " 0", " 0", " 61" ], [ "23", " CreditCard", " -2.687", " 0.908", " -0.147", " 0", " 0", " 0", " 70" ], [ "24", " Bread", " 0.842", " 0.965", " -1.032", " 0", " 0", " 0", " 70" ], [ "25", " Plate", " -1.627", " 0.119", " -1.105", " 0", " 0", " 0", " 47" ], [ "26", " SoapBottle", " -0.748", " 0.899", " -1.291", " 0", " 315", " 0", " 70" ], [ "27", " Spatula", " -2.585", " 0.761", " -0.027", " 0", " 90", " 0", " 68" ], [ "28", " Lettuce", " -2.660", " 0.874", " 0.983", " 31.046", " 0", " 0", " 82" ], [ "29", " SaltShaker", " 0.452", " 1.108", " 1.729", " 0", " 315", " 0", " 63" ], [ "30", " Tomato", " 0.203", " 1.152", " 1.056", " 0", " 0", " 0", " 63" ], [ "31", " PepperShaker", " -2.886", " 2.039", " 1.296", " 0", " 0", " 0", " 55" ], [ "32", " ButterKnife", " -1.332", " 0.849", " -1.194", " 0", " 0", " 0", " 80" ], [ "33", " Pot", " 0.644", " 1.112", " 1.229", " 0", " 315", " 0", " 63" ], [ "34", " DishSponge", " -1.221", " 0.841", " -1.126", " 0", " 41.164", " 0", " 80" ], [ "35", " Egg", " -2.860", " 0.413", " 0.690", " 0", " 90", " 0", " 82" ], [ "36", " Spoon", " -0.157", " 0.9", " -1.015", " 0", " 0", " 0", " 70" ], [ "37", " Knife", " 0.060", " 1.106", " 1.587", " 270", " 209.997", " 0", " 63" ], [ "38", " Cup", " -0.604", " 1.661", " -1.360", " 0", " 0", " 0", " 58" ], [ "39", " Mug", " -2.773", " 1.790", " -0.412", " 0", " 0", " 0", " 41" ], [ "40", " Bowl", " -2.046", " 0.9", " -1.163", " 0", " 0", " 0", " 70" ], [ "41", " Cabinet", " -2.647", " 2.075", " -0.875", " 0", " 0", " 0", "" ], [ "42", " Cabinet", " -2.647", " 2.075", " -0.234", " 0", " 0", " 0", "" ], [ "43", " Cabinet", " -0.824", " 0.469", " -0.907", " 0", " 0", " 0", "" ], [ "44", " Cabinet", " -1.764", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -1.834", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "46", " Cabinet", " -1.850", " 0.389", " -0.897", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " -1.801", " 0.469", " -0.907", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " 1.115", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " 0.235", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " 1.125", " 0.470", " -0.897", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.387", " 0.389", " 0.375", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 0.484", " 0.389", " -0.897", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.625", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.647", " 2.009", " -0.945", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.647", " 2.200", " 1.664", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.647", " 2.009", " 0.364", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 0.164", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.765", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.834", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.647", " 2.200", " 0.434", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " -2.622", " 0.886", " -0.711", " 0", " 0", " 0", "" ], [ "62", " CounterTop", " -2.699", " 0.946", " 0.106", " 0", " 0", " 0", "" ], [ "63", " CounterTop", " 0.908", " 1.147", " 0.788", " 0", " 315", " 0", "" ], [ "64", " StoveBurner", " -2.622", " 0.886", " -0.396", " 0", " 0", " 0", "" ], [ "65", " Drawer", " -2.026", " 0.779", " -1.082", " 0", " 0", " 0", "" ], [ "66", " Sink", " -1.328", " 0.916", " -1.225", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " -2.822", " 0.886", " -0.711", " 0", " 0", " 0", "" ], [ "68", " Drawer", " -2.572", " 0.779", " 0.099", " 0", " 0", " 0", "" ], [ "69", " StoveBurner", " -2.822", " 0.886", " -0.396", " 0", " 0", " 0", "" ], [ "70", " CounterTop", " 0.071", " 0.946", " -1.199", " 0", " 0", " 0", "" ], [ "71", " Drawer", " 0.254", " 0.779", " -1.082", " 0", " 0", " 0", "" ], [ "72", " LightSwitch", " -1.167", " 1.307", " 3.0", " 0", " 180", " 0", "" ], [ "73", " CoffeeMachine", " 1.124", " 1.100", " 0.312", " 0", " 227.685", " 0", "" ], [ "74", " StoveKnob", " -2.429", " 0.863", " -0.621", " 311.864", " 270", " 180", "" ], [ "75", " StoveKnob", " -2.429", " 0.863", " -0.477", " 311.864", " 270", " 180", "" ], [ "76", " StoveKnob", " -2.429", " 0.863", " -0.782", " 311.864", " 270", " 180", "" ], [ "77", " StoveKnob", " -2.429", " 0.863", " -0.324", " 311.864", " 270", " 180", "" ], [ "78", " Window", " 0.321", " 1.449", " 3.088", " 90", " 0", " 0", "" ], [ "79", " Toaster", " -2.823", " 0.899", " 0.246", " 0", " 90", " 0", "" ], [ "80", " SinkBasin", " -1.344", " 0.838", " -1.25", " 0", " 0", " 0", "" ], [ "81", " GarbageCan", " -2.757", " 1.886", " 1.466", " 0", " 0", " 0", "" ], [ "82", " Fridge", " -2.855", " 0.0", " 0.851", " 0", " 0", " 0", "" ], [ "83", " Microwave", " 0.283", " 0.900", " -1.331", " 0", " 0", " 0", "" ], [ "84", " Stool", " 1.541", " 0.010", " 1.328", " 0", " 45", " 0", "" ], [ "85", " Stool", " 0.983", " 0.010", " 1.793", " 0", " 47.459", " 0", "" ], [ "86", " Faucet", " -1.392", " 1.136", " -1.399", " 0", " 270", " 0", "" ], [ "87", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "89", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "90", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 2.25 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 70 2 Potato -0.598 0.933 -1.119 0 47.530 0 70 3 CreditCard -0.133 0.908 -1.115 0 0 0 70 4 ButterKnife -2.604 0.911 -0.062 0 0 0 62 5 Pot -2.622 0.928 -0.396 0 0 0 64 6 Fork -1.159 0.850 -1.305 0 90 0 80 7 Fork 1.144 1.112 1.037 0 315 0 63 8 Spatula -2.438 0.926 -0.147 0 90 0 62 9 Spatula -1.073 0.864 -1.305 0 90 0 80 10 Cup -1.591 0.848 -1.305 0 0 0 80 11 Plate -0.939 0.119 -1.105 0 0 0 43 12 Plate -2.847 1.666 0.100 0 0 0 56 13 Egg -0.662 0.946 -1.199 0 0 0 70 14 PepperShaker 0.756 0.113 -1.052 0 0 0 50 15 PepperShaker 0.842 0.907 -1.365 0 0 0 70 16 SaltShaker -2.060 1.658 -1.435 0 0 0 45 17 SaltShaker -2.736 2.039 1.222 0 0 0 55 18 Mug -2.490 1.657 -1.360 0 0 0 53 19 Mug -2.740 1.668 0.771 0 90 0 82 20 Apple 0.284 1.154 1.580 0 0 0 63 21 Fork -1.505 0.852 -1.305 0 90 0 80 22 Kettle -2.620 0.922 -0.724 0 0 0 61 23 CreditCard -2.687 0.908 -0.147 0 0 0 70 24 Bread 0.842 0.965 -1.032 0 0 0 70 25 Plate -1.627 0.119 -1.105 0 0 0 47 26 SoapBottle -0.748 0.899 -1.291 0 315 0 70 27 Spatula -2.585 0.761 -0.027 0 90 0 68 28 Lettuce -2.660 0.874 0.983 31.046 0 0 82 29 SaltShaker 0.452 1.108 1.729 0 315 0 63 30 Tomato 0.203 1.152 1.056 0 0 0 63 31 PepperShaker -2.886 2.039 1.296 0 0 0 55 32 ButterKnife -1.332 0.849 -1.194 0 0 0 80 33 Pot 0.644 1.112 1.229 0 315 0 63 34 DishSponge -1.221 0.841 -1.126 0 41.164 0 80 35 Egg -2.860 0.413 0.690 0 90 0 82 36 Spoon -0.157 0.9 -1.015 0 0 0 70 37 Knife 0.060 1.106 1.587 270 209.997 0 63 38 Cup -0.604 1.661 -1.360 0 0 0 58 39 Mug -2.773 1.790 -0.412 0 0 0 41 40 Bowl -2.046 0.9 -1.163 0 0 0 70 41 Cabinet -2.647 2.075 -0.875 0 0 0 42 Cabinet -2.647 2.075 -0.234 0 0 0 43 Cabinet -0.824 0.469 -0.907 0 0 0 44 Cabinet -1.764 2.009 -1.197 0 0 0 45 Cabinet -1.834 2.009 -1.197 0 0 0 46 Cabinet -1.850 0.389 -0.897 0 0 0 47 Cabinet -1.801 0.469 -0.907 0 0 0 48 Cabinet 1.115 2.009 -1.197 0 0 0 49 Cabinet 0.235 2.009 -1.197 0 0 0 50 Cabinet 1.125 0.470 -0.897 0 0 0 51 Cabinet -2.387 0.389 0.375 0 0 0 52 Cabinet 0.484 0.389 -0.897 0 0 0 53 Cabinet -2.625 2.009 -1.197 0 0 0 54 Cabinet -2.647 2.009 -0.945 0 0 0 55 Cabinet -2.647 2.200 1.664 0 0 0 56 Cabinet -2.647 2.009 0.364 0 0 0 57 Cabinet 0.164 2.009 -1.197 0 0 0 58 Cabinet -0.765 2.009 -1.197 0 0 0 59 Cabinet -0.834 2.009 -1.197 0 0 0 60 Cabinet -2.647 2.200 0.434 0 0 0 61 StoveBurner -2.622 0.886 -0.711 0 0 0 62 CounterTop -2.699 0.946 0.106 0 0 0 63 CounterTop 0.908 1.147 0.788 0 315 0 64 StoveBurner -2.622 0.886 -0.396 0 0 0 65 Drawer -2.026 0.779 -1.082 0 0 0 66 Sink -1.328 0.916 -1.225 0 0 0 67 StoveBurner -2.822 0.886 -0.711 0 0 0 68 Drawer -2.572 0.779 0.099 0 0 0 69 StoveBurner -2.822 0.886 -0.396 0 0 0 70 CounterTop 0.071 0.946 -1.199 0 0 0 71 Drawer 0.254 0.779 -1.082 0 0 0 72 LightSwitch -1.167 1.307 3.0 0 180 0 73 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 74 StoveKnob -2.429 0.863 -0.621 311.864 270 180 75 StoveKnob -2.429 0.863 -0.477 311.864 270 180 76 StoveKnob -2.429 0.863 -0.782 311.864 270 180 77 StoveKnob -2.429 0.863 -0.324 311.864 270 180 78 Window 0.321 1.449 3.088 90 0 0 79 Toaster -2.823 0.899 0.246 0 90 0 80 SinkBasin -1.344 0.838 -1.25 0 0 0 81 GarbageCan -2.757 1.886 1.466 0 0 0 82 Fridge -2.855 0.0 0.851 0 0 0 83 Microwave 0.283 0.900 -1.331 0 0 0 84 Stool 1.541 0.010 1.328 0 45 0 85 Stool 0.983 0.010 1.793 0 47.459 0 86 Faucet -1.392 1.136 -1.399 0 270 0 87 NorthWall 88 EastWall 89 SouthWall 90 WestWall
[ "STEP 1: Turn right and walk to the outside of the counter. | STEP 2: Pick up the red apple. | STEP 3: Turn right and walk ahead to the fridge. | STEP 4: Place the apple in the fridge to the left of the lettuce. Close the door, wait a moment, and take it out again. | STEP 5: Turn around and veer right to the microwave. | STEP 6: Place the apple in the microwave. | END" ]
[ [ "STEP 1: Turn right and walk to the outside of the counter. ", " STEP 2: Pick up the red apple. ", " STEP 3: Turn right and walk ahead to the fridge. ", " STEP 4: Place the apple in the fridge to the left of the lettuce. Close the door, wait a moment, and take it out again. ", " STEP 5: Turn around and veer right to the microwave. ", " STEP 6: Place the apple in the microwave. ", " END" ] ]
seen
trial_T20190908_000314_718780-1
Cool an apple to be placed inside 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 2.25 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 70 2 Potato -0.598 0.933 -1.119 0 47.530 0 70 3 CreditCard -0.133 0.908 -1.115 0 0 0 70 4 ButterKnife -2.604 0.911 -0.062 0 0 0 62 5 Pot -2.622 0.928 -0.396 0 0 0 64 6 Fork -1.159 0.850 -1.305 0 90 0 80 7 Fork 1.144 1.112 1.037 0 315 0 63 8 Spatula -2.438 0.926 -0.147 0 90 0 62 9 Spatula -1.073 0.864 -1.305 0 90 0 80 10 Cup -1.591 0.848 -1.305 0 0 0 80 11 Plate -0.939 0.119 -1.105 0 0 0 43 12 Plate -2.847 1.666 0.100 0 0 0 56 13 Egg -0.662 0.946 -1.199 0 0 0 70 14 PepperShaker 0.756 0.113 -1.052 0 0 0 50 15 PepperShaker 0.842 0.907 -1.365 0 0 0 70 16 SaltShaker -2.060 1.658 -1.435 0 0 0 45 17 SaltShaker -2.736 2.039 1.222 0 0 0 55 18 Mug -2.490 1.657 -1.360 0 0 0 53 19 Mug -2.740 1.668 0.771 0 90 0 82 20 Apple 0.284 1.154 1.580 0 0 0 63 21 Fork -1.505 0.852 -1.305 0 90 0 80 22 Kettle -2.620 0.922 -0.724 0 0 0 61 23 CreditCard -2.687 0.908 -0.147 0 0 0 70 24 Bread 0.842 0.965 -1.032 0 0 0 70 25 Plate -1.627 0.119 -1.105 0 0 0 47 26 SoapBottle -0.748 0.899 -1.291 0 315 0 70 27 Spatula -2.585 0.761 -0.027 0 90 0 68 28 Lettuce -2.660 0.874 0.983 31.046 0 0 82 29 SaltShaker 0.452 1.108 1.729 0 315 0 63 30 Tomato 0.203 1.152 1.056 0 0 0 63 31 PepperShaker -2.886 2.039 1.296 0 0 0 55 32 ButterKnife -1.332 0.849 -1.194 0 0 0 80 33 Pot 0.644 1.112 1.229 0 315 0 63 34 DishSponge -1.221 0.841 -1.126 0 41.164 0 80 35 Egg -2.860 0.413 0.690 0 90 0 82 36 Spoon -0.157 0.9 -1.015 0 0 0 70 37 Knife 0.060 1.106 1.587 270 209.997 0 63 38 Cup -0.604 1.661 -1.360 0 0 0 58 39 Mug -2.773 1.790 -0.412 0 0 0 41 40 Bowl -2.046 0.9 -1.163 0 0 0 70 41 Cabinet -2.647 2.075 -0.875 0 0 0 42 Cabinet -2.647 2.075 -0.234 0 0 0 43 Cabinet -0.824 0.469 -0.907 0 0 0 44 Cabinet -1.764 2.009 -1.197 0 0 0 45 Cabinet -1.834 2.009 -1.197 0 0 0 46 Cabinet -1.850 0.389 -0.897 0 0 0 47 Cabinet -1.801 0.469 -0.907 0 0 0 48 Cabinet 1.115 2.009 -1.197 0 0 0 49 Cabinet 0.235 2.009 -1.197 0 0 0 50 Cabinet 1.125 0.470 -0.897 0 0 0 51 Cabinet -2.387 0.389 0.375 0 0 0 52 Cabinet 0.484 0.389 -0.897 0 0 0 53 Cabinet -2.625 2.009 -1.197 0 0 0 54 Cabinet -2.647 2.009 -0.945 0 0 0 55 Cabinet -2.647 2.200 1.664 0 0 0 56 Cabinet -2.647 2.009 0.364 0 0 0 57 Cabinet 0.164 2.009 -1.197 0 0 0 58 Cabinet -0.765 2.009 -1.197 0 0 0 59 Cabinet -0.834 2.009 -1.197 0 0 0 60 Cabinet -2.647 2.200 0.434 0 0 0 61 StoveBurner -2.622 0.886 -0.711 0 0 0 62 CounterTop -2.699 0.946 0.106 0 0 0 63 CounterTop 0.908 1.147 0.788 0 315 0 64 StoveBurner -2.622 0.886 -0.396 0 0 0 65 Drawer -2.026 0.779 -1.082 0 0 0 66 Sink -1.328 0.916 -1.225 0 0 0 67 StoveBurner -2.822 0.886 -0.711 0 0 0 68 Drawer -2.572 0.779 0.099 0 0 0 69 StoveBurner -2.822 0.886 -0.396 0 0 0 70 CounterTop 0.071 0.946 -1.199 0 0 0 71 Drawer 0.254 0.779 -1.082 0 0 0 72 LightSwitch -1.167 1.307 3.0 0 180 0 73 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 74 StoveKnob -2.429 0.863 -0.621 311.864 270 180 75 StoveKnob -2.429 0.863 -0.477 311.864 270 180 76 StoveKnob -2.429 0.863 -0.782 311.864 270 180 77 StoveKnob -2.429 0.863 -0.324 311.864 270 180 78 Window 0.321 1.449 3.088 90 0 0 79 Toaster -2.823 0.899 0.246 0 90 0 80 SinkBasin -1.344 0.838 -1.25 0 0 0 81 GarbageCan -2.757 1.886 1.466 0 0 0 82 Fridge -2.855 0.0 0.851 0 0 0 83 Microwave 0.283 0.900 -1.331 0 0 0 84 Stool 1.541 0.010 1.328 0 45 0 85 Stool 0.983 0.010 1.793 0 47.459 0 86 Faucet -1.392 1.136 -1.399 0 270 0 87 NorthWall 88 EastWall 89 SouthWall 90 WestWall
[ "STEP 1: Move to the white counter in the middle of the room with an apple on it. | STEP 2: Pick up the apple that is close to the knife. | STEP 3: Move across the room to fridge. | STEP 4: Place the apple inside the fridge to cool. Remove apple and close the fridge door. | STEP 5: Turn left and move to the microwave. | STEP 6: Place the apple inside the microwave and close the door. | END" ]
[ [ "STEP 1: Move to the white counter in the middle of the room with an apple on it. ", " STEP 2: Pick up the apple that is close to the knife. ", " STEP 3: Move across the room to fridge. ", " STEP 4: Place the apple inside the fridge to cool. Remove apple and close the fridge door. ", " STEP 5: Turn left and move to the microwave. ", " STEP 6: Place the apple inside the microwave and close the door. ", " END" ] ]
seen
trial_T20190908_000314_718780-2
Put a cold apple 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 2.25 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 70 2 Potato -0.598 0.933 -1.119 0 47.530 0 70 3 CreditCard -0.133 0.908 -1.115 0 0 0 70 4 ButterKnife -2.604 0.911 -0.062 0 0 0 62 5 Pot -2.622 0.928 -0.396 0 0 0 64 6 Fork -1.159 0.850 -1.305 0 90 0 80 7 Fork 1.144 1.112 1.037 0 315 0 63 8 Spatula -2.438 0.926 -0.147 0 90 0 62 9 Spatula -1.073 0.864 -1.305 0 90 0 80 10 Cup -1.591 0.848 -1.305 0 0 0 80 11 Plate -0.939 0.119 -1.105 0 0 0 43 12 Plate -2.847 1.666 0.100 0 0 0 56 13 Egg -0.662 0.946 -1.199 0 0 0 70 14 PepperShaker 0.756 0.113 -1.052 0 0 0 50 15 PepperShaker 0.842 0.907 -1.365 0 0 0 70 16 SaltShaker -2.060 1.658 -1.435 0 0 0 45 17 SaltShaker -2.736 2.039 1.222 0 0 0 55 18 Mug -2.490 1.657 -1.360 0 0 0 53 19 Mug -2.740 1.668 0.771 0 90 0 82 20 Apple 0.284 1.154 1.580 0 0 0 63 21 Fork -1.505 0.852 -1.305 0 90 0 80 22 Kettle -2.620 0.922 -0.724 0 0 0 61 23 CreditCard -2.687 0.908 -0.147 0 0 0 70 24 Bread 0.842 0.965 -1.032 0 0 0 70 25 Plate -1.627 0.119 -1.105 0 0 0 47 26 SoapBottle -0.748 0.899 -1.291 0 315 0 70 27 Spatula -2.585 0.761 -0.027 0 90 0 68 28 Lettuce -2.660 0.874 0.983 31.046 0 0 82 29 SaltShaker 0.452 1.108 1.729 0 315 0 63 30 Tomato 0.203 1.152 1.056 0 0 0 63 31 PepperShaker -2.886 2.039 1.296 0 0 0 55 32 ButterKnife -1.332 0.849 -1.194 0 0 0 80 33 Pot 0.644 1.112 1.229 0 315 0 63 34 DishSponge -1.221 0.841 -1.126 0 41.164 0 80 35 Egg -2.860 0.413 0.690 0 90 0 82 36 Spoon -0.157 0.9 -1.015 0 0 0 70 37 Knife 0.060 1.106 1.587 270 209.997 0 63 38 Cup -0.604 1.661 -1.360 0 0 0 58 39 Mug -2.773 1.790 -0.412 0 0 0 41 40 Bowl -2.046 0.9 -1.163 0 0 0 70 41 Cabinet -2.647 2.075 -0.875 0 0 0 42 Cabinet -2.647 2.075 -0.234 0 0 0 43 Cabinet -0.824 0.469 -0.907 0 0 0 44 Cabinet -1.764 2.009 -1.197 0 0 0 45 Cabinet -1.834 2.009 -1.197 0 0 0 46 Cabinet -1.850 0.389 -0.897 0 0 0 47 Cabinet -1.801 0.469 -0.907 0 0 0 48 Cabinet 1.115 2.009 -1.197 0 0 0 49 Cabinet 0.235 2.009 -1.197 0 0 0 50 Cabinet 1.125 0.470 -0.897 0 0 0 51 Cabinet -2.387 0.389 0.375 0 0 0 52 Cabinet 0.484 0.389 -0.897 0 0 0 53 Cabinet -2.625 2.009 -1.197 0 0 0 54 Cabinet -2.647 2.009 -0.945 0 0 0 55 Cabinet -2.647 2.200 1.664 0 0 0 56 Cabinet -2.647 2.009 0.364 0 0 0 57 Cabinet 0.164 2.009 -1.197 0 0 0 58 Cabinet -0.765 2.009 -1.197 0 0 0 59 Cabinet -0.834 2.009 -1.197 0 0 0 60 Cabinet -2.647 2.200 0.434 0 0 0 61 StoveBurner -2.622 0.886 -0.711 0 0 0 62 CounterTop -2.699 0.946 0.106 0 0 0 63 CounterTop 0.908 1.147 0.788 0 315 0 64 StoveBurner -2.622 0.886 -0.396 0 0 0 65 Drawer -2.026 0.779 -1.082 0 0 0 66 Sink -1.328 0.916 -1.225 0 0 0 67 StoveBurner -2.822 0.886 -0.711 0 0 0 68 Drawer -2.572 0.779 0.099 0 0 0 69 StoveBurner -2.822 0.886 -0.396 0 0 0 70 CounterTop 0.071 0.946 -1.199 0 0 0 71 Drawer 0.254 0.779 -1.082 0 0 0 72 LightSwitch -1.167 1.307 3.0 0 180 0 73 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 74 StoveKnob -2.429 0.863 -0.621 311.864 270 180 75 StoveKnob -2.429 0.863 -0.477 311.864 270 180 76 StoveKnob -2.429 0.863 -0.782 311.864 270 180 77 StoveKnob -2.429 0.863 -0.324 311.864 270 180 78 Window 0.321 1.449 3.088 90 0 0 79 Toaster -2.823 0.899 0.246 0 90 0 80 SinkBasin -1.344 0.838 -1.25 0 0 0 81 GarbageCan -2.757 1.886 1.466 0 0 0 82 Fridge -2.855 0.0 0.851 0 0 0 83 Microwave 0.283 0.900 -1.331 0 0 0 84 Stool 1.541 0.010 1.328 0 45 0 85 Stool 0.983 0.010 1.793 0 47.459 0 86 Faucet -1.392 1.136 -1.399 0 270 0 87 NorthWall 88 EastWall 89 SouthWall 90 WestWall
[ "STEP 1: Turn right, go forward, then turn right to face the counter. | STEP 2: Pick up the apple on the counter, next to the knife. | STEP 3: Turn right, go forward, turn left, go forward, then turn right and go to the fridge. | STEP 4: Chill the apple in fridge. | STEP 5: Turn around, go toward the coffee maker, then turn right and go to the microwave. | STEP 6: Put the apple in the microwave. | END" ]
[ [ "STEP 1: Turn right, go forward, then turn right to face the counter. ", " STEP 2: Pick up the apple on the counter, next to the knife. ", " STEP 3: Turn right, go forward, turn left, go forward, then turn right and go to the fridge. ", " STEP 4: Chill the apple in fridge. ", " STEP 5: Turn around, go toward the coffee maker, then turn right and go to the microwave. ", " STEP 6: Put the apple in the microwave. ", " END" ] ]
seen
trial_T20190908_204024_506453-0
Place a cooked section of apple on the table.
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" 0.984", " 0.442", " 0", " 0", " 358.647", " 55" ], [ "25", " Apple", " 1.956", " 0.155", " 6.498", " 0", " 0", " 0", " 79" ], [ "26", " Kettle", " 1.317", " 0.988", " 4.294", " 0", " 0", " 0", " 50" ], [ "27", " Plate", " 1.079", " 1.580", " 0.251", " 0", " 0", " 0", " 62" ], [ "28", " SaltShaker", " 0.622", " 1.574", " 0.339", " 0", " 0", " 0", " 69" ], [ "29", " Lettuce", " 1.403", " 1.081", " 0.440", " 0", " 0", " 0", " 55" ], [ "30", " SoapBottle", " 1.135", " 0.992", " 3.324", " 0", " 0", " 0", " 55" ], [ "31", " Spatula", " -0.467", " 0.775", " 6.666", " 0", " 0", " 0", " 91" ], [ "32", " PaperTowelRoll", " -0.400", " 0.864", " 6.503", " 0", " 225", " 0", " 91" ], [ "33", " Pot", " 0.734", " 0.981", " 0.38", " 0", " 0", " 0", " 55" ], [ "34", " Potato", " 1.966", " 1.550", " 5.251", " 0", " 270", " 0", " 77" ], [ "35", " ButterKnife", " -0.549", " 0.772", " 0.563", " 0", " 0", " 0", " 51" ], [ "36", " PepperShaker", " -0.159", " 0.755", " 6.787", " 0", " 0", " 0", " 91" ], [ 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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 2.0 0 90 0 1 Potato 1.135 1.027 4.624 0 0 0 56 2 Potato 2.094 1.550 5.876 0 270 0 77 3 DishSponge 1.182 0.770 4.790 0 0 0 45 4 ButterKnife 0.167 0.760 6.151 0 135 0 91 5 Kettle 1.32 0.988 3.848 0 0 0 54 6 Spatula 0.102 0.775 6.305 0 315 0 91 7 Spatula 1.497 0.906 2.525 0 0 0 78 8 Egg 2.094 1.565 6.001 0 270 0 77 9 Cup 2.051 1.511 5.626 0 270 0 77 10 Plate 0.674 0.144 0.418 0 0 0 61 11 Plate 1.573 0.141 2.498 0 0 0 67 12 Tomato -0.158 0.809 6.291 0 270 0 91 13 Bowl 0.150 0.759 6.354 0 270 0 91 14 SaltShaker 1.500 1.572 1.288 0 0 0 65 15 SaltShaker -0.284 0.755 6.787 0 0 0 91 16 Lettuce 0.257 0.848 6.719 0 225 0 91 17 Lettuce -0.443 0.848 6.851 0 135 0 91 18 Mug 1.384 1.043 0.847 0 270 0 55 19 Apple 0.059 0.834 6.698 0 225 0 91 20 Bowl -0.384 0.991 0.395 0 0 0 55 21 Bread 1.099 1.048 0.434 0 0 0 55 22 Egg 1.497 0.940 1.983 0 90 0 78 23 Knife -0.611 1.022 0.212 0 0 0 55 24 Fork 1.318 0.984 0.442 0 0 358.647 55 25 Apple 1.956 0.155 6.498 0 0 0 79 26 Kettle 1.317 0.988 4.294 0 0 0 50 27 Plate 1.079 1.580 0.251 0 0 0 62 28 SaltShaker 0.622 1.574 0.339 0 0 0 69 29 Lettuce 1.403 1.081 0.440 0 0 0 55 30 SoapBottle 1.135 0.992 3.324 0 0 0 55 31 Spatula -0.467 0.775 6.666 0 0 0 91 32 PaperTowelRoll -0.400 0.864 6.503 0 225 0 91 33 Pot 0.734 0.981 0.38 0 0 0 55 34 Potato 1.966 1.550 5.251 0 270 0 77 35 ButterKnife -0.549 0.772 0.563 0 0 0 51 36 PepperShaker -0.159 0.755 6.787 0 0 0 91 37 Pan 1.559 0.988 4.294 0 0 0 53 38 Tomato -0.510 0.809 6.565 0 135 0 91 39 DishSponge -0.221 0.759 6.941 0 0 0 91 40 Cup 1.322 0.136 3.365 0 0 0 66 41 Spoon -0.288 0.761 6.172 0 225 0 91 42 Mug -0.049 0.755 6.588 0 225 0 91 43 Cabinet 1.307 2.455 4.360 0 0 0 44 Cabinet 1.054 0.422 1.710 0 0 0 45 Drawer 1.280 0.808 4.718 0 0 0 46 Cabinet 1.307 2.455 3.607 0 0 0 47 Drawer 0.736 0.802 0.521 0 0 0 48 Drawer 1.276 0.802 3.291 0 0 0 49 StoveBurner 1.562 0.982 3.848 0 0 0 50 StoveBurner 1.317 0.982 4.294 0 0 0 51 Drawer -0.482 0.802 0.521 0 0 0 52 Drawer 0.124 0.802 0.521 0 0 0 53 StoveBurner 1.559 0.982 4.294 0 0 0 54 StoveBurner 1.320 0.982 3.848 0 0 0 55 CounterTop 1.391 1.028 0.897 0 0 0 56 CounterTop 1.391 1.028 4.716 0 0 0 57 Cabinet 1.054 0.422 4.548 0 0 0 58 Cabinet 1.317 2.134 0.517 0 0 0 59 Cabinet 1.317 2.134 4.889 0 0 0 60 Cabinet 1.317 2.134 3.095 0 0 0 61 Cabinet 0.443 0.422 0.743 0 0 0 62 Cabinet 1.270 2.134 0.434 0 0 0 63 Cabinet -0.775 0.422 0.743 0 0 0 64 Cabinet -0.168 0.422 0.743 0 0 0 65 Cabinet 1.317 2.134 1.534 0 0 0 66 Cabinet 1.054 0.422 2.990 0 0 0 67 Cabinet 1.054 0.422 2.944 0 0 0 68 Cabinet -0.263 2.134 0.434 0 0 0 69 Cabinet 0.252 2.134 0.434 0 0 0 70 Sink 1.391 1.006 2.326 0 0 0 71 Microwave 0.108 0.981 0.262 0 0 0 72 HousePlant -0.165 0.826 6.444 0 0 0 73 CoffeeMachine 1.551 0.982 0.953 0 270 0 74 Toaster 1.473 0.981 4.715 0 270 0 75 Window -2.065 1.916 3.626 90 90 0 76 Window 1.763 2.007 2.299 90 270 0 77 Fridge 2.035 0.0 5.625 0 0 0 78 SinkBasin 1.387 0.880 2.338 0 90 0 79 GarbageCan 2.001 -0.044 6.503 0 0 0 80 StoveKnob 1.140 0.934 3.987 45 270 0 81 StoveKnob 1.140 0.934 4.309 45 270 0 82 StoveKnob 1.140 0.934 4.140 45 270 0 83 StoveKnob 1.140 0.934 3.824 45 270 0 84 Vase -0.226 0.834 6.993 0 0 0 85 Vase 2.098 0.043 7.070 0 257.232 0 86 Vase -0.594 0.835 6.130 0 225 0 87 LightSwitch -2.0 1.549 6.045 0 90 0 88 Safe 2.046 1.072 7.054 0 257.232 0 89 Faucet 1.534 1.025 2.371 0 294.391 0 90 Blinds 1.738 2.563 2.312 0 90 0 91 DiningTable -0.156 0.000 6.474 0 0 0 92 Chair 0.291 0.002 6.142 0 310.162 0 93 GarbageBag -1.092 0.318 0.268 270 90 83.492 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Turn left, move to the table, left of the chair. | STEP 2: Pick up the knife from the table. | STEP 3: Turn right, move to the table, right of the chair. | STEP 4: Section the yellow apple on the table. | STEP 5: Turn left, move to the table, right of the chair. | STEP 6: Put the knife on the table. | STEP 7: Turn right, move to the table, right of the chair. | STEP 8: Pick up a section of yellow apple. | STEP 9: Turn left, move to the counter in front of the sink. | STEP 10: Put the apple section in the microwave, cook it, pick it back up. | STEP 11: Turn left, move to the table, right of the chair. | STEP 12: Put the apple section on the table, left of the bowl. | END" ]
[ [ "STEP 1: Turn left, move to the table, left of the chair. ", " STEP 2: Pick up the knife from the table. ", " STEP 3: Turn right, move to the table, right of the chair. ", " STEP 4: Section the yellow apple on the table. ", " STEP 5: Turn left, move to the table, right of the chair. ", " STEP 6: Put the knife on the table. ", " STEP 7: Turn right, move to the table, right of the chair. ", " STEP 8: Pick up a section of yellow apple. ", " STEP 9: Turn left, move to the counter in front of the sink. ", " STEP 10: Put the apple section in the microwave, cook it, pick it back up. ", " STEP 11: Turn left, move to the table, right of the chair. ", " STEP 12: Put the apple section on the table, left of the bowl. ", " END" ] ]
seen
trial_T20190908_204024_506453-1
Cut an apple, cook a piece of the apple
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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 2.0 0 90 0 1 Potato 1.135 1.027 4.624 0 0 0 56 2 Potato 2.094 1.550 5.876 0 270 0 77 3 DishSponge 1.182 0.770 4.790 0 0 0 45 4 ButterKnife 0.167 0.760 6.151 0 135 0 91 5 Kettle 1.32 0.988 3.848 0 0 0 54 6 Spatula 0.102 0.775 6.305 0 315 0 91 7 Spatula 1.497 0.906 2.525 0 0 0 78 8 Egg 2.094 1.565 6.001 0 270 0 77 9 Cup 2.051 1.511 5.626 0 270 0 77 10 Plate 0.674 0.144 0.418 0 0 0 61 11 Plate 1.573 0.141 2.498 0 0 0 67 12 Tomato -0.158 0.809 6.291 0 270 0 91 13 Bowl 0.150 0.759 6.354 0 270 0 91 14 SaltShaker 1.500 1.572 1.288 0 0 0 65 15 SaltShaker -0.284 0.755 6.787 0 0 0 91 16 Lettuce 0.257 0.848 6.719 0 225 0 91 17 Lettuce -0.443 0.848 6.851 0 135 0 91 18 Mug 1.384 1.043 0.847 0 270 0 55 19 Apple 0.059 0.834 6.698 0 225 0 91 20 Bowl -0.384 0.991 0.395 0 0 0 55 21 Bread 1.099 1.048 0.434 0 0 0 55 22 Egg 1.497 0.940 1.983 0 90 0 78 23 Knife -0.611 1.022 0.212 0 0 0 55 24 Fork 1.318 0.984 0.442 0 0 358.647 55 25 Apple 1.956 0.155 6.498 0 0 0 79 26 Kettle 1.317 0.988 4.294 0 0 0 50 27 Plate 1.079 1.580 0.251 0 0 0 62 28 SaltShaker 0.622 1.574 0.339 0 0 0 69 29 Lettuce 1.403 1.081 0.440 0 0 0 55 30 SoapBottle 1.135 0.992 3.324 0 0 0 55 31 Spatula -0.467 0.775 6.666 0 0 0 91 32 PaperTowelRoll -0.400 0.864 6.503 0 225 0 91 33 Pot 0.734 0.981 0.38 0 0 0 55 34 Potato 1.966 1.550 5.251 0 270 0 77 35 ButterKnife -0.549 0.772 0.563 0 0 0 51 36 PepperShaker -0.159 0.755 6.787 0 0 0 91 37 Pan 1.559 0.988 4.294 0 0 0 53 38 Tomato -0.510 0.809 6.565 0 135 0 91 39 DishSponge -0.221 0.759 6.941 0 0 0 91 40 Cup 1.322 0.136 3.365 0 0 0 66 41 Spoon -0.288 0.761 6.172 0 225 0 91 42 Mug -0.049 0.755 6.588 0 225 0 91 43 Cabinet 1.307 2.455 4.360 0 0 0 44 Cabinet 1.054 0.422 1.710 0 0 0 45 Drawer 1.280 0.808 4.718 0 0 0 46 Cabinet 1.307 2.455 3.607 0 0 0 47 Drawer 0.736 0.802 0.521 0 0 0 48 Drawer 1.276 0.802 3.291 0 0 0 49 StoveBurner 1.562 0.982 3.848 0 0 0 50 StoveBurner 1.317 0.982 4.294 0 0 0 51 Drawer -0.482 0.802 0.521 0 0 0 52 Drawer 0.124 0.802 0.521 0 0 0 53 StoveBurner 1.559 0.982 4.294 0 0 0 54 StoveBurner 1.320 0.982 3.848 0 0 0 55 CounterTop 1.391 1.028 0.897 0 0 0 56 CounterTop 1.391 1.028 4.716 0 0 0 57 Cabinet 1.054 0.422 4.548 0 0 0 58 Cabinet 1.317 2.134 0.517 0 0 0 59 Cabinet 1.317 2.134 4.889 0 0 0 60 Cabinet 1.317 2.134 3.095 0 0 0 61 Cabinet 0.443 0.422 0.743 0 0 0 62 Cabinet 1.270 2.134 0.434 0 0 0 63 Cabinet -0.775 0.422 0.743 0 0 0 64 Cabinet -0.168 0.422 0.743 0 0 0 65 Cabinet 1.317 2.134 1.534 0 0 0 66 Cabinet 1.054 0.422 2.990 0 0 0 67 Cabinet 1.054 0.422 2.944 0 0 0 68 Cabinet -0.263 2.134 0.434 0 0 0 69 Cabinet 0.252 2.134 0.434 0 0 0 70 Sink 1.391 1.006 2.326 0 0 0 71 Microwave 0.108 0.981 0.262 0 0 0 72 HousePlant -0.165 0.826 6.444 0 0 0 73 CoffeeMachine 1.551 0.982 0.953 0 270 0 74 Toaster 1.473 0.981 4.715 0 270 0 75 Window -2.065 1.916 3.626 90 90 0 76 Window 1.763 2.007 2.299 90 270 0 77 Fridge 2.035 0.0 5.625 0 0 0 78 SinkBasin 1.387 0.880 2.338 0 90 0 79 GarbageCan 2.001 -0.044 6.503 0 0 0 80 StoveKnob 1.140 0.934 3.987 45 270 0 81 StoveKnob 1.140 0.934 4.309 45 270 0 82 StoveKnob 1.140 0.934 4.140 45 270 0 83 StoveKnob 1.140 0.934 3.824 45 270 0 84 Vase -0.226 0.834 6.993 0 0 0 85 Vase 2.098 0.043 7.070 0 257.232 0 86 Vase -0.594 0.835 6.130 0 225 0 87 LightSwitch -2.0 1.549 6.045 0 90 0 88 Safe 2.046 1.072 7.054 0 257.232 0 89 Faucet 1.534 1.025 2.371 0 294.391 0 90 Blinds 1.738 2.563 2.312 0 90 0 91 DiningTable -0.156 0.000 6.474 0 0 0 92 Chair 0.291 0.002 6.142 0 310.162 0 93 GarbageBag -1.092 0.318 0.268 270 90 83.492 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Go forward, turn left and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Go to the right side of the table | STEP 4: Cut the apple on the table | STEP 5: Move a bit to the left | STEP 6: Put the knife on the table | STEP 7: Move a bit to the right | STEP 8: Pick up an apple piece | STEP 9: Move around the table and go to the microwave on the left side | STEP 10: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave | STEP 11: Turn around, go to the right side of table | STEP 12: Put the apple piece on the table | END" ]
[ [ "STEP 1: Go forward, turn left and go to the table ", " STEP 2: Pick up the knife on the table ", " STEP 3: Go to the right side of the table ", " STEP 4: Cut the apple on the table ", " STEP 5: Move a bit to the left ", " STEP 6: Put the knife on the table ", " STEP 7: Move a bit to the right ", " STEP 8: Pick up an apple piece ", " STEP 9: Move around the table and go to the microwave on the left side ", " STEP 10: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave ", " STEP 11: Turn around, go to the right side of table ", " STEP 12: Put the apple piece on the table ", " END" ] ]
seen
trial_T20190908_204024_506453-2
To heat a piece of apple and place it on the kitchen table.
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" 0.141", " 2.498", " 0", " 0", " 0", " 67" ], [ "12", " Tomato", " -0.158", " 0.809", " 6.291", " 0", " 270", " 0", " 91" ], [ "13", " Bowl", " 0.150", " 0.759", " 6.354", " 0", " 270", " 0", " 91" ], [ "14", " SaltShaker", " 1.500", " 1.572", " 1.288", " 0", " 0", " 0", " 65" ], [ "15", " SaltShaker", " -0.284", " 0.755", " 6.787", " 0", " 0", " 0", " 91" ], [ "16", " Lettuce", " 0.257", " 0.848", " 6.719", " 0", " 225", " 0", " 91" ], [ "17", " Lettuce", " -0.443", " 0.848", " 6.851", " 0", " 135", " 0", " 91" ], [ "18", " Mug", " 1.384", " 1.043", " 0.847", " 0", " 270", " 0", " 55" ], [ "19", " Apple", " 0.059", " 0.834", " 6.698", " 0", " 225", " 0", " 91" ], [ "20", " Bowl", " -0.384", " 0.991", " 0.395", " 0", " 0", " 0", " 55" ], [ "21", " Bread", " 1.099", " 1.048", " 0.434", " 0", " 0", " 0", " 55" ], [ "22", " Egg", " 1.497", " 0.940", " 1.983", " 0", " 90", " 0", " 78" ], [ "23", " Knife", " -0.611", " 1.022", " 0.212", " 0", " 0", " 0", " 55" ], [ "24", " Fork", " 1.318", " 0.984", " 0.442", " 0", " 0", " 358.647", " 55" ], [ "25", " Apple", " 1.956", " 0.155", " 6.498", " 0", " 0", " 0", " 79" ], [ "26", " Kettle", " 1.317", " 0.988", " 4.294", " 0", " 0", " 0", " 50" ], [ "27", " Plate", " 1.079", " 1.580", " 0.251", " 0", " 0", " 0", " 62" ], [ "28", " SaltShaker", " 0.622", " 1.574", " 0.339", " 0", " 0", " 0", " 69" ], [ "29", " Lettuce", " 1.403", " 1.081", " 0.440", " 0", " 0", " 0", " 55" ], [ "30", " SoapBottle", " 1.135", " 0.992", " 3.324", " 0", " 0", " 0", " 55" ], [ "31", " Spatula", " -0.467", " 0.775", " 6.666", " 0", " 0", " 0", " 91" ], [ "32", " PaperTowelRoll", " -0.400", " 0.864", " 6.503", " 0", " 225", " 0", " 91" ], [ "33", " Pot", " 0.734", " 0.981", " 0.38", " 0", " 0", " 0", " 55" ], [ "34", " Potato", " 1.966", " 1.550", " 5.251", " 0", " 270", " 0", " 77" ], [ "35", " ButterKnife", " -0.549", " 0.772", " 0.563", " 0", " 0", " 0", " 51" ], [ "36", " PepperShaker", " -0.159", " 0.755", " 6.787", " 0", " 0", " 0", " 91" ], [ "37", " Pan", " 1.559", " 0.988", " 4.294", " 0", " 0", " 0", " 53" ], [ "38", " Tomato", " -0.510", " 0.809", " 6.565", " 0", " 135", " 0", " 91" ], [ "39", " DishSponge", " -0.221", " 0.759", " 6.941", " 0", " 0", " 0", " 91" ], [ "40", " Cup", " 1.322", " 0.136", " 3.365", " 0", " 0", " 0", " 66" ], [ "41", " Spoon", " -0.288", " 0.761", " 6.172", " 0", " 225", " 0", " 91" ], [ "42", " Mug", " -0.049", " 0.755", " 6.588", " 0", " 225", " 0", " 91" ], [ "43", " Cabinet", " 1.307", " 2.455", " 4.360", " 0", " 0", " 0", "" ], [ "44", " Cabinet", " 1.054", " 0.422", " 1.710", " 0", " 0", " 0", "" ], [ "45", " Drawer", " 1.280", " 0.808", " 4.718", " 0", " 0", " 0", "" ], [ "46", " Cabinet", " 1.307", " 2.455", " 3.607", " 0", " 0", " 0", "" ], [ "47", " Drawer", " 0.736", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "48", " Drawer", " 1.276", " 0.802", " 3.291", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " 1.562", " 0.982", " 3.848", " 0", " 0", " 0", "" ], [ "50", " StoveBurner", " 1.317", " 0.982", " 4.294", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -0.482", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "52", " Drawer", " 0.124", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " 1.559", " 0.982", " 4.294", " 0", " 0", " 0", "" ], [ "54", " StoveBurner", " 1.320", " 0.982", " 3.848", " 0", " 0", " 0", "" ], [ "55", " CounterTop", " 1.391", " 1.028", " 0.897", " 0", " 0", " 0", "" ], [ "56", " CounterTop", " 1.391", " 1.028", " 4.716", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 1.054", " 0.422", " 4.548", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 1.317", " 2.134", " 0.517", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 1.317", " 2.134", " 4.889", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 1.317", " 2.134", " 3.095", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.443", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " 1.270", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -0.775", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.168", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 1.317", " 2.134", " 1.534", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.054", " 0.422", " 2.990", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " 1.054", " 0.422", " 2.944", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -0.263", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " 0.252", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "70", " Sink", " 1.391", " 1.006", " 2.326", " 0", " 0", " 0", "" ], [ "71", " Microwave", " 0.108", " 0.981", " 0.262", " 0", " 0", " 0", "" ], [ "72", " HousePlant", " -0.165", " 0.826", " 6.444", " 0", " 0", " 0", "" ], [ "73", " CoffeeMachine", " 1.551", " 0.982", " 0.953", " 0", " 270", " 0", "" ], [ "74", " Toaster", " 1.473", " 0.981", " 4.715", " 0", " 270", " 0", "" ], [ "75", " Window", " -2.065", " 1.916", " 3.626", " 90", " 90", " 0", "" ], [ "76", " Window", " 1.763", " 2.007", " 2.299", " 90", " 270", " 0", "" ], [ "77", " Fridge", " 2.035", " 0.0", " 5.625", " 0", " 0", " 0", "" ], [ "78", " SinkBasin", " 1.387", " 0.880", " 2.338", " 0", " 90", " 0", "" ], [ "79", " GarbageCan", " 2.001", " -0.044", " 6.503", " 0", " 0", " 0", "" ], [ "80", " StoveKnob", " 1.140", " 0.934", " 3.987", " 45", " 270", " 0", "" ], [ "81", " StoveKnob", " 1.140", " 0.934", " 4.309", " 45", " 270", " 0", "" ], [ "82", " StoveKnob", " 1.140", " 0.934", " 4.140", " 45", " 270", " 0", "" ], [ "83", " StoveKnob", " 1.140", " 0.934", " 3.824", " 45", " 270", " 0", "" ], [ "84", " Vase", " -0.226", " 0.834", " 6.993", " 0", " 0", " 0", "" ], [ "85", " Vase", " 2.098", " 0.043", " 7.070", " 0", " 257.232", " 0", "" ], [ "86", " Vase", " -0.594", " 0.835", " 6.130", " 0", " 225", " 0", "" ], [ "87", " LightSwitch", " -2.0", " 1.549", " 6.045", " 0", " 90", " 0", "" ], [ "88", " Safe", " 2.046", " 1.072", " 7.054", " 0", " 257.232", " 0", "" ], [ "89", " Faucet", " 1.534", " 1.025", " 2.371", " 0", " 294.391", " 0", "" ], [ "90", " Blinds", " 1.738", " 2.563", " 2.312", " 0", " 90", " 0", "" ], [ "91", " DiningTable", " -0.156", " 0.000", " 6.474", " 0", " 0", " 0", "" ], [ "92", " Chair", " 0.291", " 0.002", " 6.142", " 0", " 310.162", " 0", "" ], [ "93", " GarbageBag", " -1.092", " 0.318", " 0.268", " 270", " 90", " 83.492", "" ], [ "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 -1.5 0.900 2.0 0 90 0 1 Potato 1.135 1.027 4.624 0 0 0 56 2 Potato 2.094 1.550 5.876 0 270 0 77 3 DishSponge 1.182 0.770 4.790 0 0 0 45 4 ButterKnife 0.167 0.760 6.151 0 135 0 91 5 Kettle 1.32 0.988 3.848 0 0 0 54 6 Spatula 0.102 0.775 6.305 0 315 0 91 7 Spatula 1.497 0.906 2.525 0 0 0 78 8 Egg 2.094 1.565 6.001 0 270 0 77 9 Cup 2.051 1.511 5.626 0 270 0 77 10 Plate 0.674 0.144 0.418 0 0 0 61 11 Plate 1.573 0.141 2.498 0 0 0 67 12 Tomato -0.158 0.809 6.291 0 270 0 91 13 Bowl 0.150 0.759 6.354 0 270 0 91 14 SaltShaker 1.500 1.572 1.288 0 0 0 65 15 SaltShaker -0.284 0.755 6.787 0 0 0 91 16 Lettuce 0.257 0.848 6.719 0 225 0 91 17 Lettuce -0.443 0.848 6.851 0 135 0 91 18 Mug 1.384 1.043 0.847 0 270 0 55 19 Apple 0.059 0.834 6.698 0 225 0 91 20 Bowl -0.384 0.991 0.395 0 0 0 55 21 Bread 1.099 1.048 0.434 0 0 0 55 22 Egg 1.497 0.940 1.983 0 90 0 78 23 Knife -0.611 1.022 0.212 0 0 0 55 24 Fork 1.318 0.984 0.442 0 0 358.647 55 25 Apple 1.956 0.155 6.498 0 0 0 79 26 Kettle 1.317 0.988 4.294 0 0 0 50 27 Plate 1.079 1.580 0.251 0 0 0 62 28 SaltShaker 0.622 1.574 0.339 0 0 0 69 29 Lettuce 1.403 1.081 0.440 0 0 0 55 30 SoapBottle 1.135 0.992 3.324 0 0 0 55 31 Spatula -0.467 0.775 6.666 0 0 0 91 32 PaperTowelRoll -0.400 0.864 6.503 0 225 0 91 33 Pot 0.734 0.981 0.38 0 0 0 55 34 Potato 1.966 1.550 5.251 0 270 0 77 35 ButterKnife -0.549 0.772 0.563 0 0 0 51 36 PepperShaker -0.159 0.755 6.787 0 0 0 91 37 Pan 1.559 0.988 4.294 0 0 0 53 38 Tomato -0.510 0.809 6.565 0 135 0 91 39 DishSponge -0.221 0.759 6.941 0 0 0 91 40 Cup 1.322 0.136 3.365 0 0 0 66 41 Spoon -0.288 0.761 6.172 0 225 0 91 42 Mug -0.049 0.755 6.588 0 225 0 91 43 Cabinet 1.307 2.455 4.360 0 0 0 44 Cabinet 1.054 0.422 1.710 0 0 0 45 Drawer 1.280 0.808 4.718 0 0 0 46 Cabinet 1.307 2.455 3.607 0 0 0 47 Drawer 0.736 0.802 0.521 0 0 0 48 Drawer 1.276 0.802 3.291 0 0 0 49 StoveBurner 1.562 0.982 3.848 0 0 0 50 StoveBurner 1.317 0.982 4.294 0 0 0 51 Drawer -0.482 0.802 0.521 0 0 0 52 Drawer 0.124 0.802 0.521 0 0 0 53 StoveBurner 1.559 0.982 4.294 0 0 0 54 StoveBurner 1.320 0.982 3.848 0 0 0 55 CounterTop 1.391 1.028 0.897 0 0 0 56 CounterTop 1.391 1.028 4.716 0 0 0 57 Cabinet 1.054 0.422 4.548 0 0 0 58 Cabinet 1.317 2.134 0.517 0 0 0 59 Cabinet 1.317 2.134 4.889 0 0 0 60 Cabinet 1.317 2.134 3.095 0 0 0 61 Cabinet 0.443 0.422 0.743 0 0 0 62 Cabinet 1.270 2.134 0.434 0 0 0 63 Cabinet -0.775 0.422 0.743 0 0 0 64 Cabinet -0.168 0.422 0.743 0 0 0 65 Cabinet 1.317 2.134 1.534 0 0 0 66 Cabinet 1.054 0.422 2.990 0 0 0 67 Cabinet 1.054 0.422 2.944 0 0 0 68 Cabinet -0.263 2.134 0.434 0 0 0 69 Cabinet 0.252 2.134 0.434 0 0 0 70 Sink 1.391 1.006 2.326 0 0 0 71 Microwave 0.108 0.981 0.262 0 0 0 72 HousePlant -0.165 0.826 6.444 0 0 0 73 CoffeeMachine 1.551 0.982 0.953 0 270 0 74 Toaster 1.473 0.981 4.715 0 270 0 75 Window -2.065 1.916 3.626 90 90 0 76 Window 1.763 2.007 2.299 90 270 0 77 Fridge 2.035 0.0 5.625 0 0 0 78 SinkBasin 1.387 0.880 2.338 0 90 0 79 GarbageCan 2.001 -0.044 6.503 0 0 0 80 StoveKnob 1.140 0.934 3.987 45 270 0 81 StoveKnob 1.140 0.934 4.309 45 270 0 82 StoveKnob 1.140 0.934 4.140 45 270 0 83 StoveKnob 1.140 0.934 3.824 45 270 0 84 Vase -0.226 0.834 6.993 0 0 0 85 Vase 2.098 0.043 7.070 0 257.232 0 86 Vase -0.594 0.835 6.130 0 225 0 87 LightSwitch -2.0 1.549 6.045 0 90 0 88 Safe 2.046 1.072 7.054 0 257.232 0 89 Faucet 1.534 1.025 2.371 0 294.391 0 90 Blinds 1.738 2.563 2.312 0 90 0 91 DiningTable -0.156 0.000 6.474 0 0 0 92 Chair 0.291 0.002 6.142 0 310.162 0 93 GarbageBag -1.092 0.318 0.268 270 90 83.492 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Turn left and walk across the room to face the kitchen table. | STEP 2: Pick up the knife on the kitchen table. | STEP 3: Walk around to face the side of the kitchen table. | STEP 4: Cut the apple on the table into three slices. | STEP 5: Take a step to the left and face the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Take a step to the right to face the apple on the kitchen table. | STEP 8: Pick up a piece of apple on the kitchen table. | STEP 9: Turn left and walk across the room to face the microwave. | STEP 10: Heat the piece of apple in the microwave and remove it. | STEP 11: Turn around and walk across the room and turn left to face the kitchen table. | STEP 12: Place the piece of apple on the kitchen table. | END" ]
[ [ "STEP 1: Turn left and walk across the room to face the kitchen table. ", " STEP 2: Pick up the knife on the kitchen table. ", " STEP 3: Walk around to face the side of the kitchen table. ", " STEP 4: Cut the apple on the table into three slices. ", " STEP 5: Take a step to the left and face the kitchen table. ", " STEP 6: Place the knife on the kitchen table. ", " STEP 7: Take a step to the right to face the apple on the kitchen table. ", " STEP 8: Pick up a piece of apple on the kitchen table. ", " STEP 9: Turn left and walk across the room to face the microwave. ", " STEP 10: Heat the piece of apple in the microwave and remove it. ", " STEP 11: Turn around and walk across the room and turn left to face the kitchen table. ", " STEP 12: Place the piece of apple on the kitchen table. ", " END" ] ]
seen
trial_T20190908_001313_828023-0
Warm up the tray and place on the table.
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315", " 90", " 180", "" ], [ "62", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "63", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "64", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "65", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "66", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "67", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "68", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "69", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "70", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "72", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "73", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "74", " SideTable", " 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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 -0.5 0 270 0 1 Potato -0.236 0.973 -1.406 0 0 0 57 2 Potato -0.293 1.318 -0.762 0 270 0 69 3 DishSponge -0.427 0.081 -1.529 0 0 0 55 4 DishSponge -2.761 0.894 -0.204 0 270 0 76 5 Pot -0.222 0.961 -1.845 0 180 0 41 6 Fork -0.394 0.941 -1.319 0 180 0 57 7 Fork -3.713 0.760 -3.778 0 289.125 0 75 8 Spoon -4.122 0.692 -0.369 0 0 0 74 9 Spatula -3.396 0.775 -3.073 0 244.125 0 75 10 Spatula -0.397 0.957 -2.906 0 0 0 39 11 Plate -0.283 1.502 -0.762 0 270 0 69 12 Knife -4.062 0.716 -0.491 0 0 0 74 13 Bread -3.364 0.976 -0.204 0 270 0 76 14 Lettuce -0.283 1.579 -0.994 0 270 0 69 15 Lettuce -3.603 0.851 -3.652 0 199.125 0 75 16 Mug -0.321 1.483 -0.297 0 270 0 69 17 Mug -4.002 0.686 -0.491 0 0 0 74 18 SoapBottle -3.440 0.758 -3.406 0 334.125 0 75 19 Pot -2.962 0.895 -0.290 0 270 0 76 20 Fork -3.676 0.760 -3.348 0 334.125 0 75 21 Cup -1.151 0.082 -3.610 0 0 0 54 22 Tomato -0.624 0.864 -3.473 0 315 0 68 23 Pan -0.437 0.961 -2.243 0 0 0 42 24 Plate -0.469 0.094 -2.681 0 0 0 52 25 Bread -2.560 0.976 -0.376 0 270 0 76 26 Spatula -0.394 0.956 -1.538 0 180 0 57 27 Knife -3.364 0.920 -0.462 0 270 0 76 28 SaltShaker -0.397 0.938 -2.729 0 0 0 39 29 PepperShaker -0.152 0.938 -2.927 0 45 0 39 30 ButterKnife -3.780 0.760 -3.591 0 199.125 0 75 31 Apple -3.882 0.751 -0.126 0 0 0 74 32 DishSponge -3.224 0.759 -3.590 0 109.125 0 75 33 Potato -0.252 1.318 -0.646 0 270 0 69 34 Egg -0.244 0.983 -2.552 0 0 0 39 35 Spoon -0.157 0.942 -1.319 0 0 0 57 36 Lettuce -4.002 0.781 -0.248 0 0 0 74 37 Mug -3.284 0.755 -2.949 0 244.125 0 75 38 Bowl -0.376 1.284 -0.878 0 270 0 69 39 CounterTop -1.937 0.977 -3.673 0 0 0 40 StoveBurner -0.437 0.924 -1.845 0 180 0 41 StoveBurner -0.222 0.924 -1.845 0 180 0 42 StoveBurner -0.437 0.924 -2.243 0 0 0 43 Drawer -0.500 0.779 -1.450 0 0 0 44 Drawer -0.481 0.777 -2.739 0 0 0 45 Drawer -1.154 0.782 -3.499 0 0 0 46 Cabinet -0.337 2.110 -0.390 0 0 0 47 Cabinet -0.337 2.110 -1.272 0 0 0 48 Cabinet -0.337 2.110 -1.631 0 0 0 49 Cabinet -0.337 2.110 -2.497 0 0 0 50 Cabinet -0.337 1.891 -1.286 0 0 0 51 Cabinet -0.346 1.891 -3.293 0 0 0 52 Cabinet -0.629 0.388 -2.513 0 0 0 53 Cabinet -0.633 0.388 -3.008 0 0 0 54 Cabinet -1.010 0.388 -3.368 0 0 0 55 Cabinet -0.629 0.388 -1.614 0 0 0 56 Cabinet -0.327 1.886 -2.513 0 0 0 57 CounterTop -0.326 0.976 -1.450 0 0 0 58 StoveBurner -0.222 0.924 -2.243 0 0 0 59 Sink -0.600 0.929 -3.388 0 0 0 60 StoveKnob -0.617 0.899 -1.833 315 90 180 61 StoveKnob -0.617 0.899 -2.129 315 90 180 62 StoveKnob -0.617 0.899 -2.289 315 90 180 63 StoveKnob -0.617 0.899 -1.975 315 90 180 64 GarbageCan -2.418 -0.032 -3.541 0 0 0 65 CoffeeMachine -2.513 0.930 -3.797 0 0 0 66 Window -1.389 1.610 -4.113 90 0 0 67 LightSwitch -4.372 1.493 -1.031 0 90 0 68 SinkBasin -0.614 0.802 -3.384 0 315 0 69 Fridge -0.314 0.0 -0.646 0 0 0 70 Toaster -1.970 0.930 -3.763 0 0 0 71 Microwave -0.216 1.470 -2.054 0 270 0 72 Blinds -1.373 2.205 -3.961 0 0 0 73 Faucet -0.393 0.930 -3.614 270 225 0 74 SideTable -4.030 0.002 -0.301 0 185.034 0 75 DiningTable -3.586 0.000 -3.258 0 0 0 76 DiningTable -3.224 -0.003 -0.453 0 0 0 77 Shelf -4.030 0.259 -0.301 0 185.034 0 78 Shelf -4.030 0.489 -0.301 0 185.034 0 79 EastWall 80 EastWall 81 SouthWall
[ "STEP 1: Turn around so you are facing the fridge. | STEP 2: Open the fridge. Grab the tray off the top shelf of the fridge. Shut the fridge. | STEP 3: Turn and go to the stove with the tray in hand. | STEP 4: Open the microwave above the stove. Place the tray in the microwave. Close the door and turn it on. Open the door and grab the tray. | STEP 5: With the tray in hand turn around and go to the door. Turn left and face the table. | STEP 6: Place the tray to the right of the coffee mug on the table. | END" ]
[ [ "STEP 1: Turn around so you are facing the fridge. ", " STEP 2: Open the fridge. Grab the tray off the top shelf of the fridge. Shut the fridge. ", " STEP 3: Turn and go to the stove with the tray in hand. ", " STEP 4: Open the microwave above the stove. Place the tray in the microwave. Close the door and turn it on. Open the door and grab the tray. ", " STEP 5: With the tray in hand turn around and go to the door. Turn left and face the table. ", " STEP 6: Place the tray to the right of the coffee mug on the table. ", " END" ] ]
seen
trial_T20190908_001313_828023-1
Microwave a plate and set it down on a kitchen table
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39" ], [ "11", " Plate", " -0.283", " 1.502", " -0.762", " 0", " 270", " 0", " 69" ], [ "12", " Knife", " -4.062", " 0.716", " -0.491", " 0", " 0", " 0", " 74" ], [ "13", " Bread", " -3.364", " 0.976", " -0.204", " 0", " 270", " 0", " 76" ], [ "14", " Lettuce", " -0.283", " 1.579", " -0.994", " 0", " 270", " 0", " 69" ], [ "15", " Lettuce", " -3.603", " 0.851", " -3.652", " 0", " 199.125", " 0", " 75" ], [ "16", " Mug", " -0.321", " 1.483", " -0.297", " 0", " 270", " 0", " 69" ], [ "17", " Mug", " -4.002", " 0.686", " -0.491", " 0", " 0", " 0", " 74" ], [ "18", " SoapBottle", " -3.440", " 0.758", " -3.406", " 0", " 334.125", " 0", " 75" ], [ "19", " Pot", " -2.962", " 0.895", " -0.290", " 0", " 270", " 0", " 76" ], [ "20", " Fork", " -3.676", " 0.760", " -3.348", " 0", " 334.125", " 0", " 75" ], [ "21", " Cup", " -1.151", " 0.082", " -3.610", " 0", " 0", " 0", " 54" ], [ "22", " Tomato", " -0.624", " 0.864", " -3.473", " 0", " 315", " 0", " 68" ], [ "23", " Pan", " -0.437", " 0.961", " -2.243", " 0", " 0", " 0", " 42" ], [ "24", " Plate", " -0.469", " 0.094", " -2.681", " 0", " 0", " 0", " 52" ], [ "25", " Bread", " -2.560", " 0.976", " -0.376", " 0", " 270", " 0", " 76" ], [ "26", " Spatula", " -0.394", " 0.956", " -1.538", " 0", " 180", " 0", " 57" ], [ "27", " Knife", " -3.364", " 0.920", " -0.462", " 0", " 270", " 0", " 76" ], [ "28", " SaltShaker", " -0.397", " 0.938", " -2.729", " 0", " 0", " 0", " 39" ], [ "29", " PepperShaker", " -0.152", " 0.938", " -2.927", " 0", " 45", " 0", " 39" ], [ "30", " ButterKnife", " -3.780", " 0.760", " -3.591", " 0", " 199.125", " 0", " 75" ], [ "31", " Apple", " -3.882", " 0.751", " -0.126", " 0", " 0", " 0", " 74" ], [ "32", " DishSponge", " -3.224", " 0.759", " -3.590", " 0", " 109.125", " 0", " 75" ], [ "33", " Potato", " -0.252", " 1.318", " -0.646", " 0", " 270", " 0", " 69" ], [ "34", " Egg", " -0.244", " 0.983", " -2.552", " 0", " 0", " 0", " 39" ], [ "35", " Spoon", " -0.157", " 0.942", " -1.319", " 0", " 0", " 0", " 57" ], [ "36", " Lettuce", " -4.002", " 0.781", " -0.248", " 0", " 0", " 0", " 74" ], [ "37", " Mug", " -3.284", " 0.755", " -2.949", " 0", " 244.125", " 0", " 75" ], [ "38", " Bowl", " -0.376", " 1.284", " -0.878", " 0", " 270", " 0", " 69" ], [ "39", " CounterTop", " -1.937", " 0.977", " -3.673", " 0", " 0", " 0", "" ], [ "40", " StoveBurner", " -0.437", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "41", " StoveBurner", " -0.222", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "42", " StoveBurner", " -0.437", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "43", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "44", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "45", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "46", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "57", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "59", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "60", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "61", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "62", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "63", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "64", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "65", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "66", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "67", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "68", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "69", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "70", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "72", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "73", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "74", " SideTable", " 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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 -0.5 0 270 0 1 Potato -0.236 0.973 -1.406 0 0 0 57 2 Potato -0.293 1.318 -0.762 0 270 0 69 3 DishSponge -0.427 0.081 -1.529 0 0 0 55 4 DishSponge -2.761 0.894 -0.204 0 270 0 76 5 Pot -0.222 0.961 -1.845 0 180 0 41 6 Fork -0.394 0.941 -1.319 0 180 0 57 7 Fork -3.713 0.760 -3.778 0 289.125 0 75 8 Spoon -4.122 0.692 -0.369 0 0 0 74 9 Spatula -3.396 0.775 -3.073 0 244.125 0 75 10 Spatula -0.397 0.957 -2.906 0 0 0 39 11 Plate -0.283 1.502 -0.762 0 270 0 69 12 Knife -4.062 0.716 -0.491 0 0 0 74 13 Bread -3.364 0.976 -0.204 0 270 0 76 14 Lettuce -0.283 1.579 -0.994 0 270 0 69 15 Lettuce -3.603 0.851 -3.652 0 199.125 0 75 16 Mug -0.321 1.483 -0.297 0 270 0 69 17 Mug -4.002 0.686 -0.491 0 0 0 74 18 SoapBottle -3.440 0.758 -3.406 0 334.125 0 75 19 Pot -2.962 0.895 -0.290 0 270 0 76 20 Fork -3.676 0.760 -3.348 0 334.125 0 75 21 Cup -1.151 0.082 -3.610 0 0 0 54 22 Tomato -0.624 0.864 -3.473 0 315 0 68 23 Pan -0.437 0.961 -2.243 0 0 0 42 24 Plate -0.469 0.094 -2.681 0 0 0 52 25 Bread -2.560 0.976 -0.376 0 270 0 76 26 Spatula -0.394 0.956 -1.538 0 180 0 57 27 Knife -3.364 0.920 -0.462 0 270 0 76 28 SaltShaker -0.397 0.938 -2.729 0 0 0 39 29 PepperShaker -0.152 0.938 -2.927 0 45 0 39 30 ButterKnife -3.780 0.760 -3.591 0 199.125 0 75 31 Apple -3.882 0.751 -0.126 0 0 0 74 32 DishSponge -3.224 0.759 -3.590 0 109.125 0 75 33 Potato -0.252 1.318 -0.646 0 270 0 69 34 Egg -0.244 0.983 -2.552 0 0 0 39 35 Spoon -0.157 0.942 -1.319 0 0 0 57 36 Lettuce -4.002 0.781 -0.248 0 0 0 74 37 Mug -3.284 0.755 -2.949 0 244.125 0 75 38 Bowl -0.376 1.284 -0.878 0 270 0 69 39 CounterTop -1.937 0.977 -3.673 0 0 0 40 StoveBurner -0.437 0.924 -1.845 0 180 0 41 StoveBurner -0.222 0.924 -1.845 0 180 0 42 StoveBurner -0.437 0.924 -2.243 0 0 0 43 Drawer -0.500 0.779 -1.450 0 0 0 44 Drawer -0.481 0.777 -2.739 0 0 0 45 Drawer -1.154 0.782 -3.499 0 0 0 46 Cabinet -0.337 2.110 -0.390 0 0 0 47 Cabinet -0.337 2.110 -1.272 0 0 0 48 Cabinet -0.337 2.110 -1.631 0 0 0 49 Cabinet -0.337 2.110 -2.497 0 0 0 50 Cabinet -0.337 1.891 -1.286 0 0 0 51 Cabinet -0.346 1.891 -3.293 0 0 0 52 Cabinet -0.629 0.388 -2.513 0 0 0 53 Cabinet -0.633 0.388 -3.008 0 0 0 54 Cabinet -1.010 0.388 -3.368 0 0 0 55 Cabinet -0.629 0.388 -1.614 0 0 0 56 Cabinet -0.327 1.886 -2.513 0 0 0 57 CounterTop -0.326 0.976 -1.450 0 0 0 58 StoveBurner -0.222 0.924 -2.243 0 0 0 59 Sink -0.600 0.929 -3.388 0 0 0 60 StoveKnob -0.617 0.899 -1.833 315 90 180 61 StoveKnob -0.617 0.899 -2.129 315 90 180 62 StoveKnob -0.617 0.899 -2.289 315 90 180 63 StoveKnob -0.617 0.899 -1.975 315 90 180 64 GarbageCan -2.418 -0.032 -3.541 0 0 0 65 CoffeeMachine -2.513 0.930 -3.797 0 0 0 66 Window -1.389 1.610 -4.113 90 0 0 67 LightSwitch -4.372 1.493 -1.031 0 90 0 68 SinkBasin -0.614 0.802 -3.384 0 315 0 69 Fridge -0.314 0.0 -0.646 0 0 0 70 Toaster -1.970 0.930 -3.763 0 0 0 71 Microwave -0.216 1.470 -2.054 0 270 0 72 Blinds -1.373 2.205 -3.961 0 0 0 73 Faucet -0.393 0.930 -3.614 270 225 0 74 SideTable -4.030 0.002 -0.301 0 185.034 0 75 DiningTable -3.586 0.000 -3.258 0 0 0 76 DiningTable -3.224 -0.003 -0.453 0 0 0 77 Shelf -4.030 0.259 -0.301 0 185.034 0 78 Shelf -4.030 0.489 -0.301 0 185.034 0 79 EastWall 80 EastWall 81 SouthWall
[ "STEP 1: Turn around and face the fridge | STEP 2: Open the fridge, grab a plate from in the fridge and close the door | STEP 3: Turn right and then turn to your left to face the microwave | STEP 4: Put the plate in the microwave for a few seconds and then take it out | STEP 5: Turn around and then head to your left, facing the kitchen table | STEP 6: Set the plate down on the kitchen table | END" ]
[ [ "STEP 1: Turn around and face the fridge ", " STEP 2: Open the fridge, grab a plate from in the fridge and close the door ", " STEP 3: Turn right and then turn to your left to face the microwave ", " STEP 4: Put the plate in the microwave for a few seconds and then take it out ", " STEP 5: Turn around and then head to your left, facing the kitchen table ", " STEP 6: Set the plate down on the kitchen table ", " END" ] ]
seen
trial_T20190908_001313_828023-2
Warm a plate in the microwave, put the plate on the table.
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315", " 90", " 180", "" ], [ "62", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "63", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "64", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "65", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "66", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "67", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "68", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "69", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "70", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "72", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "73", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "74", " SideTable", " 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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 -0.5 0 270 0 1 Potato -0.236 0.973 -1.406 0 0 0 57 2 Potato -0.293 1.318 -0.762 0 270 0 69 3 DishSponge -0.427 0.081 -1.529 0 0 0 55 4 DishSponge -2.761 0.894 -0.204 0 270 0 76 5 Pot -0.222 0.961 -1.845 0 180 0 41 6 Fork -0.394 0.941 -1.319 0 180 0 57 7 Fork -3.713 0.760 -3.778 0 289.125 0 75 8 Spoon -4.122 0.692 -0.369 0 0 0 74 9 Spatula -3.396 0.775 -3.073 0 244.125 0 75 10 Spatula -0.397 0.957 -2.906 0 0 0 39 11 Plate -0.283 1.502 -0.762 0 270 0 69 12 Knife -4.062 0.716 -0.491 0 0 0 74 13 Bread -3.364 0.976 -0.204 0 270 0 76 14 Lettuce -0.283 1.579 -0.994 0 270 0 69 15 Lettuce -3.603 0.851 -3.652 0 199.125 0 75 16 Mug -0.321 1.483 -0.297 0 270 0 69 17 Mug -4.002 0.686 -0.491 0 0 0 74 18 SoapBottle -3.440 0.758 -3.406 0 334.125 0 75 19 Pot -2.962 0.895 -0.290 0 270 0 76 20 Fork -3.676 0.760 -3.348 0 334.125 0 75 21 Cup -1.151 0.082 -3.610 0 0 0 54 22 Tomato -0.624 0.864 -3.473 0 315 0 68 23 Pan -0.437 0.961 -2.243 0 0 0 42 24 Plate -0.469 0.094 -2.681 0 0 0 52 25 Bread -2.560 0.976 -0.376 0 270 0 76 26 Spatula -0.394 0.956 -1.538 0 180 0 57 27 Knife -3.364 0.920 -0.462 0 270 0 76 28 SaltShaker -0.397 0.938 -2.729 0 0 0 39 29 PepperShaker -0.152 0.938 -2.927 0 45 0 39 30 ButterKnife -3.780 0.760 -3.591 0 199.125 0 75 31 Apple -3.882 0.751 -0.126 0 0 0 74 32 DishSponge -3.224 0.759 -3.590 0 109.125 0 75 33 Potato -0.252 1.318 -0.646 0 270 0 69 34 Egg -0.244 0.983 -2.552 0 0 0 39 35 Spoon -0.157 0.942 -1.319 0 0 0 57 36 Lettuce -4.002 0.781 -0.248 0 0 0 74 37 Mug -3.284 0.755 -2.949 0 244.125 0 75 38 Bowl -0.376 1.284 -0.878 0 270 0 69 39 CounterTop -1.937 0.977 -3.673 0 0 0 40 StoveBurner -0.437 0.924 -1.845 0 180 0 41 StoveBurner -0.222 0.924 -1.845 0 180 0 42 StoveBurner -0.437 0.924 -2.243 0 0 0 43 Drawer -0.500 0.779 -1.450 0 0 0 44 Drawer -0.481 0.777 -2.739 0 0 0 45 Drawer -1.154 0.782 -3.499 0 0 0 46 Cabinet -0.337 2.110 -0.390 0 0 0 47 Cabinet -0.337 2.110 -1.272 0 0 0 48 Cabinet -0.337 2.110 -1.631 0 0 0 49 Cabinet -0.337 2.110 -2.497 0 0 0 50 Cabinet -0.337 1.891 -1.286 0 0 0 51 Cabinet -0.346 1.891 -3.293 0 0 0 52 Cabinet -0.629 0.388 -2.513 0 0 0 53 Cabinet -0.633 0.388 -3.008 0 0 0 54 Cabinet -1.010 0.388 -3.368 0 0 0 55 Cabinet -0.629 0.388 -1.614 0 0 0 56 Cabinet -0.327 1.886 -2.513 0 0 0 57 CounterTop -0.326 0.976 -1.450 0 0 0 58 StoveBurner -0.222 0.924 -2.243 0 0 0 59 Sink -0.600 0.929 -3.388 0 0 0 60 StoveKnob -0.617 0.899 -1.833 315 90 180 61 StoveKnob -0.617 0.899 -2.129 315 90 180 62 StoveKnob -0.617 0.899 -2.289 315 90 180 63 StoveKnob -0.617 0.899 -1.975 315 90 180 64 GarbageCan -2.418 -0.032 -3.541 0 0 0 65 CoffeeMachine -2.513 0.930 -3.797 0 0 0 66 Window -1.389 1.610 -4.113 90 0 0 67 LightSwitch -4.372 1.493 -1.031 0 90 0 68 SinkBasin -0.614 0.802 -3.384 0 315 0 69 Fridge -0.314 0.0 -0.646 0 0 0 70 Toaster -1.970 0.930 -3.763 0 0 0 71 Microwave -0.216 1.470 -2.054 0 270 0 72 Blinds -1.373 2.205 -3.961 0 0 0 73 Faucet -0.393 0.930 -3.614 270 225 0 74 SideTable -4.030 0.002 -0.301 0 185.034 0 75 DiningTable -3.586 0.000 -3.258 0 0 0 76 DiningTable -3.224 -0.003 -0.453 0 0 0 77 Shelf -4.030 0.259 -0.301 0 185.034 0 78 Shelf -4.030 0.489 -0.301 0 185.034 0 79 EastWall 80 EastWall 81 SouthWall
[ "STEP 1: Turn around and walk to the refrigerator. | STEP 2: Take the black and white plate out of the fridge. | STEP 3: Turn right and walk to the stove on your left. | STEP 4: Put the plate in the microwave above the stove, turn the microwave on then remove the plate. | STEP 5: Turn around and walk towards the door then turn left and stop at the round table. | STEP 6: Put the plate on the table. | END" ]
[ [ "STEP 1: Turn around and walk to the refrigerator. ", " STEP 2: Take the black and white plate out of the fridge. ", " STEP 3: Turn right and walk to the stove on your left. ", " STEP 4: Put the plate in the microwave above the stove, turn the microwave on then remove the plate. ", " STEP 5: Turn around and walk towards the door then turn left and stop at the round table. ", " STEP 6: Put the plate on the table. ", " END" ] ]
seen
trial_T20190907_055048_650574-0
Get the keys from the round table.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -4.75", " 0.893", " 3.25", " 0", " 90", " 0", "" ], [ "1", " Plate", " -2.694", " 0.642", " 4.605", " 0", " 0", " 0", " 29" ], [ "2", " Vase", " -3.984", " 0.434", " 2.883", " 0", " 0", " 0", " 36" ], [ "3", " Watch", " -4.211", " 0.432", " 2.061", " 0", " 0", " 0", " 36" ], [ "4", " Box", " -3.893", " 0.833", " 4.349", " 0", " 270", " 0", " 32" ], [ "5", " Box", " -3.909", " 0.623", " 2.061", " 0", " 0", " 0", " 36" ], [ "6", " KeyChain", " -1.487", " 0.823", " 1.045", " 0", " 115.696", " 0", " 37" ], [ "7", " Newspaper", " -1.483", " 0.828", " 1.266", " 0", " 115.696", " 0", " 37" ], [ "8", " CreditCard", " -4.211", " 0.431", " 2.554", " 0", " 0", " 0", " 36" ], [ "9", " RemoteControl", " -1.257", " 0.823", " 1.295", " 0", " 0", " 0", " 37" ], [ "10", " Laptop", " -1.119", " 0.82", " 1.753", " 0", " 0", " 0", " 37" ], [ "11", " Plate", " -0.980", " 0.839", " 1.448", " 0", " 0", " 0", " 37" ], [ "12", " Pillow", " -4.161", " 0.542", " 0.575", " 0", " 0", " 0", " 33" ], [ "13", " Statue", " -1.119", " 0.827", " 0.989", " 0", " 0", " 0", " 37" ], [ "14", " Vase", " -4.135", " 0.434", " 2.225", " 0", " 0", " 0", " 36" ], [ "15", " Watch", " -2.380", " 0.516", " 4.633", " 0", " 0", " 0", " 30" ], [ "16", " Television", " -3.794", " 1.152", " 4.554", " 0", " 180", " 0", "" ], [ "17", " GarbageCan", " -0.264", " -0.040", " 4.728", " 0", " 271.354", " 0", "" ], [ "18", " FloorLamp", " -5.663", " -0.010", " 4.679", " 0", " 315", " 0", "" ], [ "19", " HousePlant", " -5.703", " 0.596", " 3.938", " 0", " 0", " 0", "" ], [ "20", " LightSwitch", " 0.0", " 1.292", " 3.378", " 0", " 270", " 0", "" ], [ "21", " Painting", " -4.156", " 1.656", " -0.002", " 90", " 180", " 0", "" ], [ "22", " Painting", " -1.623", " 1.565", " -0.002", " 90", " 180", " 0", "" ], [ "23", " Window", " -6.040", " 1.550", " 2.102", " 90", " 270", " 0", "" ], [ "24", " Window", " -6.040", " 1.531", " 0.859", " 90", " 270", " 0", "" ], [ "25", " Window", " -6.040", " 1.531", " 4.236", " 90", " 270", " 0", "" ], [ "26", " Chair", " -0.667", " -0.006", " 0.656", " 0", " 321.278", " 0", "" ], [ "27", " Chair", " -1.932", " -0.006", " 2.413", " 0", " 154.294", " 0", "" ], [ "28", " SideTable", " -4.928", " -0.002", " 0.272", " 0", " 27.993", " 0", "" ], [ "29", " SideTable", " -2.561", " -0.002", " 4.623", " 0", " 180", " 0", "" ], [ "30", " Drawer", " -2.560", " 0.532", " 4.446", " 0", " 180", " 0", "" ], [ "31", " SideTable", " -5.676", " -0.002", " 3.949", " 0", " 0", " 0", "" ], [ "32", " SideTable", " -3.793", " 0.013", " 4.463", " 0", " 0", " 0", "" ], [ "33", " Sofa", " -3.540", " -0.020", " 0.460", " 0", " 0", " 0", "" ], [ "34", " Chair", " -5.146", " -0.001", " 0.817", " 0", " 53.761", " 0", "" ], [ "35", " Chair", " -0.354", " -0.006", " 1.654", " 0", " 261.279", " 0", "" ], [ "36", " CoffeeTable", " -4.003", " -0.007", " 2.454", " 0", " 270", " 0", "" ], [ "37", " DiningTable", " -1.395", " -0.006", " 1.447", " 0", " 0", " 0", "" ], [ "38", " Sofa", " -5.470", " 0.007", " 2.504", " 0", " 90", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.75 0.893 3.25 0 90 0 1 Plate -2.694 0.642 4.605 0 0 0 29 2 Vase -3.984 0.434 2.883 0 0 0 36 3 Watch -4.211 0.432 2.061 0 0 0 36 4 Box -3.893 0.833 4.349 0 270 0 32 5 Box -3.909 0.623 2.061 0 0 0 36 6 KeyChain -1.487 0.823 1.045 0 115.696 0 37 7 Newspaper -1.483 0.828 1.266 0 115.696 0 37 8 CreditCard -4.211 0.431 2.554 0 0 0 36 9 RemoteControl -1.257 0.823 1.295 0 0 0 37 10 Laptop -1.119 0.82 1.753 0 0 0 37 11 Plate -0.980 0.839 1.448 0 0 0 37 12 Pillow -4.161 0.542 0.575 0 0 0 33 13 Statue -1.119 0.827 0.989 0 0 0 37 14 Vase -4.135 0.434 2.225 0 0 0 36 15 Watch -2.380 0.516 4.633 0 0 0 30 16 Television -3.794 1.152 4.554 0 180 0 17 GarbageCan -0.264 -0.040 4.728 0 271.354 0 18 FloorLamp -5.663 -0.010 4.679 0 315 0 19 HousePlant -5.703 0.596 3.938 0 0 0 20 LightSwitch 0.0 1.292 3.378 0 270 0 21 Painting -4.156 1.656 -0.002 90 180 0 22 Painting -1.623 1.565 -0.002 90 180 0 23 Window -6.040 1.550 2.102 90 270 0 24 Window -6.040 1.531 0.859 90 270 0 25 Window -6.040 1.531 4.236 90 270 0 26 Chair -0.667 -0.006 0.656 0 321.278 0 27 Chair -1.932 -0.006 2.413 0 154.294 0 28 SideTable -4.928 -0.002 0.272 0 27.993 0 29 SideTable -2.561 -0.002 4.623 0 180 0 30 Drawer -2.560 0.532 4.446 0 180 0 31 SideTable -5.676 -0.002 3.949 0 0 0 32 SideTable -3.793 0.013 4.463 0 0 0 33 Sofa -3.540 -0.020 0.460 0 0 0 34 Chair -5.146 -0.001 0.817 0 53.761 0 35 Chair -0.354 -0.006 1.654 0 261.279 0 36 CoffeeTable -4.003 -0.007 2.454 0 270 0 37 DiningTable -1.395 -0.006 1.447 0 0 0 38 Sofa -5.470 0.007 2.504 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn around and go to the round table. | STEP 2: Pick up the keys on the round table. | STEP 3: Turn around and go to the lamp by the window. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Turn around and go to the round table. ", " STEP 2: Pick up the keys on the round table. ", " STEP 3: Turn around and go to the lamp by the window. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190907_055048_650574-1
turn on a lamp while holding keys
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.75 0.893 3.25 0 90 0 1 Plate -2.694 0.642 4.605 0 0 0 29 2 Vase -3.984 0.434 2.883 0 0 0 36 3 Watch -4.211 0.432 2.061 0 0 0 36 4 Box -3.893 0.833 4.349 0 270 0 32 5 Box -3.909 0.623 2.061 0 0 0 36 6 KeyChain -1.487 0.823 1.045 0 115.696 0 37 7 Newspaper -1.483 0.828 1.266 0 115.696 0 37 8 CreditCard -4.211 0.431 2.554 0 0 0 36 9 RemoteControl -1.257 0.823 1.295 0 0 0 37 10 Laptop -1.119 0.82 1.753 0 0 0 37 11 Plate -0.980 0.839 1.448 0 0 0 37 12 Pillow -4.161 0.542 0.575 0 0 0 33 13 Statue -1.119 0.827 0.989 0 0 0 37 14 Vase -4.135 0.434 2.225 0 0 0 36 15 Watch -2.380 0.516 4.633 0 0 0 30 16 Television -3.794 1.152 4.554 0 180 0 17 GarbageCan -0.264 -0.040 4.728 0 271.354 0 18 FloorLamp -5.663 -0.010 4.679 0 315 0 19 HousePlant -5.703 0.596 3.938 0 0 0 20 LightSwitch 0.0 1.292 3.378 0 270 0 21 Painting -4.156 1.656 -0.002 90 180 0 22 Painting -1.623 1.565 -0.002 90 180 0 23 Window -6.040 1.550 2.102 90 270 0 24 Window -6.040 1.531 0.859 90 270 0 25 Window -6.040 1.531 4.236 90 270 0 26 Chair -0.667 -0.006 0.656 0 321.278 0 27 Chair -1.932 -0.006 2.413 0 154.294 0 28 SideTable -4.928 -0.002 0.272 0 27.993 0 29 SideTable -2.561 -0.002 4.623 0 180 0 30 Drawer -2.560 0.532 4.446 0 180 0 31 SideTable -5.676 -0.002 3.949 0 0 0 32 SideTable -3.793 0.013 4.463 0 0 0 33 Sofa -3.540 -0.020 0.460 0 0 0 34 Chair -5.146 -0.001 0.817 0 53.761 0 35 Chair -0.354 -0.006 1.654 0 261.279 0 36 CoffeeTable -4.003 -0.007 2.454 0 270 0 37 DiningTable -1.395 -0.006 1.447 0 0 0 38 Sofa -5.470 0.007 2.504 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: turn right and walk to the end of the room, then turn left and walk over to the table ahead | STEP 2: grab the keys off of the table there | STEP 3: turn around and walk to the red couch, then hang a right and walk over to the TV at the end of the room, then turn left and walk to the lamp | STEP 4: turn on the lamp in the corner of the room there | END" ]
[ [ "STEP 1: turn right and walk to the end of the room, then turn left and walk over to the table ahead ", " STEP 2: grab the keys off of the table there ", " STEP 3: turn around and walk to the red couch, then hang a right and walk over to the TV at the end of the room, then turn left and walk to the lamp ", " STEP 4: turn on the lamp in the corner of the room there ", " END" ] ]
seen
trial_T20190907_055048_650574-2
Examine the keys by 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 -4.75 0.893 3.25 0 90 0 1 Plate -2.694 0.642 4.605 0 0 0 29 2 Vase -3.984 0.434 2.883 0 0 0 36 3 Watch -4.211 0.432 2.061 0 0 0 36 4 Box -3.893 0.833 4.349 0 270 0 32 5 Box -3.909 0.623 2.061 0 0 0 36 6 KeyChain -1.487 0.823 1.045 0 115.696 0 37 7 Newspaper -1.483 0.828 1.266 0 115.696 0 37 8 CreditCard -4.211 0.431 2.554 0 0 0 36 9 RemoteControl -1.257 0.823 1.295 0 0 0 37 10 Laptop -1.119 0.82 1.753 0 0 0 37 11 Plate -0.980 0.839 1.448 0 0 0 37 12 Pillow -4.161 0.542 0.575 0 0 0 33 13 Statue -1.119 0.827 0.989 0 0 0 37 14 Vase -4.135 0.434 2.225 0 0 0 36 15 Watch -2.380 0.516 4.633 0 0 0 30 16 Television -3.794 1.152 4.554 0 180 0 17 GarbageCan -0.264 -0.040 4.728 0 271.354 0 18 FloorLamp -5.663 -0.010 4.679 0 315 0 19 HousePlant -5.703 0.596 3.938 0 0 0 20 LightSwitch 0.0 1.292 3.378 0 270 0 21 Painting -4.156 1.656 -0.002 90 180 0 22 Painting -1.623 1.565 -0.002 90 180 0 23 Window -6.040 1.550 2.102 90 270 0 24 Window -6.040 1.531 0.859 90 270 0 25 Window -6.040 1.531 4.236 90 270 0 26 Chair -0.667 -0.006 0.656 0 321.278 0 27 Chair -1.932 -0.006 2.413 0 154.294 0 28 SideTable -4.928 -0.002 0.272 0 27.993 0 29 SideTable -2.561 -0.002 4.623 0 180 0 30 Drawer -2.560 0.532 4.446 0 180 0 31 SideTable -5.676 -0.002 3.949 0 0 0 32 SideTable -3.793 0.013 4.463 0 0 0 33 Sofa -3.540 -0.020 0.460 0 0 0 34 Chair -5.146 -0.001 0.817 0 53.761 0 35 Chair -0.354 -0.006 1.654 0 261.279 0 36 CoffeeTable -4.003 -0.007 2.454 0 270 0 37 DiningTable -1.395 -0.006 1.447 0 0 0 38 Sofa -5.470 0.007 2.504 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn to your right, then turn left walk straight to the round table | STEP 2: Pick up the keys on the edge of the round table | STEP 3: Turn around to your left then walk a little, turn right past the sofa, turn left facing the lamp | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Turn to your right, then turn left walk straight to the round table ", " STEP 2: Pick up the keys on the edge of the round table ", " STEP 3: Turn around to your left then walk a little, turn right past the sofa, turn left facing the lamp ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190907_055048_650574-3
Examine a set of keys by the light of a floor lamp.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -4.75", " 0.893", " 3.25", " 0", " 90", " 0", "" ], [ "1", " Plate", " -2.694", " 0.642", " 4.605", " 0", " 0", " 0", " 29" ], [ "2", " Vase", " -3.984", " 0.434", " 2.883", " 0", " 0", " 0", " 36" ], [ "3", " Watch", " -4.211", " 0.432", " 2.061", " 0", " 0", " 0", " 36" ], [ "4", " Box", " -3.893", " 0.833", " 4.349", " 0", " 270", " 0", " 32" ], [ "5", " Box", " -3.909", " 0.623", " 2.061", " 0", " 0", " 0", " 36" ], [ "6", " KeyChain", " -1.487", " 0.823", " 1.045", " 0", " 115.696", " 0", " 37" ], [ "7", " Newspaper", " -1.483", " 0.828", " 1.266", " 0", " 115.696", " 0", " 37" ], [ "8", " CreditCard", " -4.211", " 0.431", " 2.554", " 0", " 0", " 0", " 36" ], [ "9", " RemoteControl", " -1.257", " 0.823", " 1.295", " 0", " 0", " 0", " 37" ], [ "10", " Laptop", " -1.119", " 0.82", " 1.753", " 0", " 0", " 0", " 37" ], [ "11", " Plate", " -0.980", " 0.839", " 1.448", " 0", " 0", " 0", " 37" ], [ "12", " Pillow", " -4.161", " 0.542", " 0.575", " 0", " 0", " 0", " 33" ], [ "13", " Statue", " -1.119", " 0.827", " 0.989", " 0", " 0", " 0", " 37" ], [ "14", " Vase", " -4.135", " 0.434", " 2.225", " 0", " 0", " 0", " 36" ], [ "15", " Watch", " -2.380", " 0.516", " 4.633", " 0", " 0", " 0", " 30" ], [ "16", " Television", " -3.794", " 1.152", " 4.554", " 0", " 180", " 0", "" ], [ "17", " GarbageCan", " -0.264", " -0.040", " 4.728", " 0", " 271.354", " 0", "" ], [ "18", " FloorLamp", " -5.663", " -0.010", " 4.679", " 0", " 315", " 0", "" ], [ "19", " HousePlant", " -5.703", " 0.596", " 3.938", " 0", " 0", " 0", "" ], [ "20", " LightSwitch", " 0.0", " 1.292", " 3.378", " 0", " 270", " 0", "" ], [ "21", " Painting", " -4.156", " 1.656", " -0.002", " 90", " 180", " 0", "" ], [ "22", " Painting", " -1.623", " 1.565", " -0.002", " 90", " 180", " 0", "" ], [ "23", " Window", " -6.040", " 1.550", " 2.102", " 90", " 270", " 0", "" ], [ "24", " Window", " -6.040", " 1.531", " 0.859", " 90", " 270", " 0", "" ], [ "25", " Window", " -6.040", " 1.531", " 4.236", " 90", " 270", " 0", "" ], [ "26", " Chair", " -0.667", " -0.006", " 0.656", " 0", " 321.278", " 0", "" ], [ "27", " Chair", " -1.932", " -0.006", " 2.413", " 0", " 154.294", " 0", "" ], [ "28", " SideTable", " -4.928", " -0.002", " 0.272", " 0", " 27.993", " 0", "" ], [ "29", " SideTable", " -2.561", " -0.002", " 4.623", " 0", " 180", " 0", "" ], [ "30", " Drawer", " -2.560", " 0.532", " 4.446", " 0", " 180", " 0", "" ], [ "31", " SideTable", " -5.676", " -0.002", " 3.949", " 0", " 0", " 0", "" ], [ "32", " SideTable", " -3.793", " 0.013", " 4.463", " 0", " 0", " 0", "" ], [ "33", " Sofa", " -3.540", " -0.020", " 0.460", " 0", " 0", " 0", "" ], [ "34", " Chair", " -5.146", " -0.001", " 0.817", " 0", " 53.761", " 0", "" ], [ "35", " Chair", " -0.354", " -0.006", " 1.654", " 0", " 261.279", " 0", "" ], [ "36", " CoffeeTable", " -4.003", " -0.007", " 2.454", " 0", " 270", " 0", "" ], [ "37", " DiningTable", " -1.395", " -0.006", " 1.447", " 0", " 0", " 0", "" ], [ "38", " Sofa", " -5.470", " 0.007", " 2.504", " 0", " 90", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.75 0.893 3.25 0 90 0 1 Plate -2.694 0.642 4.605 0 0 0 29 2 Vase -3.984 0.434 2.883 0 0 0 36 3 Watch -4.211 0.432 2.061 0 0 0 36 4 Box -3.893 0.833 4.349 0 270 0 32 5 Box -3.909 0.623 2.061 0 0 0 36 6 KeyChain -1.487 0.823 1.045 0 115.696 0 37 7 Newspaper -1.483 0.828 1.266 0 115.696 0 37 8 CreditCard -4.211 0.431 2.554 0 0 0 36 9 RemoteControl -1.257 0.823 1.295 0 0 0 37 10 Laptop -1.119 0.82 1.753 0 0 0 37 11 Plate -0.980 0.839 1.448 0 0 0 37 12 Pillow -4.161 0.542 0.575 0 0 0 33 13 Statue -1.119 0.827 0.989 0 0 0 37 14 Vase -4.135 0.434 2.225 0 0 0 36 15 Watch -2.380 0.516 4.633 0 0 0 30 16 Television -3.794 1.152 4.554 0 180 0 17 GarbageCan -0.264 -0.040 4.728 0 271.354 0 18 FloorLamp -5.663 -0.010 4.679 0 315 0 19 HousePlant -5.703 0.596 3.938 0 0 0 20 LightSwitch 0.0 1.292 3.378 0 270 0 21 Painting -4.156 1.656 -0.002 90 180 0 22 Painting -1.623 1.565 -0.002 90 180 0 23 Window -6.040 1.550 2.102 90 270 0 24 Window -6.040 1.531 0.859 90 270 0 25 Window -6.040 1.531 4.236 90 270 0 26 Chair -0.667 -0.006 0.656 0 321.278 0 27 Chair -1.932 -0.006 2.413 0 154.294 0 28 SideTable -4.928 -0.002 0.272 0 27.993 0 29 SideTable -2.561 -0.002 4.623 0 180 0 30 Drawer -2.560 0.532 4.446 0 180 0 31 SideTable -5.676 -0.002 3.949 0 0 0 32 SideTable -3.793 0.013 4.463 0 0 0 33 Sofa -3.540 -0.020 0.460 0 0 0 34 Chair -5.146 -0.001 0.817 0 53.761 0 35 Chair -0.354 -0.006 1.654 0 261.279 0 36 CoffeeTable -4.003 -0.007 2.454 0 270 0 37 DiningTable -1.395 -0.006 1.447 0 0 0 38 Sofa -5.470 0.007 2.504 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Walk around the coffee table to the dining table in front of you to the right. | STEP 2: Pick up the keys from the dining table. | STEP 3: Turn around and walk to the floor lamp that is to the right of the red sofa. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Walk around the coffee table to the dining table in front of you to the right. ", " STEP 2: Pick up the keys from the dining table. ", " STEP 3: Turn around and walk to the floor lamp that is to the right of the red sofa. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190907_055048_650574-4
examine keys with the lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -4.75", " 0.893", " 3.25", " 0", " 90", " 0", "" ], [ "1", " Plate", " -2.694", " 0.642", " 4.605", " 0", " 0", " 0", " 29" ], [ "2", " Vase", " -3.984", " 0.434", " 2.883", " 0", " 0", " 0", " 36" ], [ "3", " Watch", " -4.211", " 0.432", " 2.061", " 0", " 0", " 0", " 36" ], [ "4", " Box", " -3.893", " 0.833", " 4.349", " 0", " 270", " 0", " 32" ], [ "5", " Box", " -3.909", " 0.623", " 2.061", " 0", " 0", " 0", " 36" ], [ "6", " KeyChain", " -1.487", " 0.823", " 1.045", " 0", " 115.696", " 0", " 37" ], [ "7", " Newspaper", " -1.483", " 0.828", " 1.266", " 0", " 115.696", " 0", " 37" ], [ "8", " CreditCard", " -4.211", " 0.431", " 2.554", " 0", " 0", " 0", " 36" ], [ "9", " RemoteControl", " -1.257", " 0.823", " 1.295", " 0", " 0", " 0", " 37" ], [ "10", " Laptop", " -1.119", " 0.82", " 1.753", " 0", " 0", " 0", " 37" ], [ "11", " Plate", " -0.980", " 0.839", " 1.448", " 0", " 0", " 0", " 37" ], [ "12", " Pillow", " -4.161", " 0.542", " 0.575", " 0", " 0", " 0", " 33" ], [ "13", " Statue", " -1.119", " 0.827", " 0.989", " 0", " 0", " 0", " 37" ], [ "14", " Vase", " -4.135", " 0.434", " 2.225", " 0", " 0", " 0", " 36" ], [ "15", " Watch", " -2.380", " 0.516", " 4.633", " 0", " 0", " 0", " 30" ], [ "16", " Television", " -3.794", " 1.152", " 4.554", " 0", " 180", " 0", "" ], [ "17", " GarbageCan", " -0.264", " -0.040", " 4.728", " 0", " 271.354", " 0", "" ], [ "18", " FloorLamp", " -5.663", " -0.010", " 4.679", " 0", " 315", " 0", "" ], [ "19", " HousePlant", " -5.703", " 0.596", " 3.938", " 0", " 0", " 0", "" ], [ "20", " LightSwitch", " 0.0", " 1.292", " 3.378", " 0", " 270", " 0", "" ], [ "21", " Painting", " -4.156", " 1.656", " -0.002", " 90", " 180", " 0", "" ], [ "22", " Painting", " -1.623", " 1.565", " -0.002", " 90", " 180", " 0", "" ], [ "23", " Window", " -6.040", " 1.550", " 2.102", " 90", " 270", " 0", "" ], [ "24", " Window", " -6.040", " 1.531", " 0.859", " 90", " 270", " 0", "" ], [ "25", " Window", " -6.040", " 1.531", " 4.236", " 90", " 270", " 0", "" ], [ "26", " Chair", " -0.667", " -0.006", " 0.656", " 0", " 321.278", " 0", "" ], [ "27", " Chair", " -1.932", " -0.006", " 2.413", " 0", " 154.294", " 0", "" ], [ "28", " SideTable", " -4.928", " -0.002", " 0.272", " 0", " 27.993", " 0", "" ], [ "29", " SideTable", " -2.561", " -0.002", " 4.623", " 0", " 180", " 0", "" ], [ "30", " Drawer", " -2.560", " 0.532", " 4.446", " 0", " 180", " 0", "" ], [ "31", " SideTable", " -5.676", " -0.002", " 3.949", " 0", " 0", " 0", "" ], [ "32", " SideTable", " -3.793", " 0.013", " 4.463", " 0", " 0", " 0", "" ], [ "33", " Sofa", " -3.540", " -0.020", " 0.460", " 0", " 0", " 0", "" ], [ "34", " Chair", " -5.146", " -0.001", " 0.817", " 0", " 53.761", " 0", "" ], [ "35", " Chair", " -0.354", " -0.006", " 1.654", " 0", " 261.279", " 0", "" ], [ "36", " CoffeeTable", " -4.003", " -0.007", " 2.454", " 0", " 270", " 0", "" ], [ "37", " DiningTable", " -1.395", " -0.006", " 1.447", " 0", " 0", " 0", "" ], [ "38", " Sofa", " -5.470", " 0.007", " 2.504", " 0", " 90", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.75 0.893 3.25 0 90 0 1 Plate -2.694 0.642 4.605 0 0 0 29 2 Vase -3.984 0.434 2.883 0 0 0 36 3 Watch -4.211 0.432 2.061 0 0 0 36 4 Box -3.893 0.833 4.349 0 270 0 32 5 Box -3.909 0.623 2.061 0 0 0 36 6 KeyChain -1.487 0.823 1.045 0 115.696 0 37 7 Newspaper -1.483 0.828 1.266 0 115.696 0 37 8 CreditCard -4.211 0.431 2.554 0 0 0 36 9 RemoteControl -1.257 0.823 1.295 0 0 0 37 10 Laptop -1.119 0.82 1.753 0 0 0 37 11 Plate -0.980 0.839 1.448 0 0 0 37 12 Pillow -4.161 0.542 0.575 0 0 0 33 13 Statue -1.119 0.827 0.989 0 0 0 37 14 Vase -4.135 0.434 2.225 0 0 0 36 15 Watch -2.380 0.516 4.633 0 0 0 30 16 Television -3.794 1.152 4.554 0 180 0 17 GarbageCan -0.264 -0.040 4.728 0 271.354 0 18 FloorLamp -5.663 -0.010 4.679 0 315 0 19 HousePlant -5.703 0.596 3.938 0 0 0 20 LightSwitch 0.0 1.292 3.378 0 270 0 21 Painting -4.156 1.656 -0.002 90 180 0 22 Painting -1.623 1.565 -0.002 90 180 0 23 Window -6.040 1.550 2.102 90 270 0 24 Window -6.040 1.531 0.859 90 270 0 25 Window -6.040 1.531 4.236 90 270 0 26 Chair -0.667 -0.006 0.656 0 321.278 0 27 Chair -1.932 -0.006 2.413 0 154.294 0 28 SideTable -4.928 -0.002 0.272 0 27.993 0 29 SideTable -2.561 -0.002 4.623 0 180 0 30 Drawer -2.560 0.532 4.446 0 180 0 31 SideTable -5.676 -0.002 3.949 0 0 0 32 SideTable -3.793 0.013 4.463 0 0 0 33 Sofa -3.540 -0.020 0.460 0 0 0 34 Chair -5.146 -0.001 0.817 0 53.761 0 35 Chair -0.354 -0.006 1.654 0 261.279 0 36 CoffeeTable -4.003 -0.007 2.454 0 270 0 37 DiningTable -1.395 -0.006 1.447 0 0 0 38 Sofa -5.470 0.007 2.504 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: turn right, walk between couch and coffee table, turn left, walk towards kitchen table | STEP 2: pick up the keys that are on the table | STEP 3: turn around, walk towards couch, turn right, walk between couch and coffee table, turn left, walk to lamp, hold keys up to lamp | STEP 4: turn on the lamp | END" ]
[ [ "STEP 1: turn right, walk between couch and coffee table, turn left, walk towards kitchen table ", " STEP 2: pick up the keys that are on the table ", " STEP 3: turn around, walk towards couch, turn right, walk between couch and coffee table, turn left, walk to lamp, hold keys up to lamp ", " STEP 4: turn on the lamp ", " END" ] ]
seen
trial_T20190907_055048_650574-5
Turn a lamp on with keys in hand.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.75 0.893 3.25 0 90 0 1 Plate -2.694 0.642 4.605 0 0 0 29 2 Vase -3.984 0.434 2.883 0 0 0 36 3 Watch -4.211 0.432 2.061 0 0 0 36 4 Box -3.893 0.833 4.349 0 270 0 32 5 Box -3.909 0.623 2.061 0 0 0 36 6 KeyChain -1.487 0.823 1.045 0 115.696 0 37 7 Newspaper -1.483 0.828 1.266 0 115.696 0 37 8 CreditCard -4.211 0.431 2.554 0 0 0 36 9 RemoteControl -1.257 0.823 1.295 0 0 0 37 10 Laptop -1.119 0.82 1.753 0 0 0 37 11 Plate -0.980 0.839 1.448 0 0 0 37 12 Pillow -4.161 0.542 0.575 0 0 0 33 13 Statue -1.119 0.827 0.989 0 0 0 37 14 Vase -4.135 0.434 2.225 0 0 0 36 15 Watch -2.380 0.516 4.633 0 0 0 30 16 Television -3.794 1.152 4.554 0 180 0 17 GarbageCan -0.264 -0.040 4.728 0 271.354 0 18 FloorLamp -5.663 -0.010 4.679 0 315 0 19 HousePlant -5.703 0.596 3.938 0 0 0 20 LightSwitch 0.0 1.292 3.378 0 270 0 21 Painting -4.156 1.656 -0.002 90 180 0 22 Painting -1.623 1.565 -0.002 90 180 0 23 Window -6.040 1.550 2.102 90 270 0 24 Window -6.040 1.531 0.859 90 270 0 25 Window -6.040 1.531 4.236 90 270 0 26 Chair -0.667 -0.006 0.656 0 321.278 0 27 Chair -1.932 -0.006 2.413 0 154.294 0 28 SideTable -4.928 -0.002 0.272 0 27.993 0 29 SideTable -2.561 -0.002 4.623 0 180 0 30 Drawer -2.560 0.532 4.446 0 180 0 31 SideTable -5.676 -0.002 3.949 0 0 0 32 SideTable -3.793 0.013 4.463 0 0 0 33 Sofa -3.540 -0.020 0.460 0 0 0 34 Chair -5.146 -0.001 0.817 0 53.761 0 35 Chair -0.354 -0.006 1.654 0 261.279 0 36 CoffeeTable -4.003 -0.007 2.454 0 270 0 37 DiningTable -1.395 -0.006 1.447 0 0 0 38 Sofa -5.470 0.007 2.504 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Go right and turn left to stand in front of the round table. | STEP 2: Pick the keys up from the table. | STEP 3: Turn around and cross the room to face the lamp with the pink base. | STEP 4: Turn the lamp on. | END" ]
[ [ "STEP 1: Go right and turn left to stand in front of the round table. ", " STEP 2: Pick the keys up from the table. ", " STEP 3: Turn around and cross the room to face the lamp with the pink base. ", " STEP 4: Turn the lamp on. ", " END" ] ]
seen
trial_T20190908_205540_806550-0
Put two newspapers on the small table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 1.0 0 270 0 1 Newspaper 2.957 0.610 1.686 0 0 0 32 2 Watch 2.072 0.871 1.787 0 0 0 28 3 Watch 0.227 0.368 0.130 0 0 0 40 4 KeyChain 0.339 0.367 0.032 0 0 0 40 5 CreditCard 0.170 0.367 0.032 0 0 0 40 6 RemoteControl 0.522 0.412 1.466 0 0 0 33 7 RemoteControl 0.678 0.412 1.531 0 0 0 33 8 Box -0.636 0.778 -1.469 0 0 0 31 9 Laptop 0.228 0.358 -0.306 0 349.282 0 40 10 CreditCard 1.765 0.870 1.746 0 0 0 28 11 Newspaper 0.216 0.522 -1.567 0 350.059 0 29 12 RemoteControl 1.842 0.871 1.746 0 0 0 28 13 Pillow -0.875 0.575 -0.798 0 267.956 341.124 30 14 KeyChain 0.396 0.367 0.130 0 0 0 40 15 Watch -0.857 0.603 -1.482 0 0 0 31 16 Statue 0.834 0.418 1.466 0 0 0 33 17 Curtains 1.199 0.0 -2.440 0 0 0 18 HousePlant 1.919 1.717 -2.187 0 315 0 19 FloorLamp -1.160 -0.003 1.040 0 0 0 20 LightSwitch -1.006 1.286 1.950 0 180 0 21 Television 0.858 0.884 1.731 0 180 0 22 Painting 3.414 1.708 -0.156 90 270 0 23 Painting -1.449 1.787 -0.342 90 270 0 24 GarbageCan 1.296 9.894 -2.187 0 0 0 25 Window 0.653 1.550 -2.470 90 180 0 26 Sofa 2.868 -0.002 0.248 0 270 0 27 Drawer 1.996 0.779 1.705 0 180 0 28 SideTable 1.995 0.004 1.746 0 180 0 29 ArmChair 0.224 -0.010 -1.724 0 0 0 30 Sofa -1.007 0.006 -0.207 1.149 90 0 31 SideTable -0.683 0.004 -1.600 0 0 0 32 SideTable 2.956 0.004 1.568 0 0 0 33 TVStand 0.838 -0.006 1.582 0 0 0 34 Drawer 0.472 0.271 -0.165 0 270 0 35 Drawer -0.018 0.272 -0.165 0 270 0 36 Drawer -0.018 0.168 -0.165 0 270 0 37 Drawer -0.018 0.064 -0.165 0 270 0 38 Drawer 0.472 0.063 -0.165 0 270 0 39 Drawer 0.472 0.167 -0.165 0 270 0 40 CoffeeTable 0.226 -0.003 -0.164 0 270 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around, go across the room and head to the small table in the corner. | STEP 2: Pick up the newspaper from the table. | STEP 3: Turn around, go half way across the room and turn left towards the small table with the laptop on it. | STEP 4: Put the newspaper on the end of the table. | STEP 5: Go across the room to the brown chair. | STEP 6: Pick up the newspaper from the brown chair. | STEP 7: Turn around, go across the room, turn left towards the small table with the laptop. | STEP 8: Put the newspaper between the laptop and the other newspaper on the table. | END" ]
[ [ "STEP 1: Turn around, go across the room and head to the small table in the corner. ", " STEP 2: Pick up the newspaper from the table. ", " STEP 3: Turn around, go half way across the room and turn left towards the small table with the laptop on it. ", " STEP 4: Put the newspaper on the end of the table. ", " STEP 5: Go across the room to the brown chair. ", " STEP 6: Pick up the newspaper from the brown chair. ", " STEP 7: Turn around, go across the room, turn left towards the small table with the laptop. ", " STEP 8: Put the newspaper between the laptop and the other newspaper on the table. ", " END" ] ]
seen
trial_T20190908_205540_806550-1
Move two newspapers to the coffee table.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " 1.0", " 0", " 270", " 0", "" ], [ "1", " Newspaper", " 2.957", " 0.610", " 1.686", " 0", " 0", " 0", " 32" ], [ "2", " Watch", " 2.072", " 0.871", " 1.787", " 0", " 0", " 0", " 28" ], [ "3", " Watch", " 0.227", " 0.368", " 0.130", " 0", " 0", " 0", " 40" ], [ "4", " KeyChain", " 0.339", " 0.367", " 0.032", " 0", " 0", " 0", " 40" ], [ "5", " CreditCard", " 0.170", " 0.367", " 0.032", " 0", " 0", " 0", " 40" ], [ "6", " RemoteControl", " 0.522", " 0.412", " 1.466", " 0", " 0", " 0", " 33" ], [ "7", " RemoteControl", " 0.678", " 0.412", " 1.531", " 0", " 0", " 0", " 33" ], [ "8", " Box", " -0.636", " 0.778", " -1.469", " 0", " 0", " 0", " 31" ], [ "9", " Laptop", " 0.228", " 0.358", " -0.306", " 0", " 349.282", " 0", " 40" ], [ "10", " CreditCard", " 1.765", " 0.870", " 1.746", " 0", " 0", " 0", " 28" ], [ "11", " Newspaper", " 0.216", " 0.522", " -1.567", " 0", " 350.059", " 0", " 29" ], [ "12", " RemoteControl", " 1.842", " 0.871", " 1.746", " 0", " 0", " 0", " 28" ], [ "13", " Pillow", " -0.875", " 0.575", " -0.798", " 0", " 267.956", " 341.124", " 30" ], [ "14", " KeyChain", " 0.396", " 0.367", " 0.130", " 0", " 0", " 0", " 40" ], [ "15", " Watch", " -0.857", " 0.603", " -1.482", " 0", " 0", " 0", " 31" ], [ "16", " Statue", " 0.834", " 0.418", " 1.466", " 0", " 0", " 0", " 33" ], [ "17", " Curtains", " 1.199", " 0.0", " -2.440", " 0", " 0", " 0", "" ], [ "18", " HousePlant", " 1.919", " 1.717", " -2.187", " 0", " 315", " 0", "" ], [ "19", " FloorLamp", " -1.160", " -0.003", " 1.040", " 0", " 0", " 0", "" ], [ "20", " LightSwitch", " -1.006", " 1.286", " 1.950", " 0", " 180", " 0", "" ], [ "21", " Television", " 0.858", " 0.884", " 1.731", " 0", " 180", " 0", "" ], [ "22", " Painting", " 3.414", " 1.708", " -0.156", " 90", " 270", " 0", "" ], [ "23", " Painting", " -1.449", " 1.787", " -0.342", " 90", " 270", " 0", "" ], [ "24", " GarbageCan", " 1.296", " 9.894", " -2.187", " 0", " 0", " 0", "" ], [ "25", " Window", " 0.653", " 1.550", " -2.470", " 90", " 180", " 0", "" ], [ "26", " Sofa", " 2.868", " -0.002", " 0.248", " 0", " 270", " 0", "" ], [ "27", " Drawer", " 1.996", " 0.779", " 1.705", " 0", " 180", " 0", "" ], [ "28", " SideTable", " 1.995", " 0.004", " 1.746", " 0", " 180", " 0", "" ], [ "29", " ArmChair", " 0.224", " -0.010", " -1.724", " 0", " 0", " 0", "" ], [ "30", " Sofa", " -1.007", " 0.006", " -0.207", " 1.149", " 90", " 0", "" ], [ "31", " SideTable", " -0.683", " 0.004", " -1.600", " 0", " 0", " 0", "" ], [ "32", " SideTable", " 2.956", " 0.004", " 1.568", " 0", " 0", " 0", "" ], [ "33", " TVStand", " 0.838", " -0.006", " 1.582", " 0", " 0", " 0", "" ], [ "34", " Drawer", " 0.472", " 0.271", " -0.165", " 0", " 270", " 0", "" ], [ "35", " Drawer", " -0.018", " 0.272", " -0.165", " 0", " 270", " 0", "" ], [ "36", " Drawer", " -0.018", " 0.168", " -0.165", " 0", " 270", " 0", "" ], [ "37", " Drawer", " -0.018", " 0.064", " -0.165", " 0", " 270", " 0", "" ], [ "38", " Drawer", " 0.472", " 0.063", " -0.165", " 0", " 270", " 0", "" ], [ "39", " Drawer", " 0.472", " 0.167", " -0.165", " 0", " 270", " 0", "" ], [ "40", " CoffeeTable", " 0.226", " -0.003", " -0.164", " 0", " 270", " 0", "" ], [ "41", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 1.0 0 270 0 1 Newspaper 2.957 0.610 1.686 0 0 0 32 2 Watch 2.072 0.871 1.787 0 0 0 28 3 Watch 0.227 0.368 0.130 0 0 0 40 4 KeyChain 0.339 0.367 0.032 0 0 0 40 5 CreditCard 0.170 0.367 0.032 0 0 0 40 6 RemoteControl 0.522 0.412 1.466 0 0 0 33 7 RemoteControl 0.678 0.412 1.531 0 0 0 33 8 Box -0.636 0.778 -1.469 0 0 0 31 9 Laptop 0.228 0.358 -0.306 0 349.282 0 40 10 CreditCard 1.765 0.870 1.746 0 0 0 28 11 Newspaper 0.216 0.522 -1.567 0 350.059 0 29 12 RemoteControl 1.842 0.871 1.746 0 0 0 28 13 Pillow -0.875 0.575 -0.798 0 267.956 341.124 30 14 KeyChain 0.396 0.367 0.130 0 0 0 40 15 Watch -0.857 0.603 -1.482 0 0 0 31 16 Statue 0.834 0.418 1.466 0 0 0 33 17 Curtains 1.199 0.0 -2.440 0 0 0 18 HousePlant 1.919 1.717 -2.187 0 315 0 19 FloorLamp -1.160 -0.003 1.040 0 0 0 20 LightSwitch -1.006 1.286 1.950 0 180 0 21 Television 0.858 0.884 1.731 0 180 0 22 Painting 3.414 1.708 -0.156 90 270 0 23 Painting -1.449 1.787 -0.342 90 270 0 24 GarbageCan 1.296 9.894 -2.187 0 0 0 25 Window 0.653 1.550 -2.470 90 180 0 26 Sofa 2.868 -0.002 0.248 0 270 0 27 Drawer 1.996 0.779 1.705 0 180 0 28 SideTable 1.995 0.004 1.746 0 180 0 29 ArmChair 0.224 -0.010 -1.724 0 0 0 30 Sofa -1.007 0.006 -0.207 1.149 90 0 31 SideTable -0.683 0.004 -1.600 0 0 0 32 SideTable 2.956 0.004 1.568 0 0 0 33 TVStand 0.838 -0.006 1.582 0 0 0 34 Drawer 0.472 0.271 -0.165 0 270 0 35 Drawer -0.018 0.272 -0.165 0 270 0 36 Drawer -0.018 0.168 -0.165 0 270 0 37 Drawer -0.018 0.064 -0.165 0 270 0 38 Drawer 0.472 0.063 -0.165 0 270 0 39 Drawer 0.472 0.167 -0.165 0 270 0 40 CoffeeTable 0.226 -0.003 -0.164 0 270 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around and move to stand at the end of the sofa closest to the small brown end table in the corner. | STEP 2: Pick up the newspaper from the end table. | STEP 3: Turn back around and carry the newspaper to the end of the coffee table, so the television is behind you. | STEP 4: Place the newspaper on the edge of the coffee table closest to you. | STEP 5: Move straight across the room to the chair in front of the window. | STEP 6: Pick up the newspaper from the chair. | STEP 7: Turn around and move back to the end of the coffee table where you put the other newspaper. | STEP 8: Place the newspaper on the table close to the computer. | END" ]
[ [ "STEP 1: Turn around and move to stand at the end of the sofa closest to the small brown end table in the corner. ", " STEP 2: Pick up the newspaper from the end table. ", " STEP 3: Turn back around and carry the newspaper to the end of the coffee table, so the television is behind you. ", " STEP 4: Place the newspaper on the edge of the coffee table closest to you. ", " STEP 5: Move straight across the room to the chair in front of the window. ", " STEP 6: Pick up the newspaper from the chair. ", " STEP 7: Turn around and move back to the end of the coffee table where you put the other newspaper. ", " STEP 8: Place the newspaper on the table close to the computer. ", " END" ] ]
seen
trial_T20190908_205540_806550-2
Place two newspapers, vertically, on the coffee table.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " 1.0", " 0", " 270", " 0", "" ], [ "1", " Newspaper", " 2.957", " 0.610", " 1.686", " 0", " 0", " 0", " 32" ], [ "2", " Watch", " 2.072", " 0.871", " 1.787", " 0", " 0", " 0", " 28" ], [ "3", " Watch", " 0.227", " 0.368", " 0.130", " 0", " 0", " 0", " 40" ], [ "4", " KeyChain", " 0.339", " 0.367", " 0.032", " 0", " 0", " 0", " 40" ], [ "5", " CreditCard", " 0.170", " 0.367", " 0.032", " 0", " 0", " 0", " 40" ], [ "6", " RemoteControl", " 0.522", " 0.412", " 1.466", " 0", " 0", " 0", " 33" ], [ "7", " RemoteControl", " 0.678", " 0.412", " 1.531", " 0", " 0", " 0", " 33" ], [ "8", " Box", " -0.636", " 0.778", " -1.469", " 0", " 0", " 0", " 31" ], [ "9", " Laptop", " 0.228", " 0.358", " -0.306", " 0", " 349.282", " 0", " 40" ], [ "10", " CreditCard", " 1.765", " 0.870", " 1.746", " 0", " 0", " 0", " 28" ], [ "11", " Newspaper", " 0.216", " 0.522", " -1.567", " 0", " 350.059", " 0", " 29" ], [ "12", " RemoteControl", " 1.842", " 0.871", " 1.746", " 0", " 0", " 0", " 28" ], [ "13", " Pillow", " -0.875", " 0.575", " -0.798", " 0", " 267.956", " 341.124", " 30" ], [ "14", " KeyChain", " 0.396", " 0.367", " 0.130", " 0", " 0", " 0", " 40" ], [ "15", " Watch", " -0.857", " 0.603", " -1.482", " 0", " 0", " 0", " 31" ], [ "16", " Statue", " 0.834", " 0.418", " 1.466", " 0", " 0", " 0", " 33" ], [ "17", " Curtains", " 1.199", " 0.0", " -2.440", " 0", " 0", " 0", "" ], [ "18", " HousePlant", " 1.919", " 1.717", " -2.187", " 0", " 315", " 0", "" ], [ "19", " FloorLamp", " -1.160", " -0.003", " 1.040", " 0", " 0", " 0", "" ], [ "20", " LightSwitch", " -1.006", " 1.286", " 1.950", " 0", " 180", " 0", "" ], [ "21", " Television", " 0.858", " 0.884", " 1.731", " 0", " 180", " 0", "" ], [ "22", " Painting", " 3.414", " 1.708", " -0.156", " 90", " 270", " 0", "" ], [ "23", " Painting", " -1.449", " 1.787", " -0.342", " 90", " 270", " 0", "" ], [ "24", " GarbageCan", " 1.296", " 9.894", " -2.187", " 0", " 0", " 0", "" ], [ "25", " Window", " 0.653", " 1.550", " -2.470", " 90", " 180", " 0", "" ], [ "26", " Sofa", " 2.868", " -0.002", " 0.248", " 0", " 270", " 0", "" ], [ "27", " Drawer", " 1.996", " 0.779", " 1.705", " 0", " 180", " 0", "" ], [ "28", " SideTable", " 1.995", " 0.004", " 1.746", " 0", " 180", " 0", "" ], [ "29", " ArmChair", " 0.224", " -0.010", " -1.724", " 0", " 0", " 0", "" ], [ "30", " Sofa", " -1.007", " 0.006", " -0.207", " 1.149", " 90", " 0", "" ], [ "31", " SideTable", " -0.683", " 0.004", " -1.600", " 0", " 0", " 0", "" ], [ "32", " SideTable", " 2.956", " 0.004", " 1.568", " 0", " 0", " 0", "" ], [ "33", " TVStand", " 0.838", " -0.006", " 1.582", " 0", " 0", " 0", "" ], [ "34", " Drawer", " 0.472", " 0.271", " -0.165", " 0", " 270", " 0", "" ], [ "35", " Drawer", " -0.018", " 0.272", " -0.165", " 0", " 270", " 0", "" ], [ "36", " Drawer", " -0.018", " 0.168", " -0.165", " 0", " 270", " 0", "" ], [ "37", " Drawer", " -0.018", " 0.064", " -0.165", " 0", " 270", " 0", "" ], [ "38", " Drawer", " 0.472", " 0.063", " -0.165", " 0", " 270", " 0", "" ], [ "39", " Drawer", " 0.472", " 0.167", " -0.165", " 0", " 270", " 0", "" ], [ "40", " CoffeeTable", " 0.226", " -0.003", " -0.164", " 0", " 270", " 0", "" ], [ "41", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 1.0 0 270 0 1 Newspaper 2.957 0.610 1.686 0 0 0 32 2 Watch 2.072 0.871 1.787 0 0 0 28 3 Watch 0.227 0.368 0.130 0 0 0 40 4 KeyChain 0.339 0.367 0.032 0 0 0 40 5 CreditCard 0.170 0.367 0.032 0 0 0 40 6 RemoteControl 0.522 0.412 1.466 0 0 0 33 7 RemoteControl 0.678 0.412 1.531 0 0 0 33 8 Box -0.636 0.778 -1.469 0 0 0 31 9 Laptop 0.228 0.358 -0.306 0 349.282 0 40 10 CreditCard 1.765 0.870 1.746 0 0 0 28 11 Newspaper 0.216 0.522 -1.567 0 350.059 0 29 12 RemoteControl 1.842 0.871 1.746 0 0 0 28 13 Pillow -0.875 0.575 -0.798 0 267.956 341.124 30 14 KeyChain 0.396 0.367 0.130 0 0 0 40 15 Watch -0.857 0.603 -1.482 0 0 0 31 16 Statue 0.834 0.418 1.466 0 0 0 33 17 Curtains 1.199 0.0 -2.440 0 0 0 18 HousePlant 1.919 1.717 -2.187 0 315 0 19 FloorLamp -1.160 -0.003 1.040 0 0 0 20 LightSwitch -1.006 1.286 1.950 0 180 0 21 Television 0.858 0.884 1.731 0 180 0 22 Painting 3.414 1.708 -0.156 90 270 0 23 Painting -1.449 1.787 -0.342 90 270 0 24 GarbageCan 1.296 9.894 -2.187 0 0 0 25 Window 0.653 1.550 -2.470 90 180 0 26 Sofa 2.868 -0.002 0.248 0 270 0 27 Drawer 1.996 0.779 1.705 0 180 0 28 SideTable 1.995 0.004 1.746 0 180 0 29 ArmChair 0.224 -0.010 -1.724 0 0 0 30 Sofa -1.007 0.006 -0.207 1.149 90 0 31 SideTable -0.683 0.004 -1.600 0 0 0 32 SideTable 2.956 0.004 1.568 0 0 0 33 TVStand 0.838 -0.006 1.582 0 0 0 34 Drawer 0.472 0.271 -0.165 0 270 0 35 Drawer -0.018 0.272 -0.165 0 270 0 36 Drawer -0.018 0.168 -0.165 0 270 0 37 Drawer -0.018 0.064 -0.165 0 270 0 38 Drawer 0.472 0.063 -0.165 0 270 0 39 Drawer 0.472 0.167 -0.165 0 270 0 40 CoffeeTable 0.226 -0.003 -0.164 0 270 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around and walk over to the end table to the left of the couch. | STEP 2: Pick up the newspaper on the end table. | STEP 3: Turn right and take one step and turn right again, take six steps and turn left to face the coffee table. | STEP 4: Put the newspaper, standing vertically, in front of the gold hoop. | STEP 5: Walk straight forward to the end of the coffee table and turn right and then left to face the chair. | STEP 6: Pick up the newspaper from the chair. | STEP 7: Turn left for one step and then turn left again, walk forward to the TV and turn around. | STEP 8: Place the newspaper standing vertically, in front of the open laptop. | END" ]
[ [ "STEP 1: Turn around and walk over to the end table to the left of the couch. ", " STEP 2: Pick up the newspaper on the end table. ", " STEP 3: Turn right and take one step and turn right again, take six steps and turn left to face the coffee table. ", " STEP 4: Put the newspaper, standing vertically, in front of the gold hoop. ", " STEP 5: Walk straight forward to the end of the coffee table and turn right and then left to face the chair. ", " STEP 6: Pick up the newspaper from the chair. ", " STEP 7: Turn left for one step and then turn left again, walk forward to the TV and turn around. ", " STEP 8: Place the newspaper standing vertically, in front of the open laptop. ", " END" ] ]
seen
trial_T20190906_234424_765112-0
Place an egg in the microwave.
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Window", " -3.266", " 1.924", " 0.014", " 90", " 0", " 0", "" ], [ "64", " Toaster", " -0.225", " 1.038", " 2.865", " 0", " 270", " 0", "" ], [ "65", " GarbageCan", " -3.696", " 0.002", " 2.008", " 0", " 0", " 0", "" ], [ "66", " SinkBasin", " -1.389", " 0.921", " 0.428", " 0", " 0", " 0", "" ], [ "67", " Microwave", " -0.366", " 1.113", " 0.430", " 0", " 0", " 0", "" ], [ "68", " HousePlant", " -2.155", " 1.101", " 0.169", " 0", " 332.897", " 0", "" ], [ "69", " LightSwitch", " -2.584", " 1.299", " 3.5", " 0", " 180", " 0", "" ], [ "70", " Faucet", " -1.393", " 1.373", " 0.168", " 0", " 270", " 0", "" ], [ "71", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "72", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.900 1.75 0 90 0 1 Potato -3.373 0.942 3.203 0 90 0 61 2 Ladle -1.562 0.088 0.551 0 90 0 59 3 Ladle -0.538 1.087 3.042 0 0 0 44 4 Pot -3.000 1.133 0.480 0 270 0 49 5 Egg -0.785 1.078 2.144 0 0 0 44 6 Cup -0.538 1.045 2.817 0 0 0 44 7 Cup -3.506 0.909 3.132 0 90 0 61 8 Plate -1.195 0.047 0.608 0 0 0 48 9 SoapBottle -0.662 1.048 3.042 0 0 0 44 10 Tomato -3.506 1.601 2.849 0 90 0 61 11 SaltShaker -1.235 0.045 0.381 0 0 0 48 12 SaltShaker -0.292 1.043 1.920 0 0 0 44 13 PepperShaker -1.640 0.045 0.438 0 0 0 59 14 Bread -3.44 1.373 3.061 0 90 0 61 15 Bread -2.262 1.211 0.473 0 0 0 54 16 Lettuce -0.785 1.124 2.817 0 0 0 44 17 Fork -2.011 1.125 0.284 0 0 0 54 18 SoapBottle -1.568 1.154 0.095 0 0 0 41 19 Pot -3.475 1.133 0.48 0 90 0 42 20 Ladle -1.288 0.970 0.498 0 0 0 66 21 Potato -1.885 1.155 0.379 0 0 0 54 22 Plate -0.785 1.046 2.369 0 0 0 44 23 Bread -0.908 1.133 3.266 0 0 0 44 24 Lettuce -0.908 1.124 3.042 0 0 0 44 25 Spatula -1.111 0.946 0.428 0 90 0 66 26 Pan -0.266 1.038 2.561 0 0 0 44 27 Egg -0.662 1.077 1.920 0 0 0 44 28 Cup -3.923 1.122 0.284 0 0 0 51 29 SaltShaker -1.948 0.092 0.512 0 0 0 46 30 Knife -1.553 0.963 0.290 0 90 0 66 31 Bowl -2.514 1.122 0.284 0 0 0 54 32 PepperShaker -2.184 0.091 0.545 0 0 0 46 33 ButterKnife -1.199 0.931 0.290 0 180 0 66 34 Apple -1.642 0.998 0.359 0 0 0 66 35 Tomato -0.662 1.087 3.266 0 0 0 44 36 DishSponge -1.199 0.931 0.498 0 0 0 66 37 Spoon -0.415 1.048 2.369 0 0 0 44 38 Mug -1.885 1.119 0.567 0 0 0 54 39 StoveKnob -3.322 1.053 0.709 45 0 0 40 StoveBurner -3.474 1.097 0.227 0 180 0 41 Sink -1.394 0.982 0.439 0 0 0 42 StoveBurner -3.474 1.097 0.479 0 180 0 43 StoveKnob -3.164 1.053 0.709 45 0 0 44 DiningTable -0.620 0.017 2.486 0 0 0 45 Drawer -2.043 0.608 0.594 0 0 0 46 Drawer -2.043 0.216 0.594 0 0 0 47 Drawer -2.498 0.216 0.594 0 0 0 48 Cabinet -1.001 0.393 0.734 0 0 0 49 StoveBurner -3.000 1.097 0.480 0 0 0 50 StoveKnob -3.492 1.053 0.709 45 0 0 51 CounterTop -3.856 1.160 0.379 0 0 0 52 Drawer -2.043 0.937 0.599 0 0 0 53 Drawer -2.509 0.937 0.599 0 0 0 54 CounterTop -2.280 1.160 0.379 0 0 0 55 StoveKnob -2.985 1.053 0.709 45 0 0 56 CounterTop -0.514 1.160 0.492 0 0 0 57 Drawer -2.498 0.608 0.594 0 0 0 58 StoveBurner -3.000 1.097 0.227 0 0 0 59 Cabinet -1.733 0.393 0.734 0 0 0 60 CoffeeMachine -0.153 1.038 3.193 0 270 0 61 Fridge -3.519 0.0 2.717 0 90 0 62 Window -1.394 1.924 0.014 90 0 0 63 Window -3.266 1.924 0.014 90 0 0 64 Toaster -0.225 1.038 2.865 0 270 0 65 GarbageCan -3.696 0.002 2.008 0 0 0 66 SinkBasin -1.389 0.921 0.428 0 0 0 67 Microwave -0.366 1.113 0.430 0 0 0 68 HousePlant -2.155 1.101 0.169 0 332.897 0 69 LightSwitch -2.584 1.299 3.5 0 180 0 70 Faucet -1.393 1.373 0.168 0 270 0 71 NorthWall 72 SouthWall 73 SouthWall
[ "STEP 1: Walk forward to the table. | STEP 2: Pick up the egg on the right. | STEP 3: Turn right and go to the microwave. | STEP 4: Put the egg in the microwave. | END" ]
[ [ "STEP 1: Walk forward to the table. ", " STEP 2: Pick up the egg on the right. ", " STEP 3: Turn right and go to the microwave. ", " STEP 4: Put the egg in the microwave. ", " END" ] ]
seen
trial_T20190906_234424_765112-1
Put the egg into the microwave.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.25", " 0.900", " 1.75", " 0", " 90", " 0", "" ], [ "1", " Potato", " -3.373", " 0.942", " 3.203", " 0", " 90", " 0", " 61" ], [ "2", " Ladle", " -1.562", " 0.088", " 0.551", " 0", " 90", " 0", " 59" ], [ "3", " Ladle", " -0.538", " 1.087", " 3.042", " 0", " 0", " 0", " 44" ], [ "4", " Pot", " -3.000", " 1.133", " 0.480", " 0", " 270", " 0", " 49" ], [ "5", " Egg", " -0.785", " 1.078", " 2.144", " 0", " 0", " 0", " 44" ], [ "6", " Cup", " -0.538", " 1.045", " 2.817", " 0", " 0", " 0", " 44" ], [ "7", " Cup", " -3.506", " 0.909", " 3.132", " 0", " 90", " 0", " 61" ], [ "8", " Plate", " -1.195", " 0.047", " 0.608", " 0", " 0", " 0", " 48" ], [ "9", " SoapBottle", " -0.662", " 1.048", " 3.042", " 0", " 0", " 0", " 44" ], [ "10", " Tomato", " -3.506", " 1.601", " 2.849", " 0", " 90", " 0", " 61" ], [ "11", " SaltShaker", " -1.235", " 0.045", " 0.381", " 0", " 0", " 0", " 48" ], [ "12", " SaltShaker", " -0.292", " 1.043", " 1.920", " 0", " 0", " 0", " 44" ], [ "13", " PepperShaker", " -1.640", " 0.045", " 0.438", " 0", " 0", " 0", " 59" ], [ "14", " Bread", " -3.44", " 1.373", " 3.061", " 0", " 90", " 0", " 61" ], [ "15", " Bread", " -2.262", " 1.211", " 0.473", " 0", " 0", " 0", " 54" ], [ "16", " Lettuce", " -0.785", " 1.124", " 2.817", " 0", " 0", " 0", " 44" ], [ "17", " Fork", " -2.011", " 1.125", " 0.284", " 0", " 0", " 0", " 54" ], [ "18", " SoapBottle", " -1.568", " 1.154", " 0.095", " 0", " 0", " 0", " 41" ], [ "19", " Pot", " -3.475", " 1.133", " 0.48", " 0", " 90", " 0", " 42" ], [ "20", " Ladle", " -1.288", " 0.970", " 0.498", " 0", " 0", " 0", " 66" ], [ "21", " Potato", " -1.885", " 1.155", " 0.379", " 0", " 0", " 0", " 54" ], [ "22", " Plate", " -0.785", " 1.046", " 2.369", " 0", " 0", " 0", " 44" ], [ "23", " Bread", " -0.908", " 1.133", " 3.266", " 0", " 0", " 0", " 44" ], [ "24", " Lettuce", " 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Spoon", " -0.415", " 1.048", " 2.369", " 0", " 0", " 0", " 44" ], [ "38", " Mug", " -1.885", " 1.119", " 0.567", " 0", " 0", " 0", " 54" ], [ "39", " StoveKnob", " -3.322", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "40", " StoveBurner", " -3.474", " 1.097", " 0.227", " 0", " 180", " 0", "" ], [ "41", " Sink", " -1.394", " 0.982", " 0.439", " 0", " 0", " 0", "" ], [ "42", " StoveBurner", " -3.474", " 1.097", " 0.479", " 0", " 180", " 0", "" ], [ "43", " StoveKnob", " -3.164", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "44", " DiningTable", " -0.620", " 0.017", " 2.486", " 0", " 0", " 0", "" ], [ "45", " Drawer", " -2.043", " 0.608", " 0.594", " 0", " 0", " 0", "" ], [ "46", " Drawer", " -2.043", " 0.216", " 0.594", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -2.498", " 0.216", " 0.594", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -1.001", " 0.393", " 0.734", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -3.000", " 1.097", " 0.480", " 0", " 0", " 0", "" ], [ "50", " 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Window", " -3.266", " 1.924", " 0.014", " 90", " 0", " 0", "" ], [ "64", " Toaster", " -0.225", " 1.038", " 2.865", " 0", " 270", " 0", "" ], [ "65", " GarbageCan", " -3.696", " 0.002", " 2.008", " 0", " 0", " 0", "" ], [ "66", " SinkBasin", " -1.389", " 0.921", " 0.428", " 0", " 0", " 0", "" ], [ "67", " Microwave", " -0.366", " 1.113", " 0.430", " 0", " 0", " 0", "" ], [ "68", " HousePlant", " -2.155", " 1.101", " 0.169", " 0", " 332.897", " 0", "" ], [ "69", " LightSwitch", " -2.584", " 1.299", " 3.5", " 0", " 180", " 0", "" ], [ "70", " Faucet", " -1.393", " 1.373", " 0.168", " 0", " 270", " 0", "" ], [ "71", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "72", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.900 1.75 0 90 0 1 Potato -3.373 0.942 3.203 0 90 0 61 2 Ladle -1.562 0.088 0.551 0 90 0 59 3 Ladle -0.538 1.087 3.042 0 0 0 44 4 Pot -3.000 1.133 0.480 0 270 0 49 5 Egg -0.785 1.078 2.144 0 0 0 44 6 Cup -0.538 1.045 2.817 0 0 0 44 7 Cup -3.506 0.909 3.132 0 90 0 61 8 Plate -1.195 0.047 0.608 0 0 0 48 9 SoapBottle -0.662 1.048 3.042 0 0 0 44 10 Tomato -3.506 1.601 2.849 0 90 0 61 11 SaltShaker -1.235 0.045 0.381 0 0 0 48 12 SaltShaker -0.292 1.043 1.920 0 0 0 44 13 PepperShaker -1.640 0.045 0.438 0 0 0 59 14 Bread -3.44 1.373 3.061 0 90 0 61 15 Bread -2.262 1.211 0.473 0 0 0 54 16 Lettuce -0.785 1.124 2.817 0 0 0 44 17 Fork -2.011 1.125 0.284 0 0 0 54 18 SoapBottle -1.568 1.154 0.095 0 0 0 41 19 Pot -3.475 1.133 0.48 0 90 0 42 20 Ladle -1.288 0.970 0.498 0 0 0 66 21 Potato -1.885 1.155 0.379 0 0 0 54 22 Plate -0.785 1.046 2.369 0 0 0 44 23 Bread -0.908 1.133 3.266 0 0 0 44 24 Lettuce -0.908 1.124 3.042 0 0 0 44 25 Spatula -1.111 0.946 0.428 0 90 0 66 26 Pan -0.266 1.038 2.561 0 0 0 44 27 Egg -0.662 1.077 1.920 0 0 0 44 28 Cup -3.923 1.122 0.284 0 0 0 51 29 SaltShaker -1.948 0.092 0.512 0 0 0 46 30 Knife -1.553 0.963 0.290 0 90 0 66 31 Bowl -2.514 1.122 0.284 0 0 0 54 32 PepperShaker -2.184 0.091 0.545 0 0 0 46 33 ButterKnife -1.199 0.931 0.290 0 180 0 66 34 Apple -1.642 0.998 0.359 0 0 0 66 35 Tomato -0.662 1.087 3.266 0 0 0 44 36 DishSponge -1.199 0.931 0.498 0 0 0 66 37 Spoon -0.415 1.048 2.369 0 0 0 44 38 Mug -1.885 1.119 0.567 0 0 0 54 39 StoveKnob -3.322 1.053 0.709 45 0 0 40 StoveBurner -3.474 1.097 0.227 0 180 0 41 Sink -1.394 0.982 0.439 0 0 0 42 StoveBurner -3.474 1.097 0.479 0 180 0 43 StoveKnob -3.164 1.053 0.709 45 0 0 44 DiningTable -0.620 0.017 2.486 0 0 0 45 Drawer -2.043 0.608 0.594 0 0 0 46 Drawer -2.043 0.216 0.594 0 0 0 47 Drawer -2.498 0.216 0.594 0 0 0 48 Cabinet -1.001 0.393 0.734 0 0 0 49 StoveBurner -3.000 1.097 0.480 0 0 0 50 StoveKnob -3.492 1.053 0.709 45 0 0 51 CounterTop -3.856 1.160 0.379 0 0 0 52 Drawer -2.043 0.937 0.599 0 0 0 53 Drawer -2.509 0.937 0.599 0 0 0 54 CounterTop -2.280 1.160 0.379 0 0 0 55 StoveKnob -2.985 1.053 0.709 45 0 0 56 CounterTop -0.514 1.160 0.492 0 0 0 57 Drawer -2.498 0.608 0.594 0 0 0 58 StoveBurner -3.000 1.097 0.227 0 0 0 59 Cabinet -1.733 0.393 0.734 0 0 0 60 CoffeeMachine -0.153 1.038 3.193 0 270 0 61 Fridge -3.519 0.0 2.717 0 90 0 62 Window -1.394 1.924 0.014 90 0 0 63 Window -3.266 1.924 0.014 90 0 0 64 Toaster -0.225 1.038 2.865 0 270 0 65 GarbageCan -3.696 0.002 2.008 0 0 0 66 SinkBasin -1.389 0.921 0.428 0 0 0 67 Microwave -0.366 1.113 0.430 0 0 0 68 HousePlant -2.155 1.101 0.169 0 332.897 0 69 LightSwitch -2.584 1.299 3.5 0 180 0 70 Faucet -1.393 1.373 0.168 0 270 0 71 NorthWall 72 SouthWall 73 SouthWall
[ "STEP 1: Walk forward to the large wooden table. | STEP 2: Pick up the egg nearest the salt shaker from the table. | STEP 3: Turn right and walk to the microwave left of the sink. | STEP 4: Put the egg into the microwave. | END" ]
[ [ "STEP 1: Walk forward to the large wooden table. ", " STEP 2: Pick up the egg nearest the salt shaker from the table. ", " STEP 3: Turn right and walk to the microwave left of the sink. ", " STEP 4: Put the egg into the microwave. ", " END" ] ]
seen
trial_T20190906_234424_765112-2
Put a potato in a microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.900 1.75 0 90 0 1 Potato -3.373 0.942 3.203 0 90 0 61 2 Ladle -1.562 0.088 0.551 0 90 0 59 3 Ladle -0.538 1.087 3.042 0 0 0 44 4 Pot -3.000 1.133 0.480 0 270 0 49 5 Egg -0.785 1.078 2.144 0 0 0 44 6 Cup -0.538 1.045 2.817 0 0 0 44 7 Cup -3.506 0.909 3.132 0 90 0 61 8 Plate -1.195 0.047 0.608 0 0 0 48 9 SoapBottle -0.662 1.048 3.042 0 0 0 44 10 Tomato -3.506 1.601 2.849 0 90 0 61 11 SaltShaker -1.235 0.045 0.381 0 0 0 48 12 SaltShaker -0.292 1.043 1.920 0 0 0 44 13 PepperShaker -1.640 0.045 0.438 0 0 0 59 14 Bread -3.44 1.373 3.061 0 90 0 61 15 Bread -2.262 1.211 0.473 0 0 0 54 16 Lettuce -0.785 1.124 2.817 0 0 0 44 17 Fork -2.011 1.125 0.284 0 0 0 54 18 SoapBottle -1.568 1.154 0.095 0 0 0 41 19 Pot -3.475 1.133 0.48 0 90 0 42 20 Ladle -1.288 0.970 0.498 0 0 0 66 21 Potato -1.885 1.155 0.379 0 0 0 54 22 Plate -0.785 1.046 2.369 0 0 0 44 23 Bread -0.908 1.133 3.266 0 0 0 44 24 Lettuce -0.908 1.124 3.042 0 0 0 44 25 Spatula -1.111 0.946 0.428 0 90 0 66 26 Pan -0.266 1.038 2.561 0 0 0 44 27 Egg -0.662 1.077 1.920 0 0 0 44 28 Cup -3.923 1.122 0.284 0 0 0 51 29 SaltShaker -1.948 0.092 0.512 0 0 0 46 30 Knife -1.553 0.963 0.290 0 90 0 66 31 Bowl -2.514 1.122 0.284 0 0 0 54 32 PepperShaker -2.184 0.091 0.545 0 0 0 46 33 ButterKnife -1.199 0.931 0.290 0 180 0 66 34 Apple -1.642 0.998 0.359 0 0 0 66 35 Tomato -0.662 1.087 3.266 0 0 0 44 36 DishSponge -1.199 0.931 0.498 0 0 0 66 37 Spoon -0.415 1.048 2.369 0 0 0 44 38 Mug -1.885 1.119 0.567 0 0 0 54 39 StoveKnob -3.322 1.053 0.709 45 0 0 40 StoveBurner -3.474 1.097 0.227 0 180 0 41 Sink -1.394 0.982 0.439 0 0 0 42 StoveBurner -3.474 1.097 0.479 0 180 0 43 StoveKnob -3.164 1.053 0.709 45 0 0 44 DiningTable -0.620 0.017 2.486 0 0 0 45 Drawer -2.043 0.608 0.594 0 0 0 46 Drawer -2.043 0.216 0.594 0 0 0 47 Drawer -2.498 0.216 0.594 0 0 0 48 Cabinet -1.001 0.393 0.734 0 0 0 49 StoveBurner -3.000 1.097 0.480 0 0 0 50 StoveKnob -3.492 1.053 0.709 45 0 0 51 CounterTop -3.856 1.160 0.379 0 0 0 52 Drawer -2.043 0.937 0.599 0 0 0 53 Drawer -2.509 0.937 0.599 0 0 0 54 CounterTop -2.280 1.160 0.379 0 0 0 55 StoveKnob -2.985 1.053 0.709 45 0 0 56 CounterTop -0.514 1.160 0.492 0 0 0 57 Drawer -2.498 0.608 0.594 0 0 0 58 StoveBurner -3.000 1.097 0.227 0 0 0 59 Cabinet -1.733 0.393 0.734 0 0 0 60 CoffeeMachine -0.153 1.038 3.193 0 270 0 61 Fridge -3.519 0.0 2.717 0 90 0 62 Window -1.394 1.924 0.014 90 0 0 63 Window -3.266 1.924 0.014 90 0 0 64 Toaster -0.225 1.038 2.865 0 270 0 65 GarbageCan -3.696 0.002 2.008 0 0 0 66 SinkBasin -1.389 0.921 0.428 0 0 0 67 Microwave -0.366 1.113 0.430 0 0 0 68 HousePlant -2.155 1.101 0.169 0 332.897 0 69 LightSwitch -2.584 1.299 3.5 0 180 0 70 Faucet -1.393 1.373 0.168 0 270 0 71 NorthWall 72 SouthWall 73 SouthWall
[ "STEP 1: Go straight to the brown table. | STEP 2: Take the potato on the right near the salt shaker from the table. | STEP 3: Turn right, go to the sink | STEP 4: Put the potato in the microwave to the left of the sink. | END" ]
[ [ "STEP 1: Go straight to the brown table. ", " STEP 2: Take the potato on the right near the salt shaker from the table. ", " STEP 3: Turn right, go to the sink ", " STEP 4: Put the potato in the microwave to the left of the sink. ", " END" ] ]
seen
trial_T20190908_224403_664612-0
Place a cold mug into a cabinet
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0", " 0", " 51" ], [ "24", " Bread", " -2.206", " 0.996", " 1.830", " 0", " 0", " 0", " 79" ], [ "25", " Mug", " -2.538", " 0.905", " 0.931", " 0", " 0", " 0", " 79" ], [ "26", " Apple", " -2.559", " 0.656", " -0.693", " 0", " 90", " 0", " 83" ], [ "27", " Apple", " 1.646", " 0.246", " 0.706", " 0", " 0", " 0", " 90" ], [ "28", " Pan", " 1.412", " 0.929", " -0.335", " 0", " 0", " 0", " 52" ], [ "29", " Knife", " 1.599", " 0.936", " -0.810", " 0", " 0", " 0", " 61" ], [ "30", " Apple", " -2.704", " 0.972", " 0.331", " 0", " 0", " 0", " 79" ], [ "31", " Bowl", " -0.341", " 0.908", " 1.540", " 0", " 0", " 0", " 51" ], [ "32", " Fork", " -2.318", " 0.774", " 0.857", " 0", " 90", " 0", " 56" ], [ "33", " Bread", " -0.081", " 0.996", " 1.764", " 0", " 0", " 0", " 51" ], [ "34", " Plate", " -2.621", " 0.913", " 1.230", " 0", " 0", " 0", " 79" ], [ "35", " Egg", " 0.691", " 0.941", " -1.450", " 0", " 45", " 0", " 61" ], [ "36", " Kettle", " 1.691", " 0.929", " 0.064", " 0", " 0", " 0", " 62" 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" -0.790", " 0", " 90", " 0", " 83" ], [ "50", " Mug", " 1.697", " 1.651", " 0.387", " 0", " 0", " 0", " 71" ], [ "51", " CounterTop", " -0.360", " 0.946", " 1.093", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " 1.412", " 0.923", " -0.335", " 0", " 0", " 0", "" ], [ "53", " StoveKnob", " 1.878", " 1.093", " 0.018", " 287.989", " 90", " 0", "" ], [ "54", " StoveKnob", " 1.878", " 1.093", " -0.306", " 287.989", " 90", " 0", "" ], [ "55", " Cabinet", " -2.446", " 1.948", " 2.924", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -2.276", " 0.792", " 0.902", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.145", " 0.402", " 1.578", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 0.149", " 2.008", " -1.603", " 0", " 90", " 0", "" ], [ "59", " StoveBurner", " 1.691", " 0.923", " -0.335", " 0", " 0", " 0", "" ], [ "60", " CounterTop", " 1.585", " 0.946", " 0.405", " 0", " 0", " 0", "" ], [ "61", " CounterTop", " 0.474", " 0.946", " -1.625", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " 1.691", " 0.923", " 0.064", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.446", " 1.948", " 1.687", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.446", " 1.948", " 1.640", " 0", " 0", " 0", "" ], [ "65", " Sink", " 1.381", " 0.810", " -1.271", " 0", " 225", " 0", "" ], [ "66", " StoveKnob", " 1.878", " 1.093", " 0.150", " 287.989", " 90", " 0", "" ], [ "67", " Cabinet", " -2.145", " 0.402", " -0.236", " 0", " 0", " 0", "" ], [ "68", " Drawer", " -2.276", " 0.792", " 0.437", " 0", " 0", " 0", "" ], [ "69", " Drawer", " -2.276", " 0.792", " -0.027", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " 1.572", " 2.008", " 0.474", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " 1.572", " 2.008", " -0.775", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -2.445", " 2.148", " -1.275", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -2.446", " 2.148", " -0.284", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " -2.446", " 1.948", " 0.355", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -2.446", " 1.948", " 0.405", " 0", " 0", " 0", "" ], [ "76", " Cabinet", " -2.145", " 0.402", " 0.644", " 0", " 0", " 0", "" ], [ "77", " Cabinet", " -2.145", " 0.402", " 0.695", " 0", " 0", " 0", "" ], [ "78", " Cabinet", " -2.285", " 1.968", " -1.325", " 0", " 180", " 0", "" ], [ "79", " CounterTop", " -1.485", " 0.946", " 1.319", " 0", " 0", " 0", "" ], [ "80", " StoveBurner", " 1.411", " 0.923", " 0.064", " 0", " 0", " 0", "" ], [ "81", " StoveKnob", " 1.878", " 1.093", " -0.441", " 287.989", " 90", " 0", "" ], [ "82", " Drawer", " -2.276", " 0.792", " 1.368", " 0", " 0", " 0", "" ], [ "83", " Fridge", " -2.475", " 0.0", " -0.782", " 0", " 90", " 0", "" ], [ "84", " LightSwitch", " -0.929", " 1.350", " -1.950", " 0", " 0", " 0", "" ], [ "85", " Toaster", " -2.564", " 0.900", " 1.876", " 0", " 90", " 0", "" ], [ "86", " CoffeeMachine", " 0.464", " 0.900", " -1.810", " 0", " 0", " 0", "" ], [ "87", " Window", " 1.508", " 1.534", " -1.496", " 90", " 135", " 0", "" ], [ "88", " Window", " 1.973", " 1.521", " 1.121", " 90", " 90", " 0", "" ], [ "89", " SinkBasin", " 1.149", " 0.753", " -1.380", " 0", " 225", " 0", "" ], [ "90", " GarbageCan", " 1.646", " -0.000", " 0.679", " 0", " 0", " 0", "" ], [ "91", " Microwave", " -2.580", " 0.900", " 2.440", " 0", " 90", " 0", "" ], [ "92", " Stool", " 0.439", " 0.010", " 0.747", " 0", " 0", " 0", "" ], [ "93", " Stool", " -2.303", " 0.010", " 1.839", " 0", " 0", " 0", "" ], [ "94", " Faucet", " 1.235", " 1.138", " -1.473", " 0", " 225", " 0", "" ], [ "95", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "98", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -0.5 0 90 0 1 Potato -0.211 0.947 0.870 0 0 0 51 2 DishSponge 0.292 0.910 -1.369 0 0 0 61 3 ButterKnife -2.289 0.910 0.631 0 0 0 79 4 Fork -2.379 0.774 -0.073 0 90 0 69 5 Fork 1.337 0.920 -1.115 0 225 0 65 6 Spoon -0.471 0.912 0.647 0 0 0 51 7 Spatula -2.318 0.788 -0.121 0 90 0 69 8 Pot 1.691 0.929 -0.335 0 0 0 59 9 Cup -2.485 1.298 -0.602 0 90 0 83 10 Plate -0.471 0.913 1.094 0 0 0 51 11 Knife -2.287 0.799 0.391 0 90 0 68 12 Knife -2.318 0.798 1.417 0 270 0 82 13 Tomato -2.420 0.637 -0.962 0 90 0 83 14 SoapBottle 0.195 0.912 -1.454 0 0 0 61 15 SoapBottle -2.411 1.585 -1.777 0 180 0 78 16 Bowl -2.621 0.908 1.530 0 0 0 79 17 PepperShaker -2.384 0.109 0.386 0 0 0 76 18 PepperShaker 1.684 0.906 0.346 0 270 0 60 19 SaltShaker -2.524 1.532 -0.165 0 0 0 74 20 SaltShaker 0.765 0.905 -1.478 0 45 0 61 21 Lettuce 0.048 0.994 1.317 0 0 0 51 22 Lettuce 1.442 1.006 -1.220 0 225 0 65 23 Bread 0.048 0.996 0.423 0 0 0 51 24 Bread -2.206 0.996 1.830 0 0 0 79 25 Mug -2.538 0.905 0.931 0 0 0 79 26 Apple -2.559 0.656 -0.693 0 90 0 83 27 Apple 1.646 0.246 0.706 0 0 0 90 28 Pan 1.412 0.929 -0.335 0 0 0 52 29 Knife 1.599 0.936 -0.810 0 0 0 61 30 Apple -2.704 0.972 0.331 0 0 0 79 31 Bowl -0.341 0.908 1.540 0 0 0 51 32 Fork -2.318 0.774 0.857 0 90 0 56 33 Bread -0.081 0.996 1.764 0 0 0 51 34 Plate -2.621 0.913 1.230 0 0 0 79 35 Egg 0.691 0.941 -1.450 0 45 0 61 36 Kettle 1.691 0.929 0.064 0 0 0 62 37 Potato -0.471 0.947 0.423 0 0 0 51 38 SaltShaker -0.730 0.905 0.647 0 0 0 51 39 Lettuce -2.621 0.994 0.631 0 0 0 79 40 Cup 1.248 0.916 -1.134 0 225 0 65 41 SoapBottle -0.341 0.912 0.423 0 0 0 51 42 Spatula -2.227 0.788 0.022 0 270 0 69 43 PaperTowelRoll -0.601 1.015 1.317 0 0 0 51 44 ButterKnife 1.598 0.911 0.494 0 0 0 60 45 PepperShaker -0.471 0.905 1.317 0 0 0 51 46 DishSponge -2.411 1.583 -1.412 0 180 0 78 47 Pot -2.289 0.914 1.530 0 0 0 79 48 Spoon -2.379 0.775 0.857 0 90 0 56 49 Tomato -2.578 1.342 -0.790 0 90 0 83 50 Mug 1.697 1.651 0.387 0 0 0 71 51 CounterTop -0.360 0.946 1.093 0 0 0 52 StoveBurner 1.412 0.923 -0.335 0 0 0 53 StoveKnob 1.878 1.093 0.018 287.989 90 0 54 StoveKnob 1.878 1.093 -0.306 287.989 90 0 55 Cabinet -2.446 1.948 2.924 0 0 0 56 Drawer -2.276 0.792 0.902 0 0 0 57 Cabinet -2.145 0.402 1.578 0 0 0 58 Cabinet 0.149 2.008 -1.603 0 90 0 59 StoveBurner 1.691 0.923 -0.335 0 0 0 60 CounterTop 1.585 0.946 0.405 0 0 0 61 CounterTop 0.474 0.946 -1.625 0 0 0 62 StoveBurner 1.691 0.923 0.064 0 0 0 63 Cabinet -2.446 1.948 1.687 0 0 0 64 Cabinet -2.446 1.948 1.640 0 0 0 65 Sink 1.381 0.810 -1.271 0 225 0 66 StoveKnob 1.878 1.093 0.150 287.989 90 0 67 Cabinet -2.145 0.402 -0.236 0 0 0 68 Drawer -2.276 0.792 0.437 0 0 0 69 Drawer -2.276 0.792 -0.027 0 0 0 70 Cabinet 1.572 2.008 0.474 0 0 0 71 Cabinet 1.572 2.008 -0.775 0 0 0 72 Cabinet -2.445 2.148 -1.275 0 0 0 73 Cabinet -2.446 2.148 -0.284 0 0 0 74 Cabinet -2.446 1.948 0.355 0 0 0 75 Cabinet -2.446 1.948 0.405 0 0 0 76 Cabinet -2.145 0.402 0.644 0 0 0 77 Cabinet -2.145 0.402 0.695 0 0 0 78 Cabinet -2.285 1.968 -1.325 0 180 0 79 CounterTop -1.485 0.946 1.319 0 0 0 80 StoveBurner 1.411 0.923 0.064 0 0 0 81 StoveKnob 1.878 1.093 -0.441 287.989 90 0 82 Drawer -2.276 0.792 1.368 0 0 0 83 Fridge -2.475 0.0 -0.782 0 90 0 84 LightSwitch -0.929 1.350 -1.950 0 0 0 85 Toaster -2.564 0.900 1.876 0 90 0 86 CoffeeMachine 0.464 0.900 -1.810 0 0 0 87 Window 1.508 1.534 -1.496 90 135 0 88 Window 1.973 1.521 1.121 90 90 0 89 SinkBasin 1.149 0.753 -1.380 0 225 0 90 GarbageCan 1.646 -0.000 0.679 0 0 0 91 Microwave -2.580 0.900 2.440 0 90 0 92 Stool 0.439 0.010 0.747 0 0 0 93 Stool -2.303 0.010 1.839 0 0 0 94 Faucet 1.235 1.138 -1.473 0 225 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: turn around and head forward, take a right at the fridge then a left to face the counter the is to the right of the fridge | STEP 2: Pick up the white coffee mug that is sitting on the counter | STEP 3: Turn left and walk to the fridge, then turn right and face the fridge | STEP 4: Open the fridge and place the white coffee mug into the freezer then close the door. Then open the fridge and pick up the coffee mug that is in the freezer and close the door | STEP 5: Take a step backward and continue to face the fridge | STEP 6: Open the cabinet that is under the counter directly to the right of the fridge and place the coffee mug inside the cabinet and close the door | END" ]
[ [ "STEP 1: turn around and head forward, take a right at the fridge then a left to face the counter the is to the right of the fridge ", " STEP 2: Pick up the white coffee mug that is sitting on the counter ", " STEP 3: Turn left and walk to the fridge, then turn right and face the fridge ", " STEP 4: Open the fridge and place the white coffee mug into the freezer then close the door. Then open the fridge and pick up the coffee mug that is in the freezer and close the door ", " STEP 5: Take a step backward and continue to face the fridge ", " STEP 6: Open the cabinet that is under the counter directly to the right of the fridge and place the coffee mug inside the cabinet and close the door ", " END" ] ]
seen
trial_T20190908_224403_664612-1
Put a chilled mug in a cabinet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " -0.5", " 0", " 90", " 0", "" ], [ "1", " Potato", " -0.211", " 0.947", " 0.870", " 0", " 0", " 0", " 51" ], [ "2", " DishSponge", " 0.292", " 0.910", " -1.369", " 0", " 0", " 0", " 61" ], [ "3", " ButterKnife", " -2.289", " 0.910", " 0.631", " 0", " 0", " 0", " 79" ], [ "4", " Fork", " -2.379", " 0.774", " -0.073", " 0", " 90", " 0", " 69" ], [ "5", " Fork", " 1.337", " 0.920", " -1.115", " 0", " 225", " 0", " 65" ], [ "6", " Spoon", " -0.471", " 0.912", " 0.647", " 0", " 0", " 0", " 51" ], [ "7", " Spatula", " -2.318", " 0.788", " -0.121", " 0", " 90", " 0", " 69" ], [ "8", " Pot", " 1.691", " 0.929", " -0.335", " 0", " 0", " 0", " 59" ], [ "9", " Cup", " -2.485", " 1.298", " -0.602", " 0", " 90", " 0", " 83" ], [ "10", " Plate", " -0.471", " 0.913", " 1.094", " 0", " 0", " 0", " 51" ], [ "11", " Knife", " -2.287", " 0.799", " 0.391", " 0", " 90", " 0", " 68" ], [ "12", " Knife", " -2.318", " 0.798", " 1.417", " 0", " 270", " 0", " 82" ], [ "13", " Tomato", " -2.420", " 0.637", " -0.962", " 0", " 90", " 0", " 83" ], [ "14", " SoapBottle", " 0.195", " 0.912", " -1.454", " 0", " 0", " 0", " 61" ], [ "15", " SoapBottle", " -2.411", " 1.585", " -1.777", " 0", " 180", " 0", " 78" ], [ "16", " Bowl", " -2.621", " 0.908", " 1.530", " 0", " 0", " 0", " 79" ], [ "17", " PepperShaker", " -2.384", " 0.109", " 0.386", " 0", " 0", " 0", " 76" ], [ "18", " PepperShaker", " 1.684", " 0.906", " 0.346", " 0", " 270", " 0", " 60" ], [ "19", " SaltShaker", " -2.524", " 1.532", " -0.165", " 0", " 0", " 0", " 74" ], [ "20", " SaltShaker", " 0.765", " 0.905", " -1.478", " 0", " 45", " 0", " 61" ], [ "21", " Lettuce", " 0.048", " 0.994", " 1.317", " 0", " 0", " 0", " 51" ], [ "22", " Lettuce", " 1.442", " 1.006", " -1.220", " 0", " 225", " 0", " 65" ], [ "23", " Bread", " 0.048", " 0.996", " 0.423", " 0", " 0", " 0", " 51" ], [ "24", " Bread", " -2.206", " 0.996", " 1.830", " 0", " 0", " 0", " 79" ], [ "25", " Mug", " -2.538", " 0.905", " 0.931", " 0", " 0", " 0", " 79" ], [ "26", " Apple", " -2.559", " 0.656", " -0.693", " 0", " 90", " 0", " 83" ], [ "27", " Apple", " 1.646", " 0.246", " 0.706", " 0", " 0", " 0", " 90" ], [ "28", " Pan", " 1.412", " 0.929", " -0.335", " 0", " 0", " 0", " 52" ], [ "29", " Knife", " 1.599", " 0.936", " -0.810", " 0", " 0", " 0", " 61" ], [ "30", " Apple", " -2.704", " 0.972", " 0.331", " 0", " 0", " 0", " 79" ], [ "31", " Bowl", " -0.341", " 0.908", " 1.540", " 0", " 0", " 0", " 51" ], [ "32", " Fork", " -2.318", " 0.774", " 0.857", " 0", " 90", " 0", " 56" ], [ "33", " Bread", " -0.081", " 0.996", " 1.764", " 0", " 0", " 0", " 51" ], [ "34", " Plate", " -2.621", " 0.913", " 1.230", " 0", " 0", " 0", " 79" ], [ "35", " Egg", " 0.691", " 0.941", " -1.450", " 0", " 45", " 0", " 61" ], [ "36", " Kettle", " 1.691", " 0.929", " 0.064", " 0", " 0", " 0", " 62" 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1.521", " 1.121", " 90", " 90", " 0", "" ], [ "89", " SinkBasin", " 1.149", " 0.753", " -1.380", " 0", " 225", " 0", "" ], [ "90", " GarbageCan", " 1.646", " -0.000", " 0.679", " 0", " 0", " 0", "" ], [ "91", " Microwave", " -2.580", " 0.900", " 2.440", " 0", " 90", " 0", "" ], [ "92", " Stool", " 0.439", " 0.010", " 0.747", " 0", " 0", " 0", "" ], [ "93", " Stool", " -2.303", " 0.010", " 1.839", " 0", " 0", " 0", "" ], [ "94", " Faucet", " 1.235", " 1.138", " -1.473", " 0", " 225", " 0", "" ], [ "95", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "98", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -0.5 0 90 0 1 Potato -0.211 0.947 0.870 0 0 0 51 2 DishSponge 0.292 0.910 -1.369 0 0 0 61 3 ButterKnife -2.289 0.910 0.631 0 0 0 79 4 Fork -2.379 0.774 -0.073 0 90 0 69 5 Fork 1.337 0.920 -1.115 0 225 0 65 6 Spoon -0.471 0.912 0.647 0 0 0 51 7 Spatula -2.318 0.788 -0.121 0 90 0 69 8 Pot 1.691 0.929 -0.335 0 0 0 59 9 Cup -2.485 1.298 -0.602 0 90 0 83 10 Plate -0.471 0.913 1.094 0 0 0 51 11 Knife -2.287 0.799 0.391 0 90 0 68 12 Knife -2.318 0.798 1.417 0 270 0 82 13 Tomato -2.420 0.637 -0.962 0 90 0 83 14 SoapBottle 0.195 0.912 -1.454 0 0 0 61 15 SoapBottle -2.411 1.585 -1.777 0 180 0 78 16 Bowl -2.621 0.908 1.530 0 0 0 79 17 PepperShaker -2.384 0.109 0.386 0 0 0 76 18 PepperShaker 1.684 0.906 0.346 0 270 0 60 19 SaltShaker -2.524 1.532 -0.165 0 0 0 74 20 SaltShaker 0.765 0.905 -1.478 0 45 0 61 21 Lettuce 0.048 0.994 1.317 0 0 0 51 22 Lettuce 1.442 1.006 -1.220 0 225 0 65 23 Bread 0.048 0.996 0.423 0 0 0 51 24 Bread -2.206 0.996 1.830 0 0 0 79 25 Mug -2.538 0.905 0.931 0 0 0 79 26 Apple -2.559 0.656 -0.693 0 90 0 83 27 Apple 1.646 0.246 0.706 0 0 0 90 28 Pan 1.412 0.929 -0.335 0 0 0 52 29 Knife 1.599 0.936 -0.810 0 0 0 61 30 Apple -2.704 0.972 0.331 0 0 0 79 31 Bowl -0.341 0.908 1.540 0 0 0 51 32 Fork -2.318 0.774 0.857 0 90 0 56 33 Bread -0.081 0.996 1.764 0 0 0 51 34 Plate -2.621 0.913 1.230 0 0 0 79 35 Egg 0.691 0.941 -1.450 0 45 0 61 36 Kettle 1.691 0.929 0.064 0 0 0 62 37 Potato -0.471 0.947 0.423 0 0 0 51 38 SaltShaker -0.730 0.905 0.647 0 0 0 51 39 Lettuce -2.621 0.994 0.631 0 0 0 79 40 Cup 1.248 0.916 -1.134 0 225 0 65 41 SoapBottle -0.341 0.912 0.423 0 0 0 51 42 Spatula -2.227 0.788 0.022 0 270 0 69 43 PaperTowelRoll -0.601 1.015 1.317 0 0 0 51 44 ButterKnife 1.598 0.911 0.494 0 0 0 60 45 PepperShaker -0.471 0.905 1.317 0 0 0 51 46 DishSponge -2.411 1.583 -1.412 0 180 0 78 47 Pot -2.289 0.914 1.530 0 0 0 79 48 Spoon -2.379 0.775 0.857 0 90 0 56 49 Tomato -2.578 1.342 -0.790 0 90 0 83 50 Mug 1.697 1.651 0.387 0 0 0 71 51 CounterTop -0.360 0.946 1.093 0 0 0 52 StoveBurner 1.412 0.923 -0.335 0 0 0 53 StoveKnob 1.878 1.093 0.018 287.989 90 0 54 StoveKnob 1.878 1.093 -0.306 287.989 90 0 55 Cabinet -2.446 1.948 2.924 0 0 0 56 Drawer -2.276 0.792 0.902 0 0 0 57 Cabinet -2.145 0.402 1.578 0 0 0 58 Cabinet 0.149 2.008 -1.603 0 90 0 59 StoveBurner 1.691 0.923 -0.335 0 0 0 60 CounterTop 1.585 0.946 0.405 0 0 0 61 CounterTop 0.474 0.946 -1.625 0 0 0 62 StoveBurner 1.691 0.923 0.064 0 0 0 63 Cabinet -2.446 1.948 1.687 0 0 0 64 Cabinet -2.446 1.948 1.640 0 0 0 65 Sink 1.381 0.810 -1.271 0 225 0 66 StoveKnob 1.878 1.093 0.150 287.989 90 0 67 Cabinet -2.145 0.402 -0.236 0 0 0 68 Drawer -2.276 0.792 0.437 0 0 0 69 Drawer -2.276 0.792 -0.027 0 0 0 70 Cabinet 1.572 2.008 0.474 0 0 0 71 Cabinet 1.572 2.008 -0.775 0 0 0 72 Cabinet -2.445 2.148 -1.275 0 0 0 73 Cabinet -2.446 2.148 -0.284 0 0 0 74 Cabinet -2.446 1.948 0.355 0 0 0 75 Cabinet -2.446 1.948 0.405 0 0 0 76 Cabinet -2.145 0.402 0.644 0 0 0 77 Cabinet -2.145 0.402 0.695 0 0 0 78 Cabinet -2.285 1.968 -1.325 0 180 0 79 CounterTop -1.485 0.946 1.319 0 0 0 80 StoveBurner 1.411 0.923 0.064 0 0 0 81 StoveKnob 1.878 1.093 -0.441 287.989 90 0 82 Drawer -2.276 0.792 1.368 0 0 0 83 Fridge -2.475 0.0 -0.782 0 90 0 84 LightSwitch -0.929 1.350 -1.950 0 0 0 85 Toaster -2.564 0.900 1.876 0 90 0 86 CoffeeMachine 0.464 0.900 -1.810 0 0 0 87 Window 1.508 1.534 -1.496 90 135 0 88 Window 1.973 1.521 1.121 90 90 0 89 SinkBasin 1.149 0.753 -1.380 0 225 0 90 GarbageCan 1.646 -0.000 0.679 0 0 0 91 Microwave -2.580 0.900 2.440 0 90 0 92 Stool 0.439 0.010 0.747 0 0 0 93 Stool -2.303 0.010 1.839 0 0 0 94 Faucet 1.235 1.138 -1.473 0 225 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Turn around and cross the room and go right and then turn to face the counter on the left where the lettuce and mug is. | STEP 2: Pick the mug up from the counter. | STEP 3: Go to the left and face the fridge. | STEP 4: Put the cup in the fridge and shut the door and then open the door and then pick the cup up again. | STEP 5: Back up and face the lower cabinet to the right of the fridge. | STEP 6: Open the lower cabinet to the right of the fridge and put the cup in it and shut the door. | END" ]
[ [ "STEP 1: Turn around and cross the room and go right and then turn to face the counter on the left where the lettuce and mug is. ", " STEP 2: Pick the mug up from the counter. ", " STEP 3: Go to the left and face the fridge. ", " STEP 4: Put the cup in the fridge and shut the door and then open the door and then pick the cup up again. ", " STEP 5: Back up and face the lower cabinet to the right of the fridge. ", " STEP 6: Open the lower cabinet to the right of the fridge and put the cup in it and shut the door. ", " END" ] ]
seen
trial_T20190908_224403_664612-2
Place a chilled mug in a cabinet.
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-2.287", " 0.799", " 0.391", " 0", " 90", " 0", " 68" ], [ "12", " Knife", " -2.318", " 0.798", " 1.417", " 0", " 270", " 0", " 82" ], [ "13", " Tomato", " -2.420", " 0.637", " -0.962", " 0", " 90", " 0", " 83" ], [ "14", " SoapBottle", " 0.195", " 0.912", " -1.454", " 0", " 0", " 0", " 61" ], [ "15", " SoapBottle", " -2.411", " 1.585", " -1.777", " 0", " 180", " 0", " 78" ], [ "16", " Bowl", " -2.621", " 0.908", " 1.530", " 0", " 0", " 0", " 79" ], [ "17", " PepperShaker", " -2.384", " 0.109", " 0.386", " 0", " 0", " 0", " 76" ], [ "18", " PepperShaker", " 1.684", " 0.906", " 0.346", " 0", " 270", " 0", " 60" ], [ "19", " SaltShaker", " -2.524", " 1.532", " -0.165", " 0", " 0", " 0", " 74" ], [ "20", " SaltShaker", " 0.765", " 0.905", " -1.478", " 0", " 45", " 0", " 61" ], [ "21", " Lettuce", " 0.048", " 0.994", " 1.317", " 0", " 0", " 0", " 51" ], [ "22", " Lettuce", " 1.442", " 1.006", " -1.220", " 0", " 225", " 0", " 65" ], [ "23", " Bread", " 0.048", " 0.996", " 0.423", " 0", " 0", " 0", " 51" ], [ "24", " Bread", " -2.206", " 0.996", " 1.830", " 0", " 0", " 0", " 79" ], [ "25", " Mug", " -2.538", " 0.905", " 0.931", " 0", " 0", " 0", " 79" ], [ "26", " Apple", " -2.559", " 0.656", " -0.693", " 0", " 90", " 0", " 83" ], [ "27", " Apple", " 1.646", " 0.246", " 0.706", " 0", " 0", " 0", " 90" ], [ "28", " Pan", " 1.412", " 0.929", " -0.335", " 0", " 0", " 0", " 52" ], [ "29", " Knife", " 1.599", " 0.936", " -0.810", " 0", " 0", " 0", " 61" ], [ "30", " Apple", " -2.704", " 0.972", " 0.331", " 0", " 0", " 0", " 79" ], [ "31", " Bowl", " -0.341", " 0.908", " 1.540", " 0", " 0", " 0", " 51" ], [ "32", " Fork", " -2.318", " 0.774", " 0.857", " 0", " 90", " 0", " 56" ], [ "33", " Bread", " -0.081", " 0.996", " 1.764", " 0", " 0", " 0", " 51" ], [ "34", " Plate", " -2.621", " 0.913", " 1.230", " 0", " 0", " 0", " 79" ], [ "35", " Egg", " 0.691", " 0.941", " -1.450", " 0", " 45", " 0", " 61" ], [ "36", " Kettle", " 1.691", " 0.929", " 0.064", " 0", " 0", " 0", " 62" ], [ "37", " Potato", " -0.471", " 0.947", " 0.423", " 0", " 0", " 0", " 51" ], [ "38", " SaltShaker", " -0.730", " 0.905", " 0.647", " 0", " 0", " 0", " 51" ], [ "39", " Lettuce", " -2.621", " 0.994", " 0.631", " 0", " 0", " 0", " 79" ], [ "40", " Cup", " 1.248", " 0.916", " -1.134", " 0", " 225", " 0", " 65" ], [ "41", " SoapBottle", " -0.341", " 0.912", " 0.423", " 0", " 0", " 0", " 51" ], [ "42", " Spatula", " -2.227", " 0.788", " 0.022", " 0", " 270", " 0", " 69" ], [ "43", " PaperTowelRoll", " -0.601", " 1.015", " 1.317", " 0", " 0", " 0", " 51" ], [ "44", " ButterKnife", " 1.598", " 0.911", " 0.494", " 0", " 0", " 0", " 60" ], [ "45", " PepperShaker", " -0.471", " 0.905", " 1.317", " 0", " 0", " 0", " 51" ], [ "46", " DishSponge", " -2.411", " 1.583", " -1.412", " 0", " 180", " 0", " 78" ], [ "47", " Pot", " -2.289", " 0.914", " 1.530", " 0", " 0", " 0", " 79" ], [ "48", " Spoon", " -2.379", " 0.775", " 0.857", " 0", " 90", " 0", " 56" ], [ "49", " Tomato", " -2.578", " 1.342", " -0.790", " 0", " 90", " 0", " 83" ], [ "50", " Mug", " 1.697", " 1.651", " 0.387", " 0", " 0", " 0", " 71" ], [ "51", " CounterTop", " -0.360", " 0.946", " 1.093", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " 1.412", " 0.923", " -0.335", " 0", " 0", " 0", "" ], [ "53", " StoveKnob", " 1.878", " 1.093", " 0.018", " 287.989", " 90", " 0", "" ], [ "54", " StoveKnob", " 1.878", " 1.093", " -0.306", " 287.989", " 90", " 0", "" ], [ "55", " Cabinet", " -2.446", " 1.948", " 2.924", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -2.276", " 0.792", " 0.902", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.145", " 0.402", " 1.578", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 0.149", " 2.008", " -1.603", " 0", " 90", " 0", "" ], [ "59", " StoveBurner", " 1.691", " 0.923", " -0.335", " 0", " 0", " 0", "" ], [ "60", " CounterTop", " 1.585", " 0.946", " 0.405", " 0", " 0", " 0", "" ], [ "61", " CounterTop", " 0.474", " 0.946", " -1.625", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " 1.691", " 0.923", " 0.064", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.446", " 1.948", " 1.687", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.446", " 1.948", " 1.640", " 0", " 0", " 0", "" ], [ "65", " Sink", " 1.381", " 0.810", " -1.271", " 0", " 225", " 0", "" ], [ "66", " StoveKnob", " 1.878", " 1.093", " 0.150", " 287.989", " 90", " 0", "" ], [ "67", " Cabinet", " -2.145", " 0.402", " -0.236", " 0", " 0", " 0", "" ], [ "68", " Drawer", " -2.276", " 0.792", " 0.437", " 0", " 0", " 0", "" ], [ "69", " Drawer", " -2.276", " 0.792", " -0.027", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " 1.572", " 2.008", " 0.474", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " 1.572", " 2.008", " -0.775", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -2.445", " 2.148", " -1.275", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -2.446", " 2.148", " -0.284", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " -2.446", " 1.948", " 0.355", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -2.446", " 1.948", " 0.405", " 0", " 0", " 0", "" ], [ "76", " Cabinet", " -2.145", " 0.402", " 0.644", " 0", " 0", " 0", "" ], [ "77", " Cabinet", " -2.145", " 0.402", " 0.695", " 0", " 0", " 0", "" ], [ "78", " Cabinet", " -2.285", " 1.968", " -1.325", " 0", " 180", " 0", "" ], [ "79", " CounterTop", " -1.485", " 0.946", " 1.319", " 0", " 0", " 0", "" ], [ "80", " StoveBurner", " 1.411", " 0.923", " 0.064", " 0", " 0", " 0", "" ], [ "81", " StoveKnob", " 1.878", " 1.093", " -0.441", " 287.989", " 90", " 0", "" ], [ "82", " Drawer", " -2.276", " 0.792", " 1.368", " 0", " 0", " 0", "" ], [ "83", " Fridge", " -2.475", " 0.0", " -0.782", " 0", " 90", " 0", "" ], [ "84", " LightSwitch", " -0.929", " 1.350", " -1.950", " 0", " 0", " 0", "" ], [ "85", " Toaster", " -2.564", " 0.900", " 1.876", " 0", " 90", " 0", "" ], [ "86", " CoffeeMachine", " 0.464", " 0.900", " -1.810", " 0", " 0", " 0", "" ], [ "87", " Window", " 1.508", " 1.534", " -1.496", " 90", " 135", " 0", "" ], [ "88", " Window", " 1.973", " 1.521", " 1.121", " 90", " 90", " 0", "" ], [ "89", " SinkBasin", " 1.149", " 0.753", " -1.380", " 0", " 225", " 0", "" ], [ "90", " GarbageCan", " 1.646", " -0.000", " 0.679", " 0", " 0", " 0", "" ], [ "91", " Microwave", " -2.580", " 0.900", " 2.440", " 0", " 90", " 0", "" ], [ "92", " Stool", " 0.439", " 0.010", " 0.747", " 0", " 0", " 0", "" ], [ "93", " Stool", " -2.303", " 0.010", " 1.839", " 0", " 0", " 0", "" ], [ "94", " Faucet", " 1.235", " 1.138", " -1.473", " 0", " 225", " 0", "" ], [ "95", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "98", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -0.5 0 90 0 1 Potato -0.211 0.947 0.870 0 0 0 51 2 DishSponge 0.292 0.910 -1.369 0 0 0 61 3 ButterKnife -2.289 0.910 0.631 0 0 0 79 4 Fork -2.379 0.774 -0.073 0 90 0 69 5 Fork 1.337 0.920 -1.115 0 225 0 65 6 Spoon -0.471 0.912 0.647 0 0 0 51 7 Spatula -2.318 0.788 -0.121 0 90 0 69 8 Pot 1.691 0.929 -0.335 0 0 0 59 9 Cup -2.485 1.298 -0.602 0 90 0 83 10 Plate -0.471 0.913 1.094 0 0 0 51 11 Knife -2.287 0.799 0.391 0 90 0 68 12 Knife -2.318 0.798 1.417 0 270 0 82 13 Tomato -2.420 0.637 -0.962 0 90 0 83 14 SoapBottle 0.195 0.912 -1.454 0 0 0 61 15 SoapBottle -2.411 1.585 -1.777 0 180 0 78 16 Bowl -2.621 0.908 1.530 0 0 0 79 17 PepperShaker -2.384 0.109 0.386 0 0 0 76 18 PepperShaker 1.684 0.906 0.346 0 270 0 60 19 SaltShaker -2.524 1.532 -0.165 0 0 0 74 20 SaltShaker 0.765 0.905 -1.478 0 45 0 61 21 Lettuce 0.048 0.994 1.317 0 0 0 51 22 Lettuce 1.442 1.006 -1.220 0 225 0 65 23 Bread 0.048 0.996 0.423 0 0 0 51 24 Bread -2.206 0.996 1.830 0 0 0 79 25 Mug -2.538 0.905 0.931 0 0 0 79 26 Apple -2.559 0.656 -0.693 0 90 0 83 27 Apple 1.646 0.246 0.706 0 0 0 90 28 Pan 1.412 0.929 -0.335 0 0 0 52 29 Knife 1.599 0.936 -0.810 0 0 0 61 30 Apple -2.704 0.972 0.331 0 0 0 79 31 Bowl -0.341 0.908 1.540 0 0 0 51 32 Fork -2.318 0.774 0.857 0 90 0 56 33 Bread -0.081 0.996 1.764 0 0 0 51 34 Plate -2.621 0.913 1.230 0 0 0 79 35 Egg 0.691 0.941 -1.450 0 45 0 61 36 Kettle 1.691 0.929 0.064 0 0 0 62 37 Potato -0.471 0.947 0.423 0 0 0 51 38 SaltShaker -0.730 0.905 0.647 0 0 0 51 39 Lettuce -2.621 0.994 0.631 0 0 0 79 40 Cup 1.248 0.916 -1.134 0 225 0 65 41 SoapBottle -0.341 0.912 0.423 0 0 0 51 42 Spatula -2.227 0.788 0.022 0 270 0 69 43 PaperTowelRoll -0.601 1.015 1.317 0 0 0 51 44 ButterKnife 1.598 0.911 0.494 0 0 0 60 45 PepperShaker -0.471 0.905 1.317 0 0 0 51 46 DishSponge -2.411 1.583 -1.412 0 180 0 78 47 Pot -2.289 0.914 1.530 0 0 0 79 48 Spoon -2.379 0.775 0.857 0 90 0 56 49 Tomato -2.578 1.342 -0.790 0 90 0 83 50 Mug 1.697 1.651 0.387 0 0 0 71 51 CounterTop -0.360 0.946 1.093 0 0 0 52 StoveBurner 1.412 0.923 -0.335 0 0 0 53 StoveKnob 1.878 1.093 0.018 287.989 90 0 54 StoveKnob 1.878 1.093 -0.306 287.989 90 0 55 Cabinet -2.446 1.948 2.924 0 0 0 56 Drawer -2.276 0.792 0.902 0 0 0 57 Cabinet -2.145 0.402 1.578 0 0 0 58 Cabinet 0.149 2.008 -1.603 0 90 0 59 StoveBurner 1.691 0.923 -0.335 0 0 0 60 CounterTop 1.585 0.946 0.405 0 0 0 61 CounterTop 0.474 0.946 -1.625 0 0 0 62 StoveBurner 1.691 0.923 0.064 0 0 0 63 Cabinet -2.446 1.948 1.687 0 0 0 64 Cabinet -2.446 1.948 1.640 0 0 0 65 Sink 1.381 0.810 -1.271 0 225 0 66 StoveKnob 1.878 1.093 0.150 287.989 90 0 67 Cabinet -2.145 0.402 -0.236 0 0 0 68 Drawer -2.276 0.792 0.437 0 0 0 69 Drawer -2.276 0.792 -0.027 0 0 0 70 Cabinet 1.572 2.008 0.474 0 0 0 71 Cabinet 1.572 2.008 -0.775 0 0 0 72 Cabinet -2.445 2.148 -1.275 0 0 0 73 Cabinet -2.446 2.148 -0.284 0 0 0 74 Cabinet -2.446 1.948 0.355 0 0 0 75 Cabinet -2.446 1.948 0.405 0 0 0 76 Cabinet -2.145 0.402 0.644 0 0 0 77 Cabinet -2.145 0.402 0.695 0 0 0 78 Cabinet -2.285 1.968 -1.325 0 180 0 79 CounterTop -1.485 0.946 1.319 0 0 0 80 StoveBurner 1.411 0.923 0.064 0 0 0 81 StoveKnob 1.878 1.093 -0.441 287.989 90 0 82 Drawer -2.276 0.792 1.368 0 0 0 83 Fridge -2.475 0.0 -0.782 0 90 0 84 LightSwitch -0.929 1.350 -1.950 0 0 0 85 Toaster -2.564 0.900 1.876 0 90 0 86 CoffeeMachine 0.464 0.900 -1.810 0 0 0 87 Window 1.508 1.534 -1.496 90 135 0 88 Window 1.973 1.521 1.121 90 90 0 89 SinkBasin 1.149 0.753 -1.380 0 225 0 90 GarbageCan 1.646 -0.000 0.679 0 0 0 91 Microwave -2.580 0.900 2.440 0 90 0 92 Stool 0.439 0.010 0.747 0 0 0 93 Stool -2.303 0.010 1.839 0 0 0 94 Faucet 1.235 1.138 -1.473 0 225 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Turn around, hang a right at the fridge and walk to the counter on the left. | STEP 2: Pick up the white mug to the right of the head of lettuce on the counter. | STEP 3: Turn around and walk to the fridge on the right. | STEP 4: Put the mug inside the fridge on the top shelf, chill it, remove it and close the door. | STEP 5: Turn around, walk forward and turn around to face the cabinets next to the fridge. | STEP 6: Open the lower cabinet to the right of the fridge, put the chilled mug inside and close the door. | END" ]
[ [ "STEP 1: Turn around, hang a right at the fridge and walk to the counter on the left. ", " STEP 2: Pick up the white mug to the right of the head of lettuce on the counter. ", " STEP 3: Turn around and walk to the fridge on the right. ", " STEP 4: Put the mug inside the fridge on the top shelf, chill it, remove it and close the door. ", " STEP 5: Turn around, walk forward and turn around to face the cabinets next to the fridge. ", " STEP 6: Open the lower cabinet to the right of the fridge, put the chilled mug inside and close the door. ", " END" ] ]
seen
trial_T20190906_221206_329930-0
Taking a dirty rag and cleaning it off to put away.
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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 0.902 -0.25 0 270 0 1 Cloth 0.211 0.034 0.340 0 270 0 34 2 Cloth -1.732 0.081 0.825 0 0 0 25 3 Candle -3.051 1.001 0.631 0 0 0 22 4 Candle -1.642 0.122 0.567 0 0 0 25 5 SoapBar -2.586 0.081 0.502 0 0 0 23 6 SoapBar -2.957 0.182 -1.535 0 0 0 33 7 SprayBottle -0.926 1.047 0.784 0 180 0 38 8 SprayBottle -2.858 0.082 0.825 0 0 0 23 9 SoapBottle -0.173 0.518 0.178 0 0 0 24 10 Towel -0.490 1.367 0.902 0 180 0 32 11 Candle -0.188 0.558 0.690 0 0 0 24 12 HandTowel -3.096 1.587 0.744 0 270 0 36 13 SoapBar 0.557 0.033 -0.324 0 270 0 34 14 ToiletPaper -1.416 0.816 0.665 0 90 270 37 15 Cloth -2.496 0.081 0.760 0 0 0 23 16 ToiletPaper -2.093 0.078 0.889 0 0 0 26 17 SprayBottle -2.004 0.082 0.567 0 0 0 26 18 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 19 SoapBottle -0.173 0.518 -0.077 0 0 0 24 20 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 21 Cabinet -3.094 0.390 0.421 0 0 0 22 CounterTop -2.298 0.953 0.689 0 0 0 23 Cabinet -2.305 0.415 0.425 0 0 0 24 Bathtub 0.286 0.290 -0.077 0 0 0 25 Cabinet -1.496 0.415 0.425 0 0 0 26 Cabinet -2.286 0.390 0.421 0 0 0 27 Sink -1.924 0.930 0.675 0 180 0 28 Faucet -1.922 1.015 0.887 0 0 0 29 Mirror -2.306 1.526 1.001 0 0 0 30 Faucet -2.681 1.015 0.887 0 0 0 31 LightSwitch -1.389 1.263 -1.693 0 0 0 32 TowelHolder -0.490 1.353 1.009 0 180 0 33 GarbageCan -2.857 0.016 -1.487 0 0 0 34 BathtubBasin 0.349 0.023 -0.135 0 270 0 35 SinkBasin -1.908 0.961 0.669 0 180 0 36 HandTowelHolder -3.134 1.689 0.744 0 0 0 37 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 38 Toilet -1.054 0.001 0.552 0 270 0 39 ShowerCurtain -0.292 1.886 -1.033 0 0 0 40 Faucet 0.270 0.670 0.906 0 0 0 41 SinkBasin -2.666 0.961 0.669 0 180 0 42 Sink -2.681 0.930 0.675 0 180 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: Turn around to go towards the tub then to the left near the plungers and to the right facing the edge of the tub near the wall. | STEP 2: Pick up the purple rag that is sitting in the tub. | STEP 3: Turn to your right then right again to walk away from the tub, then make a right so you are facing the sink near the toilet. | STEP 4: Put the purple rag in the sink and turn on the water. Turn off the water and take the rag back out. | STEP 5: Turn back around and go back towards the tub. Make a left at the tub and turn around to face the toilet. | STEP 6: Place the rag on top of the toilet next to the spray bottle. | END" ]
[ [ "STEP 1: Turn around to go towards the tub then to the left near the plungers and to the right facing the edge of the tub near the wall. ", " STEP 2: Pick up the purple rag that is sitting in the tub. ", " STEP 3: Turn to your right then right again to walk away from the tub, then make a right so you are facing the sink near the toilet. ", " STEP 4: Put the purple rag in the sink and turn on the water. Turn off the water and take the rag back out. ", " STEP 5: Turn back around and go back towards the tub. Make a left at the tub and turn around to face the toilet. ", " STEP 6: Place the rag on top of the toilet next to the spray bottle. ", " END" ] ]
seen
trial_T20190906_221206_329930-1
Washing a dirty rag
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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 0.902 -0.25 0 270 0 1 Cloth 0.211 0.034 0.340 0 270 0 34 2 Cloth -1.732 0.081 0.825 0 0 0 25 3 Candle -3.051 1.001 0.631 0 0 0 22 4 Candle -1.642 0.122 0.567 0 0 0 25 5 SoapBar -2.586 0.081 0.502 0 0 0 23 6 SoapBar -2.957 0.182 -1.535 0 0 0 33 7 SprayBottle -0.926 1.047 0.784 0 180 0 38 8 SprayBottle -2.858 0.082 0.825 0 0 0 23 9 SoapBottle -0.173 0.518 0.178 0 0 0 24 10 Towel -0.490 1.367 0.902 0 180 0 32 11 Candle -0.188 0.558 0.690 0 0 0 24 12 HandTowel -3.096 1.587 0.744 0 270 0 36 13 SoapBar 0.557 0.033 -0.324 0 270 0 34 14 ToiletPaper -1.416 0.816 0.665 0 90 270 37 15 Cloth -2.496 0.081 0.760 0 0 0 23 16 ToiletPaper -2.093 0.078 0.889 0 0 0 26 17 SprayBottle -2.004 0.082 0.567 0 0 0 26 18 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 19 SoapBottle -0.173 0.518 -0.077 0 0 0 24 20 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 21 Cabinet -3.094 0.390 0.421 0 0 0 22 CounterTop -2.298 0.953 0.689 0 0 0 23 Cabinet -2.305 0.415 0.425 0 0 0 24 Bathtub 0.286 0.290 -0.077 0 0 0 25 Cabinet -1.496 0.415 0.425 0 0 0 26 Cabinet -2.286 0.390 0.421 0 0 0 27 Sink -1.924 0.930 0.675 0 180 0 28 Faucet -1.922 1.015 0.887 0 0 0 29 Mirror -2.306 1.526 1.001 0 0 0 30 Faucet -2.681 1.015 0.887 0 0 0 31 LightSwitch -1.389 1.263 -1.693 0 0 0 32 TowelHolder -0.490 1.353 1.009 0 180 0 33 GarbageCan -2.857 0.016 -1.487 0 0 0 34 BathtubBasin 0.349 0.023 -0.135 0 270 0 35 SinkBasin -1.908 0.961 0.669 0 180 0 36 HandTowelHolder -3.134 1.689 0.744 0 0 0 37 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 38 Toilet -1.054 0.001 0.552 0 270 0 39 ShowerCurtain -0.292 1.886 -1.033 0 0 0 40 Faucet 0.270 0.670 0.906 0 0 0 41 SinkBasin -2.666 0.961 0.669 0 180 0 42 Sink -2.681 0.930 0.675 0 180 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: turn around ,go toward the bath tub | STEP 2: pick up the dirty rag out of the tub | STEP 3: turn around go toward the sink | STEP 4: put the rag in the sink, turn on the water to clean the rag after that turn the water off then pick up the rag | STEP 5: turn around, go toward the bath tub and turn right to go to the toilet | STEP 6: put the rag on top of the toilet tank next to the cleaner | END" ]
[ [ "STEP 1: turn around ,go toward the bath tub ", " STEP 2: pick up the dirty rag out of the tub ", " STEP 3: turn around go toward the sink ", " STEP 4: put the rag in the sink, turn on the water to clean the rag after that turn the water off then pick up the rag ", " STEP 5: turn around, go toward the bath tub and turn right to go to the toilet ", " STEP 6: put the rag on top of the toilet tank next to the cleaner ", " END" ] ]
seen
trial_T20190906_221206_329930-2
Put a clean washcloth on the back of the toilet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.902 -0.25 0 270 0 1 Cloth 0.211 0.034 0.340 0 270 0 34 2 Cloth -1.732 0.081 0.825 0 0 0 25 3 Candle -3.051 1.001 0.631 0 0 0 22 4 Candle -1.642 0.122 0.567 0 0 0 25 5 SoapBar -2.586 0.081 0.502 0 0 0 23 6 SoapBar -2.957 0.182 -1.535 0 0 0 33 7 SprayBottle -0.926 1.047 0.784 0 180 0 38 8 SprayBottle -2.858 0.082 0.825 0 0 0 23 9 SoapBottle -0.173 0.518 0.178 0 0 0 24 10 Towel -0.490 1.367 0.902 0 180 0 32 11 Candle -0.188 0.558 0.690 0 0 0 24 12 HandTowel -3.096 1.587 0.744 0 270 0 36 13 SoapBar 0.557 0.033 -0.324 0 270 0 34 14 ToiletPaper -1.416 0.816 0.665 0 90 270 37 15 Cloth -2.496 0.081 0.760 0 0 0 23 16 ToiletPaper -2.093 0.078 0.889 0 0 0 26 17 SprayBottle -2.004 0.082 0.567 0 0 0 26 18 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 19 SoapBottle -0.173 0.518 -0.077 0 0 0 24 20 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 21 Cabinet -3.094 0.390 0.421 0 0 0 22 CounterTop -2.298 0.953 0.689 0 0 0 23 Cabinet -2.305 0.415 0.425 0 0 0 24 Bathtub 0.286 0.290 -0.077 0 0 0 25 Cabinet -1.496 0.415 0.425 0 0 0 26 Cabinet -2.286 0.390 0.421 0 0 0 27 Sink -1.924 0.930 0.675 0 180 0 28 Faucet -1.922 1.015 0.887 0 0 0 29 Mirror -2.306 1.526 1.001 0 0 0 30 Faucet -2.681 1.015 0.887 0 0 0 31 LightSwitch -1.389 1.263 -1.693 0 0 0 32 TowelHolder -0.490 1.353 1.009 0 180 0 33 GarbageCan -2.857 0.016 -1.487 0 0 0 34 BathtubBasin 0.349 0.023 -0.135 0 270 0 35 SinkBasin -1.908 0.961 0.669 0 180 0 36 HandTowelHolder -3.134 1.689 0.744 0 0 0 37 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 38 Toilet -1.054 0.001 0.552 0 270 0 39 ShowerCurtain -0.292 1.886 -1.033 0 0 0 40 Faucet 0.270 0.670 0.906 0 0 0 41 SinkBasin -2.666 0.961 0.669 0 180 0 42 Sink -2.681 0.930 0.675 0 180 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: Turn around and walk to the tub and then turn left walk to the wall then turn right to look at the tub again. | STEP 2: Pick up the purple wash cloth. | STEP 3: Walk around the toilet so you are standing in front of the sink facing it. | STEP 4: Clean the wash cloth in the sink and pick it back up. | STEP 5: Walk back to where you got the washcloth but look the opposite way so you are looking at the green towel on a ring across the room. | STEP 6: Put the clean washcloth on the back of the toilet to the left of the green spray bottle. | END" ]
[ [ "STEP 1: Turn around and walk to the tub and then turn left walk to the wall then turn right to look at the tub again. ", " STEP 2: Pick up the purple wash cloth. ", " STEP 3: Walk around the toilet so you are standing in front of the sink facing it. ", " STEP 4: Clean the wash cloth in the sink and pick it back up. ", " STEP 5: Walk back to where you got the washcloth but look the opposite way so you are looking at the green towel on a ring across the room. ", " STEP 6: Put the clean washcloth on the back of the toilet to the left of the green spray bottle. ", " END" ] ]
seen
trial_T20190906_183132_047199-0
Put a cleaned bar of soap on a metal rack.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 2.5 0 90 0 1 Candle 0.355 1.048 2.903 0 270 0 40 2 Candle -2.387 0.789 3.940 0 0 0 33 3 SprayBottle -3.206 0.236 0.156 0 270 0 44 4 SprayBottle -3.150 0.234 0.390 0 270 0 44 5 SoapBottle -0.867 0.045 3.86 0 0 0 37 6 SoapBottle -3.037 0.866 0.078 0 270 0 44 7 Towel -1.304 1.059 -0.183 0 0 0 31 8 HandTowel -3.420 1.356 2.098 0 270 0 39 9 Towel -2.05 1.059 -0.183 0 0 0 30 10 HandTowel -3.420 1.356 0.816 0 270 0 39 11 Plunger 0.362 0.000 2.468 0 0 0 Floor|-01.44| 12 SoapBar -2.667 0.787 3.909 0 0 0 33 13 ToiletPaper -3.150 0.860 0.312 0 270 0 44 14 SoapBottle -0.618 0.633 -0.090 0 137.956 0 28 15 ToiletPaper -2.310 0.777 3.875 0 0 0 33 16 Cloth 0.386 1.047 3.100 0 270 0 40 17 PaperTowelRoll -0.641 0.736 1.862 0 227.956 0 28 18 Candle 0.334 0.632 -0.091 0 47.956 0 28 19 SprayBottle -0.771 0.044 3.832 0 0 0 37 20 ScrubBrush 0.397 0.000 2.694 0 0 0 Floor|-01.44| 21 DishSponge -3.007 0.856 1.451 0 90 0 43 22 Faucet -0.141 0.524 -0.211 0 0 0 23 Window -1.507 1.322 -0.364 0 0 0 24 Faucet -3.401 1.017 1.531 0 90 0 25 BathtubBasin -0.155 0.042 0.884 0 0 0 26 ShowerCurtain -0.886 2.196 -0.169 0 0 0 27 ShowerHead -0.126 1.447 2.047 0 270 0 28 Bathtub -0.205 0.359 0.924 0 0 0 29 Mirror -3.447 1.575 1.516 0 0 0 30 TowelHolder -2.049 1.045 -0.290 0 0 0 31 TowelHolder -1.304 1.045 -0.290 0 0 0 32 ToiletPaperHanger -0.425 0.783 2.278 0 0 0 33 Shelf -2.587 0.778 3.909 0 0 0 34 Shelf -2.587 1.287 3.941 0 0 0 35 Shelf -2.587 1.032 3.941 0 0 0 36 Shelf -2.587 1.534 3.909 0 0 0 37 GarbageCan 0.047 -0.002 3.878 0 0 0 38 HandTowelHolder -3.459 1.458 2.098 0 0 0 39 HandTowelHolder -3.459 1.458 0.816 0 0 0 40 Toilet 0.063 0.002 3.096 0 0 0 41 LightSwitch -3.459 1.437 2.496 0 90 0 42 Sink -3.115 -0.013 1.531 0 90 0 43 SinkBasin -3.081 0.935 1.537 0 90 0 44 SideTable -3.171 0.002 0.170 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn around and walk to the shelves on the wall containing the bar of soap. | STEP 2: Pick up the bar of soap from the shelf. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it out of the sink. | STEP 5: Walk to the metal racks to the left of the sink. | STEP 6: Put the bar of soap on the middle rack, to the right of the soap bottle. | END" ]
[ [ "STEP 1: Turn around and walk to the shelves on the wall containing the bar of soap. ", " STEP 2: Pick up the bar of soap from the shelf. ", " STEP 3: Turn around and walk to the sink on the right. ", " STEP 4: Put the bar of soap in the sink, rinse it off, and take it out of the sink. ", " STEP 5: Walk to the metal racks to the left of the sink. ", " STEP 6: Put the bar of soap on the middle rack, to the right of the soap bottle. ", " END" ] ]
seen
trial_T20190906_183132_047199-1
Wash soap and put it on a shelf.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 2.5 0 90 0 1 Candle 0.355 1.048 2.903 0 270 0 40 2 Candle -2.387 0.789 3.940 0 0 0 33 3 SprayBottle -3.206 0.236 0.156 0 270 0 44 4 SprayBottle -3.150 0.234 0.390 0 270 0 44 5 SoapBottle -0.867 0.045 3.86 0 0 0 37 6 SoapBottle -3.037 0.866 0.078 0 270 0 44 7 Towel -1.304 1.059 -0.183 0 0 0 31 8 HandTowel -3.420 1.356 2.098 0 270 0 39 9 Towel -2.05 1.059 -0.183 0 0 0 30 10 HandTowel -3.420 1.356 0.816 0 270 0 39 11 Plunger 0.362 0.000 2.468 0 0 0 Floor|-01.44| 12 SoapBar -2.667 0.787 3.909 0 0 0 33 13 ToiletPaper -3.150 0.860 0.312 0 270 0 44 14 SoapBottle -0.618 0.633 -0.090 0 137.956 0 28 15 ToiletPaper -2.310 0.777 3.875 0 0 0 33 16 Cloth 0.386 1.047 3.100 0 270 0 40 17 PaperTowelRoll -0.641 0.736 1.862 0 227.956 0 28 18 Candle 0.334 0.632 -0.091 0 47.956 0 28 19 SprayBottle -0.771 0.044 3.832 0 0 0 37 20 ScrubBrush 0.397 0.000 2.694 0 0 0 Floor|-01.44| 21 DishSponge -3.007 0.856 1.451 0 90 0 43 22 Faucet -0.141 0.524 -0.211 0 0 0 23 Window -1.507 1.322 -0.364 0 0 0 24 Faucet -3.401 1.017 1.531 0 90 0 25 BathtubBasin -0.155 0.042 0.884 0 0 0 26 ShowerCurtain -0.886 2.196 -0.169 0 0 0 27 ShowerHead -0.126 1.447 2.047 0 270 0 28 Bathtub -0.205 0.359 0.924 0 0 0 29 Mirror -3.447 1.575 1.516 0 0 0 30 TowelHolder -2.049 1.045 -0.290 0 0 0 31 TowelHolder -1.304 1.045 -0.290 0 0 0 32 ToiletPaperHanger -0.425 0.783 2.278 0 0 0 33 Shelf -2.587 0.778 3.909 0 0 0 34 Shelf -2.587 1.287 3.941 0 0 0 35 Shelf -2.587 1.032 3.941 0 0 0 36 Shelf -2.587 1.534 3.909 0 0 0 37 GarbageCan 0.047 -0.002 3.878 0 0 0 38 HandTowelHolder -3.459 1.458 2.098 0 0 0 39 HandTowelHolder -3.459 1.458 0.816 0 0 0 40 Toilet 0.063 0.002 3.096 0 0 0 41 LightSwitch -3.459 1.437 2.496 0 90 0 42 Sink -3.115 -0.013 1.531 0 90 0 43 SinkBasin -3.081 0.935 1.537 0 90 0 44 SideTable -3.171 0.002 0.170 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn around, proceed to door. Turn to right, proceed to shelf. | STEP 2: Pick up pink soap from bottom shelf. | STEP 3: Turn around, proceed to sink. Turn right to face sink. | STEP 4: Put soap in sink on top of green sponge. Turn water on, off, and drain water. Pick up soap. | STEP 5: Turn left, proceed to wall. Turn right to face shelf. | STEP 6: Put soap on shelf behind the two spray bottles. | END" ]
[ [ "STEP 1: Turn around, proceed to door. Turn to right, proceed to shelf. ", " STEP 2: Pick up pink soap from bottom shelf. ", " STEP 3: Turn around, proceed to sink. Turn right to face sink. ", " STEP 4: Put soap in sink on top of green sponge. Turn water on, off, and drain water. Pick up soap. ", " STEP 5: Turn left, proceed to wall. Turn right to face shelf. ", " STEP 6: Put soap on shelf behind the two spray bottles. ", " END" ] ]
seen
trial_T20190906_183132_047199-2
Place a washed bar of soap on a shelf.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 2.5 0 90 0 1 Candle 0.355 1.048 2.903 0 270 0 40 2 Candle -2.387 0.789 3.940 0 0 0 33 3 SprayBottle -3.206 0.236 0.156 0 270 0 44 4 SprayBottle -3.150 0.234 0.390 0 270 0 44 5 SoapBottle -0.867 0.045 3.86 0 0 0 37 6 SoapBottle -3.037 0.866 0.078 0 270 0 44 7 Towel -1.304 1.059 -0.183 0 0 0 31 8 HandTowel -3.420 1.356 2.098 0 270 0 39 9 Towel -2.05 1.059 -0.183 0 0 0 30 10 HandTowel -3.420 1.356 0.816 0 270 0 39 11 Plunger 0.362 0.000 2.468 0 0 0 Floor|-01.44| 12 SoapBar -2.667 0.787 3.909 0 0 0 33 13 ToiletPaper -3.150 0.860 0.312 0 270 0 44 14 SoapBottle -0.618 0.633 -0.090 0 137.956 0 28 15 ToiletPaper -2.310 0.777 3.875 0 0 0 33 16 Cloth 0.386 1.047 3.100 0 270 0 40 17 PaperTowelRoll -0.641 0.736 1.862 0 227.956 0 28 18 Candle 0.334 0.632 -0.091 0 47.956 0 28 19 SprayBottle -0.771 0.044 3.832 0 0 0 37 20 ScrubBrush 0.397 0.000 2.694 0 0 0 Floor|-01.44| 21 DishSponge -3.007 0.856 1.451 0 90 0 43 22 Faucet -0.141 0.524 -0.211 0 0 0 23 Window -1.507 1.322 -0.364 0 0 0 24 Faucet -3.401 1.017 1.531 0 90 0 25 BathtubBasin -0.155 0.042 0.884 0 0 0 26 ShowerCurtain -0.886 2.196 -0.169 0 0 0 27 ShowerHead -0.126 1.447 2.047 0 270 0 28 Bathtub -0.205 0.359 0.924 0 0 0 29 Mirror -3.447 1.575 1.516 0 0 0 30 TowelHolder -2.049 1.045 -0.290 0 0 0 31 TowelHolder -1.304 1.045 -0.290 0 0 0 32 ToiletPaperHanger -0.425 0.783 2.278 0 0 0 33 Shelf -2.587 0.778 3.909 0 0 0 34 Shelf -2.587 1.287 3.941 0 0 0 35 Shelf -2.587 1.032 3.941 0 0 0 36 Shelf -2.587 1.534 3.909 0 0 0 37 GarbageCan 0.047 -0.002 3.878 0 0 0 38 HandTowelHolder -3.459 1.458 2.098 0 0 0 39 HandTowelHolder -3.459 1.458 0.816 0 0 0 40 Toilet 0.063 0.002 3.096 0 0 0 41 LightSwitch -3.459 1.437 2.496 0 90 0 42 Sink -3.115 -0.013 1.531 0 90 0 43 SinkBasin -3.081 0.935 1.537 0 90 0 44 SideTable -3.171 0.002 0.170 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn left and walk to the shelves in the left corner of the room. | STEP 2: Pick up the pink soap bar. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Wash the soap in the sink. | STEP 5: Turn left and walk to the cart in the corner. | STEP 6: Place the soap on the top shelf of the cart, to the right of the soap bottle. | END" ]
[ [ "STEP 1: Turn left and walk to the shelves in the left corner of the room. ", " STEP 2: Pick up the pink soap bar. ", " STEP 3: Turn around and walk to the sink on the right. ", " STEP 4: Wash the soap in the sink. ", " STEP 5: Turn left and walk to the cart in the corner. ", " STEP 6: Place the soap on the top shelf of the cart, to the right of the soap bottle. ", " END" ] ]
seen
trial_T20190906_183132_047199-3
Put the wet soap on the metal shelf
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 2.5 0 90 0 1 Candle 0.355 1.048 2.903 0 270 0 40 2 Candle -2.387 0.789 3.940 0 0 0 33 3 SprayBottle -3.206 0.236 0.156 0 270 0 44 4 SprayBottle -3.150 0.234 0.390 0 270 0 44 5 SoapBottle -0.867 0.045 3.86 0 0 0 37 6 SoapBottle -3.037 0.866 0.078 0 270 0 44 7 Towel -1.304 1.059 -0.183 0 0 0 31 8 HandTowel -3.420 1.356 2.098 0 270 0 39 9 Towel -2.05 1.059 -0.183 0 0 0 30 10 HandTowel -3.420 1.356 0.816 0 270 0 39 11 Plunger 0.362 0.000 2.468 0 0 0 Floor|-01.44| 12 SoapBar -2.667 0.787 3.909 0 0 0 33 13 ToiletPaper -3.150 0.860 0.312 0 270 0 44 14 SoapBottle -0.618 0.633 -0.090 0 137.956 0 28 15 ToiletPaper -2.310 0.777 3.875 0 0 0 33 16 Cloth 0.386 1.047 3.100 0 270 0 40 17 PaperTowelRoll -0.641 0.736 1.862 0 227.956 0 28 18 Candle 0.334 0.632 -0.091 0 47.956 0 28 19 SprayBottle -0.771 0.044 3.832 0 0 0 37 20 ScrubBrush 0.397 0.000 2.694 0 0 0 Floor|-01.44| 21 DishSponge -3.007 0.856 1.451 0 90 0 43 22 Faucet -0.141 0.524 -0.211 0 0 0 23 Window -1.507 1.322 -0.364 0 0 0 24 Faucet -3.401 1.017 1.531 0 90 0 25 BathtubBasin -0.155 0.042 0.884 0 0 0 26 ShowerCurtain -0.886 2.196 -0.169 0 0 0 27 ShowerHead -0.126 1.447 2.047 0 270 0 28 Bathtub -0.205 0.359 0.924 0 0 0 29 Mirror -3.447 1.575 1.516 0 0 0 30 TowelHolder -2.049 1.045 -0.290 0 0 0 31 TowelHolder -1.304 1.045 -0.290 0 0 0 32 ToiletPaperHanger -0.425 0.783 2.278 0 0 0 33 Shelf -2.587 0.778 3.909 0 0 0 34 Shelf -2.587 1.287 3.941 0 0 0 35 Shelf -2.587 1.032 3.941 0 0 0 36 Shelf -2.587 1.534 3.909 0 0 0 37 GarbageCan 0.047 -0.002 3.878 0 0 0 38 HandTowelHolder -3.459 1.458 2.098 0 0 0 39 HandTowelHolder -3.459 1.458 0.816 0 0 0 40 Toilet 0.063 0.002 3.096 0 0 0 41 LightSwitch -3.459 1.437 2.496 0 90 0 42 Sink -3.115 -0.013 1.531 0 90 0 43 SinkBasin -3.081 0.935 1.537 0 90 0 44 SideTable -3.171 0.002 0.170 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn left and walk over to the white shelf near the door | STEP 2: Pick up the bar of soap from the shelf | STEP 3: Turn around and walk to the sink | STEP 4: Place the soap in the sink, run water, and pick it up | STEP 5: Move left to the metal shelf left of the sink | STEP 6: Place the soap on the shelf to the right of the pump bottle | END" ]
[ [ "STEP 1: Turn left and walk over to the white shelf near the door ", " STEP 2: Pick up the bar of soap from the shelf ", " STEP 3: Turn around and walk to the sink ", " STEP 4: Place the soap in the sink, run water, and pick it up ", " STEP 5: Move left to the metal shelf left of the sink ", " STEP 6: Place the soap on the shelf to the right of the pump bottle ", " END" ] ]
seen
trial_T20190906_183132_047199-4
Transfer the wet soap from the wall shelf to the metal shelf.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 2.5 0 90 0 1 Candle 0.355 1.048 2.903 0 270 0 40 2 Candle -2.387 0.789 3.940 0 0 0 33 3 SprayBottle -3.206 0.236 0.156 0 270 0 44 4 SprayBottle -3.150 0.234 0.390 0 270 0 44 5 SoapBottle -0.867 0.045 3.86 0 0 0 37 6 SoapBottle -3.037 0.866 0.078 0 270 0 44 7 Towel -1.304 1.059 -0.183 0 0 0 31 8 HandTowel -3.420 1.356 2.098 0 270 0 39 9 Towel -2.05 1.059 -0.183 0 0 0 30 10 HandTowel -3.420 1.356 0.816 0 270 0 39 11 Plunger 0.362 0.000 2.468 0 0 0 Floor|-01.44| 12 SoapBar -2.667 0.787 3.909 0 0 0 33 13 ToiletPaper -3.150 0.860 0.312 0 270 0 44 14 SoapBottle -0.618 0.633 -0.090 0 137.956 0 28 15 ToiletPaper -2.310 0.777 3.875 0 0 0 33 16 Cloth 0.386 1.047 3.100 0 270 0 40 17 PaperTowelRoll -0.641 0.736 1.862 0 227.956 0 28 18 Candle 0.334 0.632 -0.091 0 47.956 0 28 19 SprayBottle -0.771 0.044 3.832 0 0 0 37 20 ScrubBrush 0.397 0.000 2.694 0 0 0 Floor|-01.44| 21 DishSponge -3.007 0.856 1.451 0 90 0 43 22 Faucet -0.141 0.524 -0.211 0 0 0 23 Window -1.507 1.322 -0.364 0 0 0 24 Faucet -3.401 1.017 1.531 0 90 0 25 BathtubBasin -0.155 0.042 0.884 0 0 0 26 ShowerCurtain -0.886 2.196 -0.169 0 0 0 27 ShowerHead -0.126 1.447 2.047 0 270 0 28 Bathtub -0.205 0.359 0.924 0 0 0 29 Mirror -3.447 1.575 1.516 0 0 0 30 TowelHolder -2.049 1.045 -0.290 0 0 0 31 TowelHolder -1.304 1.045 -0.290 0 0 0 32 ToiletPaperHanger -0.425 0.783 2.278 0 0 0 33 Shelf -2.587 0.778 3.909 0 0 0 34 Shelf -2.587 1.287 3.941 0 0 0 35 Shelf -2.587 1.032 3.941 0 0 0 36 Shelf -2.587 1.534 3.909 0 0 0 37 GarbageCan 0.047 -0.002 3.878 0 0 0 38 HandTowelHolder -3.459 1.458 2.098 0 0 0 39 HandTowelHolder -3.459 1.458 0.816 0 0 0 40 Toilet 0.063 0.002 3.096 0 0 0 41 LightSwitch -3.459 1.437 2.496 0 90 0 42 Sink -3.115 -0.013 1.531 0 90 0 43 SinkBasin -3.081 0.935 1.537 0 90 0 44 SideTable -3.171 0.002 0.170 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn around, head towards the door, and turn right towards the wall shelf. | STEP 2: Pick up the pink bar soap on the bottom shelf. | STEP 3: Turn around and walk towards the sink. | STEP 4: Place the bar soap on top of the green sponge in the sink, turn on the faucet, and get the soap wet. | STEP 5: Turn left towards the metal shelf on the right. | STEP 6: Place the soap on the shelf directly below the toilet paper. | END" ]
[ [ "STEP 1: Turn around, head towards the door, and turn right towards the wall shelf. ", " STEP 2: Pick up the pink bar soap on the bottom shelf. ", " STEP 3: Turn around and walk towards the sink. ", " STEP 4: Place the bar soap on top of the green sponge in the sink, turn on the faucet, and get the soap wet. ", " STEP 5: Turn left towards the metal shelf on the right. ", " STEP 6: Place the soap on the shelf directly below the toilet paper. ", " END" ] ]
seen
trial_T20190906_183132_047199-5
Put the soap on the second metal rack.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 2.5 0 90 0 1 Candle 0.355 1.048 2.903 0 270 0 40 2 Candle -2.387 0.789 3.940 0 0 0 33 3 SprayBottle -3.206 0.236 0.156 0 270 0 44 4 SprayBottle -3.150 0.234 0.390 0 270 0 44 5 SoapBottle -0.867 0.045 3.86 0 0 0 37 6 SoapBottle -3.037 0.866 0.078 0 270 0 44 7 Towel -1.304 1.059 -0.183 0 0 0 31 8 HandTowel -3.420 1.356 2.098 0 270 0 39 9 Towel -2.05 1.059 -0.183 0 0 0 30 10 HandTowel -3.420 1.356 0.816 0 270 0 39 11 Plunger 0.362 0.000 2.468 0 0 0 Floor|-01.44| 12 SoapBar -2.667 0.787 3.909 0 0 0 33 13 ToiletPaper -3.150 0.860 0.312 0 270 0 44 14 SoapBottle -0.618 0.633 -0.090 0 137.956 0 28 15 ToiletPaper -2.310 0.777 3.875 0 0 0 33 16 Cloth 0.386 1.047 3.100 0 270 0 40 17 PaperTowelRoll -0.641 0.736 1.862 0 227.956 0 28 18 Candle 0.334 0.632 -0.091 0 47.956 0 28 19 SprayBottle -0.771 0.044 3.832 0 0 0 37 20 ScrubBrush 0.397 0.000 2.694 0 0 0 Floor|-01.44| 21 DishSponge -3.007 0.856 1.451 0 90 0 43 22 Faucet -0.141 0.524 -0.211 0 0 0 23 Window -1.507 1.322 -0.364 0 0 0 24 Faucet -3.401 1.017 1.531 0 90 0 25 BathtubBasin -0.155 0.042 0.884 0 0 0 26 ShowerCurtain -0.886 2.196 -0.169 0 0 0 27 ShowerHead -0.126 1.447 2.047 0 270 0 28 Bathtub -0.205 0.359 0.924 0 0 0 29 Mirror -3.447 1.575 1.516 0 0 0 30 TowelHolder -2.049 1.045 -0.290 0 0 0 31 TowelHolder -1.304 1.045 -0.290 0 0 0 32 ToiletPaperHanger -0.425 0.783 2.278 0 0 0 33 Shelf -2.587 0.778 3.909 0 0 0 34 Shelf -2.587 1.287 3.941 0 0 0 35 Shelf -2.587 1.032 3.941 0 0 0 36 Shelf -2.587 1.534 3.909 0 0 0 37 GarbageCan 0.047 -0.002 3.878 0 0 0 38 HandTowelHolder -3.459 1.458 2.098 0 0 0 39 HandTowelHolder -3.459 1.458 0.816 0 0 0 40 Toilet 0.063 0.002 3.096 0 0 0 41 LightSwitch -3.459 1.437 2.496 0 90 0 42 Sink -3.115 -0.013 1.531 0 90 0 43 SinkBasin -3.081 0.935 1.537 0 90 0 44 SideTable -3.171 0.002 0.170 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Move over to the three white shelves. | STEP 2: Pick up the bar of soap from the shelf. | STEP 3: Bring the soap over to the sink. | STEP 4: Place the soap into the sink and get the soap wet with water. | STEP 5: Pick up the soap and bring it over to the metal shelf rack. | STEP 6: Place the soap on the second metal rack. | END" ]
[ [ "STEP 1: Move over to the three white shelves. ", " STEP 2: Pick up the bar of soap from the shelf. ", " STEP 3: Bring the soap over to the sink. ", " STEP 4: Place the soap into the sink and get the soap wet with water. ", " STEP 5: Pick up the soap and bring it over to the metal shelf rack. ", " STEP 6: Place the soap on the second metal rack. ", " END" ] ]
seen
trial_T20190911_101119_501414-0
Place two newspapers in the drawer underneath the television.
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-2.279", " 0", " 0", " 0", "" ], [ "37", " Drawer", " -0.173", " 0.465", " -2.135", " 0", " 0", " 0", "" ], [ "38", " Drawer", " 3.104", " 0.167", " 1.400", " 0", " 270", " 0", "" ], [ "39", " SideTable", " 3.163", " 0.032", " 1.400", " 0", " 270", " 0", "" ], [ "40", " Drawer", " 3.103", " 0.418", " 1.401", " 0", " 270", " 0", "" ], [ "41", " SideTable", " 3.163", " 0.032", " 0.364", " 0", " 270", " 0", "" ], [ "42", " Drawer", " -3.241", " 0.418", " -0.490", " 0", " 90", " 0", "" ], [ "43", " Drawer", " 3.104", " 0.167", " -0.574", " 0", " 270", " 0", "" ], [ "44", " SideTable", " 3.163", " 0.032", " -0.574", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 3.104", " 0.167", " 0.364", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 3.104", " 0.419", " -0.574", " 0", " 270", " 0", "" ], [ "47", " Drawer", " -3.241", " 0.167", " -0.489", " 0", " 90", " 0", "" ], [ "48", " SideTable", " -3.300", " 0.032", " -0.489", " 0", " 90", " 0", "" ], [ "49", " Drawer", " 3.104", " 0.419", " 0.364", 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270", " 0", "" ], [ "63", " Drawer", " -0.415", " 0.351", " 2.384", " 0", " 270", " 0", "" ], [ "64", " Drawer", " -0.415", " 0.854", " 2.384", " 0", " 270", " 0", "" ], [ "65", " Drawer", " -0.415", " 0.351", " 1.921", " 0", " 270", " 0", "" ], [ "66", " Drawer", " -0.415", " 0.854", " 1.414", " 0", " 270", " 0", "" ], [ "67", " Stool", " 3.135", " 0.029", " -1.625", " 0", " 330.001", " 0", "" ], [ "68", " Chair", " 1.631", " 0.029", " 2.210", " 0", " 161.562", " 0", "" ], [ "69", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "70", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "71", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "72", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.916 2.5 0 270 0 1 Statue 3.160 0.595 -0.574 0 180 0 44 2 Newspaper -0.204 0.912 0.974 0 0 0 58 3 KeyChain -0.005 0.540 -2.392 0 90 0 36 4 RemoteControl -0.145 0.664 1.043 0 0 0 60 5 Laptop -2.885 0.561 1.187 0 270 0 53 6 Book 0.116 0.902 1.073 0 29.999 0 58 7 Box -0.204 1.100 1.460 0 0 0 58 8 Statue -3.299 0.597 -0.423 0 0 0 48 9 CreditCard -0.244 0.411 0.936 0 0 0 59 10 Laptop -2.780 0.365 -1.874 0 0 0 35 11 WateringCan 2.893 0.014 -1.916 0 328.832 0 12 Newspaper 0.067 0.912 2.431 0 0 0 58 13 Vase -2.168 1.195 -2.183 0 0 0 14 CellPhone -2.885 0.564 0.775 0 270 0 53 15 RemoteControl -0.204 0.910 1.703 0 0 0 58 16 Vase -1.046 1.195 -2.151 0 0 0 17 Pillow -2.812 0.623 2.012 0 270 0 53 18 KeyChain -0.060 0.540 -2.190 0 180 0 36 19 Cabinet 0.333 0.514 -2.015 0 0 0 20 DeskLamp 3.143 0.591 1.457 0 270 0 21 LightSwitch -0.927 1.316 2.846 0 180 0 22 HousePlant 0.491 0.874 -1.581 0 0 0 23 Television 0.069 1.406 1.698 0 270 0 24 GarbageCan 3.164 0.026 0.891 0 0 0 25 Painting -1.561 1.408 -2.318 90 180 0 26 Painting 3.367 1.789 -0.949 90 270 0 27 Painting -3.488 1.386 -0.507 90 270 0 28 FloorLamp 3.103 0.025 -2.341 0 135 0 29 Window 1.133 1.218 -2.740 90 0 0 30 Window -3.368 1.180 -1.539 90 90 0 31 Window 2.898 1.218 -2.740 90 0 0 32 Window 2.006 1.218 -2.740 90 0 0 33 Window -0.193 1.157 -2.563 90 0 0 34 Window -2.970 1.157 -2.563 90 0 0 35 ArmChair -2.859 0.026 -2.036 0 29.994 0 36 SideTable -0.170 0.027 -2.279 0 0 0 37 Drawer -0.173 0.465 -2.135 0 0 0 38 Drawer 3.104 0.167 1.400 0 270 0 39 SideTable 3.163 0.032 1.400 0 270 0 40 Drawer 3.103 0.418 1.401 0 270 0 41 SideTable 3.163 0.032 0.364 0 270 0 42 Drawer -3.241 0.418 -0.490 0 90 0 43 Drawer 3.104 0.167 -0.574 0 270 0 44 SideTable 3.163 0.032 -0.574 0 270 0 45 Drawer 3.104 0.167 0.364 0 270 0 46 Drawer 3.104 0.419 -0.574 0 270 0 47 Drawer -3.241 0.167 -0.489 0 90 0 48 SideTable -3.300 0.032 -0.489 0 90 0 49 Drawer 3.104 0.419 0.364 0 270 0 50 Chair 1.049 0.031 -2.190 0 29.997 0 51 DogBed 2.739 0.032 2.260 0 45 0 52 Chair 2.037 0.031 -2.232 0 350.485 0 53 Sofa -2.957 0.032 1.393 0 90 0 54 Drawer -0.189 0.232 0.954 0 270 0 55 Drawer -0.415 0.854 1.921 0 270 0 56 Drawer -0.415 0.351 1.414 0 270 0 57 Drawer -0.415 0.603 1.414 0 270 0 58 Dresser -0.052 0.028 1.667 0 270 0 59 Drawer -0.190 0.484 0.954 0 270 0 60 Drawer -0.190 0.736 0.954 0 270 0 61 Drawer -0.415 0.603 1.921 0 270 0 62 Drawer -0.415 0.603 2.384 0 270 0 63 Drawer -0.415 0.351 2.384 0 270 0 64 Drawer -0.415 0.854 2.384 0 270 0 65 Drawer -0.415 0.351 1.921 0 270 0 66 Drawer -0.415 0.854 1.414 0 270 0 67 Stool 3.135 0.029 -1.625 0 330.001 0 68 Chair 1.631 0.029 2.210 0 161.562 0 69 NorthWall 70 EastWall 71 SouthWall 72 WestWall
[ "STEP 1: Turn left then head towards the chair, turn right then head towards the couch, turn right towards the black cabinet. | STEP 2: Pick up the newspaper on the black cabinet. | STEP 3: Turn left then head towards the couch, turn right towards the door, then right towards the television. | STEP 4: Open the middle drawer in the black cabinet and place the newspaper inside. | STEP 5: Pick up the newspaper on the left side of the television. | STEP 6: Take one step to the right, then stand if front of the television. | STEP 7: Open the middle drawer in the black cabinet. | STEP 8: Place the newspaper on top of the other one, the close the door. | END" ]
[ [ "STEP 1: Turn left then head towards the chair, turn right then head towards the couch, turn right towards the black cabinet. ", " STEP 2: Pick up the newspaper on the black cabinet. ", " STEP 3: Turn left then head towards the couch, turn right towards the door, then right towards the television. ", " STEP 4: Open the middle drawer in the black cabinet and place the newspaper inside. ", " STEP 5: Pick up the newspaper on the left side of the television. ", " STEP 6: Take one step to the right, then stand if front of the television. ", " STEP 7: Open the middle drawer in the black cabinet. ", " STEP 8: Place the newspaper on top of the other one, the close the door. ", " END" ] ]
seen
trial_T20190911_101119_501414-1
Store two newspapers in a dresser.
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" 0", " 270", " 0", "" ], [ "50", " Chair", " 1.049", " 0.031", " -2.190", " 0", " 29.997", " 0", "" ], [ "51", " DogBed", " 2.739", " 0.032", " 2.260", " 0", " 45", " 0", "" ], [ "52", " Chair", " 2.037", " 0.031", " -2.232", " 0", " 350.485", " 0", "" ], [ "53", " Sofa", " -2.957", " 0.032", " 1.393", " 0", " 90", " 0", "" ], [ "54", " Drawer", " -0.189", " 0.232", " 0.954", " 0", " 270", " 0", "" ], [ "55", " Drawer", " -0.415", " 0.854", " 1.921", " 0", " 270", " 0", "" ], [ "56", " Drawer", " -0.415", " 0.351", " 1.414", " 0", " 270", " 0", "" ], [ "57", " Drawer", " -0.415", " 0.603", " 1.414", " 0", " 270", " 0", "" ], [ "58", " Dresser", " -0.052", " 0.028", " 1.667", " 0", " 270", " 0", "" ], [ "59", " Drawer", " -0.190", " 0.484", " 0.954", " 0", " 270", " 0", "" ], [ "60", " Drawer", " -0.190", " 0.736", " 0.954", " 0", " 270", " 0", "" ], [ "61", " Drawer", " -0.415", " 0.603", " 1.921", " 0", " 270", " 0", "" ], [ "62", " Drawer", " -0.415", " 0.603", " 2.384", " 0", " 270", " 0", "" ], [ "63", " Drawer", " -0.415", " 0.351", " 2.384", " 0", " 270", " 0", "" ], [ "64", " Drawer", " -0.415", " 0.854", " 2.384", " 0", " 270", " 0", "" ], [ "65", " Drawer", " -0.415", " 0.351", " 1.921", " 0", " 270", " 0", "" ], [ "66", " Drawer", " -0.415", " 0.854", " 1.414", " 0", " 270", " 0", "" ], [ "67", " Stool", " 3.135", " 0.029", " -1.625", " 0", " 330.001", " 0", "" ], [ "68", " Chair", " 1.631", " 0.029", " 2.210", " 0", " 161.562", " 0", "" ], [ "69", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "70", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "71", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "72", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.916 2.5 0 270 0 1 Statue 3.160 0.595 -0.574 0 180 0 44 2 Newspaper -0.204 0.912 0.974 0 0 0 58 3 KeyChain -0.005 0.540 -2.392 0 90 0 36 4 RemoteControl -0.145 0.664 1.043 0 0 0 60 5 Laptop -2.885 0.561 1.187 0 270 0 53 6 Book 0.116 0.902 1.073 0 29.999 0 58 7 Box -0.204 1.100 1.460 0 0 0 58 8 Statue -3.299 0.597 -0.423 0 0 0 48 9 CreditCard -0.244 0.411 0.936 0 0 0 59 10 Laptop -2.780 0.365 -1.874 0 0 0 35 11 WateringCan 2.893 0.014 -1.916 0 328.832 0 12 Newspaper 0.067 0.912 2.431 0 0 0 58 13 Vase -2.168 1.195 -2.183 0 0 0 14 CellPhone -2.885 0.564 0.775 0 270 0 53 15 RemoteControl -0.204 0.910 1.703 0 0 0 58 16 Vase -1.046 1.195 -2.151 0 0 0 17 Pillow -2.812 0.623 2.012 0 270 0 53 18 KeyChain -0.060 0.540 -2.190 0 180 0 36 19 Cabinet 0.333 0.514 -2.015 0 0 0 20 DeskLamp 3.143 0.591 1.457 0 270 0 21 LightSwitch -0.927 1.316 2.846 0 180 0 22 HousePlant 0.491 0.874 -1.581 0 0 0 23 Television 0.069 1.406 1.698 0 270 0 24 GarbageCan 3.164 0.026 0.891 0 0 0 25 Painting -1.561 1.408 -2.318 90 180 0 26 Painting 3.367 1.789 -0.949 90 270 0 27 Painting -3.488 1.386 -0.507 90 270 0 28 FloorLamp 3.103 0.025 -2.341 0 135 0 29 Window 1.133 1.218 -2.740 90 0 0 30 Window -3.368 1.180 -1.539 90 90 0 31 Window 2.898 1.218 -2.740 90 0 0 32 Window 2.006 1.218 -2.740 90 0 0 33 Window -0.193 1.157 -2.563 90 0 0 34 Window -2.970 1.157 -2.563 90 0 0 35 ArmChair -2.859 0.026 -2.036 0 29.994 0 36 SideTable -0.170 0.027 -2.279 0 0 0 37 Drawer -0.173 0.465 -2.135 0 0 0 38 Drawer 3.104 0.167 1.400 0 270 0 39 SideTable 3.163 0.032 1.400 0 270 0 40 Drawer 3.103 0.418 1.401 0 270 0 41 SideTable 3.163 0.032 0.364 0 270 0 42 Drawer -3.241 0.418 -0.490 0 90 0 43 Drawer 3.104 0.167 -0.574 0 270 0 44 SideTable 3.163 0.032 -0.574 0 270 0 45 Drawer 3.104 0.167 0.364 0 270 0 46 Drawer 3.104 0.419 -0.574 0 270 0 47 Drawer -3.241 0.167 -0.489 0 90 0 48 SideTable -3.300 0.032 -0.489 0 90 0 49 Drawer 3.104 0.419 0.364 0 270 0 50 Chair 1.049 0.031 -2.190 0 29.997 0 51 DogBed 2.739 0.032 2.260 0 45 0 52 Chair 2.037 0.031 -2.232 0 350.485 0 53 Sofa -2.957 0.032 1.393 0 90 0 54 Drawer -0.189 0.232 0.954 0 270 0 55 Drawer -0.415 0.854 1.921 0 270 0 56 Drawer -0.415 0.351 1.414 0 270 0 57 Drawer -0.415 0.603 1.414 0 270 0 58 Dresser -0.052 0.028 1.667 0 270 0 59 Drawer -0.190 0.484 0.954 0 270 0 60 Drawer -0.190 0.736 0.954 0 270 0 61 Drawer -0.415 0.603 1.921 0 270 0 62 Drawer -0.415 0.603 2.384 0 270 0 63 Drawer -0.415 0.351 2.384 0 270 0 64 Drawer -0.415 0.854 2.384 0 270 0 65 Drawer -0.415 0.351 1.921 0 270 0 66 Drawer -0.415 0.854 1.414 0 270 0 67 Stool 3.135 0.029 -1.625 0 330.001 0 68 Chair 1.631 0.029 2.210 0 161.562 0 69 NorthWall 70 EastWall 71 SouthWall 72 WestWall
[ "STEP 1: Turn to the left and move toward the black chairs in front of the window then turn right and move to the black dresser opposite from the couch. | STEP 2: Pick up the newspaper located left of the book from the edge of the dresser. | STEP 3: Move around the dresser, toward the gray door, then turn right and face where the dresser meets the corner of the room. | STEP 4: Open the top center dresser drawer underneath the remote control, place the newspaper in the drawer, and then close the drawer. | STEP 5: Move left, towards the light switch next to the door, then turn right and face the dresser. | STEP 6: Pick up the newspaper to the left of the television. | STEP 7: Turn right, move toward the couch, then turn left and face the center of the dresser. | STEP 8: Open the top center dresser drawer underneath the remote control, place the newspaper on top of the newspaper already in the drawer, then close the drawer. | END" ]
[ [ "STEP 1: Turn to the left and move toward the black chairs in front of the window then turn right and move to the black dresser opposite from the couch. ", " STEP 2: Pick up the newspaper located left of the book from the edge of the dresser. ", " STEP 3: Move around the dresser, toward the gray door, then turn right and face where the dresser meets the corner of the room. ", " STEP 4: Open the top center dresser drawer underneath the remote control, place the newspaper in the drawer, and then close the drawer. ", " STEP 5: Move left, towards the light switch next to the door, then turn right and face the dresser. ", " STEP 6: Pick up the newspaper to the left of the television. ", " STEP 7: Turn right, move toward the couch, then turn left and face the center of the dresser. ", " STEP 8: Open the top center dresser drawer underneath the remote control, place the newspaper on top of the newspaper already in the drawer, then close the drawer. ", " END" ] ]
seen
trial_T20190911_101119_501414-2
Gather up the newspapers in the living room and place them in a drawer
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[ "STEP 1: Turn to the left and walk down the hallway, turn to the right and walk into the living room, now turn right and face the black table | STEP 2: Pick up the newspaper that is on the table | STEP 3: Walk to the end of the table near the wall | STEP 4: Open the top drawer on the second row from the wall and place the paper in it, now close the drawer | STEP 5: Turn and look toward the door, then go back to the table and look at the other newspaper | STEP 6: Pick up the newspaper on the table | STEP 7: Turn around and look around the room, turn back to the table | STEP 8: Open the top drawer in the second row from the wall and place the paper on top of the other paper, now close the drawer | END" ]
[ [ "STEP 1: Turn to the left and walk down the hallway, turn to the right and walk into the living room, now turn right and face the black table ", " STEP 2: Pick up the newspaper that is on the table ", " STEP 3: Walk to the end of the table near the wall ", " STEP 4: Open the top drawer on the second row from the wall and place the paper in it, now close the drawer ", " STEP 5: Turn and look toward the door, then go back to the table and look at the other newspaper ", " STEP 6: Pick up the newspaper on the table ", " STEP 7: Turn around and look around the room, turn back to the table ", " STEP 8: Open the top drawer in the second row from the wall and place the paper on top of the other paper, now close the drawer ", " END" ] ]
seen
trial_T20190907_012722_837128-0
Put a pan with a knife and slice of cooked potato in the refrigerator.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.25 0.900 1.75 0 270 0 1 Pan 1.691 0.929 0.064 0 0 0 54 2 Pan -0.471 0.910 0.870 0 180 0 43 3 Pan 1.412 0.929 -0.335 0 0 0 44 4 ButterKnife -2.621 0.910 1.230 0 90 0 71 5 Fork 1.353 0.919 -1.239 0 45 0 57 6 Spoon 1.461 0.919 -1.131 0 45 0 57 7 Spoon -2.348 0.775 0.809 0 90 0 48 8 Egg -0.081 0.941 0.423 0 0 0 43 9 Egg 1.396 0.949 -1.336 0 225 0 57 10 Cup -0.341 0.908 1.317 0 0 0 43 11 Cup -2.645 1.535 2.550 0 0 0 47 12 Plate -2.289 0.913 0.931 0 0 0 71 13 Tomato 0.390 0.953 -1.369 0 0 0 53 14 Bowl -2.560 1.535 1.984 0 0 0 55 15 PepperShaker 1.855 0.906 0.435 0 0 0 52 16 PepperShaker 1.771 1.651 0.018 0 180 0 62 17 Lettuce -2.485 1.172 -0.979 0 90 0 75 18 Bread 0.048 0.996 0.423 0 0 0 43 19 Apple 1.199 0.972 -0.918 0 45 0 57 20 Pan -0.341 0.910 0.647 0 90 0 43 21 Knife -2.227 0.799 0.857 0 90 0 48 22 Apple 1.604 0.246 0.706 0 0 0 82 23 Bowl -2.538 0.908 1.230 0 0 0 71 24 Fork -0.471 0.911 1.317 0 0 0 43 25 Bread -2.289 0.996 1.230 0 0 0 71 26 Plate -2.621 0.913 0.931 0 0 0 71 27 Egg -2.558 0.209 -1.123 0 90 0 75 28 Kettle -2.310 0.115 -0.072 0 0 0 59 29 Potato -2.603 1.051 2.481 0 90 0 83 30 SaltShaker 0.930 0.905 -1.186 0 45 0 57 31 Lettuce 0.048 0.994 0.647 0 0 0 43 32 Cup -2.538 0.908 0.031 0 0 0 71 33 SoapBottle 1.735 1.665 -0.479 0 0 0 63 34 Spatula -2.372 0.925 0.631 0 0 0 71 35 PaperTowelRoll 0.783 1.015 -1.357 0 45 0 53 36 ButterKnife 1.598 0.911 0.465 0 0 0 52 37 PepperShaker 1.697 1.651 0.092 0 0 0 62 38 DishSponge -0.471 0.910 1.094 0 0 0 43 39 Pot -2.311 0.105 0.895 0 270 0 69 40 Spoon 0.048 0.912 1.317 0 0 0 43 41 Tomato 1.625 0.953 -1.022 0 45 0 53 42 Mug -2.599 1.533 0.918 0 0 0 67 43 CounterTop -0.360 0.946 1.093 0 0 0 44 StoveBurner 1.412 0.923 -0.335 0 0 0 45 StoveKnob 1.878 1.093 0.018 287.989 90 0 46 StoveKnob 1.878 1.093 -0.306 287.989 90 0 47 Cabinet -2.446 1.948 2.924 0 0 0 48 Drawer -2.276 0.792 0.902 0 0 0 49 Cabinet -2.145 0.402 1.578 0 0 0 50 Cabinet 0.149 2.008 -1.603 0 90 0 51 StoveBurner 1.691 0.923 -0.335 0 0 0 52 CounterTop 1.585 0.946 0.405 0 0 0 53 CounterTop 0.474 0.946 -1.625 0 0 0 54 StoveBurner 1.691 0.923 0.064 0 0 0 55 Cabinet -2.446 1.948 1.687 0 0 0 56 Cabinet -2.446 1.948 1.640 0 0 0 57 Sink 1.381 0.810 -1.271 0 225 0 58 StoveKnob 1.878 1.093 0.150 287.989 90 0 59 Cabinet -2.145 0.402 -0.236 0 0 0 60 Drawer -2.276 0.792 0.437 0 0 0 61 Drawer -2.276 0.792 -0.027 0 0 0 62 Cabinet 1.572 2.008 0.474 0 0 0 63 Cabinet 1.572 2.008 -0.775 0 0 0 64 Cabinet -2.445 2.148 -1.275 0 0 0 65 Cabinet -2.446 2.148 -0.284 0 0 0 66 Cabinet -2.446 1.948 0.355 0 0 0 67 Cabinet -2.446 1.948 0.405 0 0 0 68 Cabinet -2.145 0.402 0.644 0 0 0 69 Cabinet -2.145 0.402 0.695 0 0 0 70 Cabinet -2.285 1.968 -1.325 0 180 0 71 CounterTop -1.485 0.946 1.319 0 0 0 72 StoveBurner 1.411 0.923 0.064 0 0 0 73 StoveKnob 1.878 1.093 -0.441 287.989 90 0 74 Drawer -2.276 0.792 1.368 0 0 0 75 Fridge -2.475 0.0 -0.782 0 90 0 76 LightSwitch -0.929 1.350 -1.950 0 0 0 77 Toaster -2.564 0.900 1.876 0 90 0 78 CoffeeMachine 0.464 0.900 -1.810 0 0 0 79 Window 1.508 1.534 -1.496 90 135 0 80 Window 1.973 1.521 1.121 90 90 0 81 SinkBasin 1.149 0.753 -1.380 0 225 0 82 GarbageCan 1.646 -0.000 0.679 0 0 0 83 Microwave -2.580 0.900 2.440 0 90 0 84 Stool 0.439 0.010 0.747 0 0 0 85 Stool -2.303 0.010 1.839 0 0 0 86 Faucet 1.235 1.138 -1.473 0 225 0 87 NorthWall 88 EastWall 89 SouthWall 90 WestWall
[ "STEP 1: Turn left, go to the counter to the left of the oven. | STEP 2: Take the knife from the counter. | STEP 3: Turn left, go to the wall, turn left, go to the microwave. | STEP 4: Cut the potato in the microwave. Close the microwave. | STEP 5: Turn left, go to kitchen island on the left. | STEP 6: Put the knife in the left pan on the island. | STEP 7: Turn left, go to the microwave on the left. | STEP 8: Take a piece of potato out of the microwave. | STEP 9: Turn left, go to kitchen island on the left. | STEP 10: Put the potato in the left pan on the island. | STEP 11: Take the left pan from the island. | STEP 12: Turn right, go to the refrigerator on the right. | STEP 13: Put the pan to the right of the lettuce in the refrigerator. | END" ]
[ [ "STEP 1: Turn left, go to the counter to the left of the oven. ", " STEP 2: Take the knife from the counter. ", " STEP 3: Turn left, go to the wall, turn left, go to the microwave. ", " STEP 4: Cut the potato in the microwave. Close the microwave. ", " STEP 5: Turn left, go to kitchen island on the left. ", " STEP 6: Put the knife in the left pan on the island. ", " STEP 7: Turn left, go to the microwave on the left. ", " STEP 8: Take a piece of potato out of the microwave. ", " STEP 9: Turn left, go to kitchen island on the left. ", " STEP 10: Put the potato in the left pan on the island. ", " STEP 11: Take the left pan from the island. ", " STEP 12: Turn right, go to the refrigerator on the right. ", " STEP 13: Put the pan to the right of the lettuce in the refrigerator. ", " END" ] ]
seen
trial_T20190907_012722_837128-1
Place a pan containing a butter knife as well as a sliced potato in the refrigerator on the top shelf.
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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 1.75 0 270 0 1 Pan 1.691 0.929 0.064 0 0 0 54 2 Pan -0.471 0.910 0.870 0 180 0 43 3 Pan 1.412 0.929 -0.335 0 0 0 44 4 ButterKnife -2.621 0.910 1.230 0 90 0 71 5 Fork 1.353 0.919 -1.239 0 45 0 57 6 Spoon 1.461 0.919 -1.131 0 45 0 57 7 Spoon -2.348 0.775 0.809 0 90 0 48 8 Egg -0.081 0.941 0.423 0 0 0 43 9 Egg 1.396 0.949 -1.336 0 225 0 57 10 Cup -0.341 0.908 1.317 0 0 0 43 11 Cup -2.645 1.535 2.550 0 0 0 47 12 Plate -2.289 0.913 0.931 0 0 0 71 13 Tomato 0.390 0.953 -1.369 0 0 0 53 14 Bowl -2.560 1.535 1.984 0 0 0 55 15 PepperShaker 1.855 0.906 0.435 0 0 0 52 16 PepperShaker 1.771 1.651 0.018 0 180 0 62 17 Lettuce -2.485 1.172 -0.979 0 90 0 75 18 Bread 0.048 0.996 0.423 0 0 0 43 19 Apple 1.199 0.972 -0.918 0 45 0 57 20 Pan -0.341 0.910 0.647 0 90 0 43 21 Knife -2.227 0.799 0.857 0 90 0 48 22 Apple 1.604 0.246 0.706 0 0 0 82 23 Bowl -2.538 0.908 1.230 0 0 0 71 24 Fork -0.471 0.911 1.317 0 0 0 43 25 Bread -2.289 0.996 1.230 0 0 0 71 26 Plate -2.621 0.913 0.931 0 0 0 71 27 Egg -2.558 0.209 -1.123 0 90 0 75 28 Kettle -2.310 0.115 -0.072 0 0 0 59 29 Potato -2.603 1.051 2.481 0 90 0 83 30 SaltShaker 0.930 0.905 -1.186 0 45 0 57 31 Lettuce 0.048 0.994 0.647 0 0 0 43 32 Cup -2.538 0.908 0.031 0 0 0 71 33 SoapBottle 1.735 1.665 -0.479 0 0 0 63 34 Spatula -2.372 0.925 0.631 0 0 0 71 35 PaperTowelRoll 0.783 1.015 -1.357 0 45 0 53 36 ButterKnife 1.598 0.911 0.465 0 0 0 52 37 PepperShaker 1.697 1.651 0.092 0 0 0 62 38 DishSponge -0.471 0.910 1.094 0 0 0 43 39 Pot -2.311 0.105 0.895 0 270 0 69 40 Spoon 0.048 0.912 1.317 0 0 0 43 41 Tomato 1.625 0.953 -1.022 0 45 0 53 42 Mug -2.599 1.533 0.918 0 0 0 67 43 CounterTop -0.360 0.946 1.093 0 0 0 44 StoveBurner 1.412 0.923 -0.335 0 0 0 45 StoveKnob 1.878 1.093 0.018 287.989 90 0 46 StoveKnob 1.878 1.093 -0.306 287.989 90 0 47 Cabinet -2.446 1.948 2.924 0 0 0 48 Drawer -2.276 0.792 0.902 0 0 0 49 Cabinet -2.145 0.402 1.578 0 0 0 50 Cabinet 0.149 2.008 -1.603 0 90 0 51 StoveBurner 1.691 0.923 -0.335 0 0 0 52 CounterTop 1.585 0.946 0.405 0 0 0 53 CounterTop 0.474 0.946 -1.625 0 0 0 54 StoveBurner 1.691 0.923 0.064 0 0 0 55 Cabinet -2.446 1.948 1.687 0 0 0 56 Cabinet -2.446 1.948 1.640 0 0 0 57 Sink 1.381 0.810 -1.271 0 225 0 58 StoveKnob 1.878 1.093 0.150 287.989 90 0 59 Cabinet -2.145 0.402 -0.236 0 0 0 60 Drawer -2.276 0.792 0.437 0 0 0 61 Drawer -2.276 0.792 -0.027 0 0 0 62 Cabinet 1.572 2.008 0.474 0 0 0 63 Cabinet 1.572 2.008 -0.775 0 0 0 64 Cabinet -2.445 2.148 -1.275 0 0 0 65 Cabinet -2.446 2.148 -0.284 0 0 0 66 Cabinet -2.446 1.948 0.355 0 0 0 67 Cabinet -2.446 1.948 0.405 0 0 0 68 Cabinet -2.145 0.402 0.644 0 0 0 69 Cabinet -2.145 0.402 0.695 0 0 0 70 Cabinet -2.285 1.968 -1.325 0 180 0 71 CounterTop -1.485 0.946 1.319 0 0 0 72 StoveBurner 1.411 0.923 0.064 0 0 0 73 StoveKnob 1.878 1.093 -0.441 287.989 90 0 74 Drawer -2.276 0.792 1.368 0 0 0 75 Fridge -2.475 0.0 -0.782 0 90 0 76 LightSwitch -0.929 1.350 -1.950 0 0 0 77 Toaster -2.564 0.900 1.876 0 90 0 78 CoffeeMachine 0.464 0.900 -1.810 0 0 0 79 Window 1.508 1.534 -1.496 90 135 0 80 Window 1.973 1.521 1.121 90 90 0 81 SinkBasin 1.149 0.753 -1.380 0 225 0 82 GarbageCan 1.646 -0.000 0.679 0 0 0 83 Microwave -2.580 0.900 2.440 0 90 0 84 Stool 0.439 0.010 0.747 0 0 0 85 Stool -2.303 0.010 1.839 0 0 0 86 Faucet 1.235 1.138 -1.473 0 225 0 87 NorthWall 88 EastWall 89 SouthWall 90 WestWall
[ "STEP 1: Move to the counter top to the left of the stove. | STEP 2: Pick up the butter knife from counter top. | STEP 3: Move to the microwave on the opposite side of the room. | STEP 4: Open the microwave and slice the potato inside then close it. | STEP 5: Move to the island counter top to the left. | STEP 6: Place the knife in the left pan on the counter. | STEP 7: Move back to the microwave from before on the left. | STEP 8: Open and close the microwave after picking up a potato slice from inside. | STEP 9: Move back to the island counter top in the same place as before | STEP 10: Place the potato slice in the left pan | STEP 11: Pick up the pan on the left side with the items inside. | STEP 12: Move the the refrigerator on the right. | STEP 13: Open the door place the pan inside to the right of the lettuce. | END" ]
[ [ "STEP 1: Move to the counter top to the left of the stove. ", " STEP 2: Pick up the butter knife from counter top. ", " STEP 3: Move to the microwave on the opposite side of the room. ", " STEP 4: Open the microwave and slice the potato inside then close it. ", " STEP 5: Move to the island counter top to the left. ", " STEP 6: Place the knife in the left pan on the counter. ", " STEP 7: Move back to the microwave from before on the left. ", " STEP 8: Open and close the microwave after picking up a potato slice from inside. ", " STEP 9: Move back to the island counter top in the same place as before ", " STEP 10: Place the potato slice in the left pan ", " STEP 11: Pick up the pan on the left side with the items inside. ", " STEP 12: Move the the refrigerator on the right. ", " STEP 13: Open the door place the pan inside to the right of the lettuce. ", " END" ] ]
seen
trial_T20190907_012722_837128-2
Put a skillet with a potato and butter knife in it into the freezer.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.25 0.900 1.75 0 270 0 1 Pan 1.691 0.929 0.064 0 0 0 54 2 Pan -0.471 0.910 0.870 0 180 0 43 3 Pan 1.412 0.929 -0.335 0 0 0 44 4 ButterKnife -2.621 0.910 1.230 0 90 0 71 5 Fork 1.353 0.919 -1.239 0 45 0 57 6 Spoon 1.461 0.919 -1.131 0 45 0 57 7 Spoon -2.348 0.775 0.809 0 90 0 48 8 Egg -0.081 0.941 0.423 0 0 0 43 9 Egg 1.396 0.949 -1.336 0 225 0 57 10 Cup -0.341 0.908 1.317 0 0 0 43 11 Cup -2.645 1.535 2.550 0 0 0 47 12 Plate -2.289 0.913 0.931 0 0 0 71 13 Tomato 0.390 0.953 -1.369 0 0 0 53 14 Bowl -2.560 1.535 1.984 0 0 0 55 15 PepperShaker 1.855 0.906 0.435 0 0 0 52 16 PepperShaker 1.771 1.651 0.018 0 180 0 62 17 Lettuce -2.485 1.172 -0.979 0 90 0 75 18 Bread 0.048 0.996 0.423 0 0 0 43 19 Apple 1.199 0.972 -0.918 0 45 0 57 20 Pan -0.341 0.910 0.647 0 90 0 43 21 Knife -2.227 0.799 0.857 0 90 0 48 22 Apple 1.604 0.246 0.706 0 0 0 82 23 Bowl -2.538 0.908 1.230 0 0 0 71 24 Fork -0.471 0.911 1.317 0 0 0 43 25 Bread -2.289 0.996 1.230 0 0 0 71 26 Plate -2.621 0.913 0.931 0 0 0 71 27 Egg -2.558 0.209 -1.123 0 90 0 75 28 Kettle -2.310 0.115 -0.072 0 0 0 59 29 Potato -2.603 1.051 2.481 0 90 0 83 30 SaltShaker 0.930 0.905 -1.186 0 45 0 57 31 Lettuce 0.048 0.994 0.647 0 0 0 43 32 Cup -2.538 0.908 0.031 0 0 0 71 33 SoapBottle 1.735 1.665 -0.479 0 0 0 63 34 Spatula -2.372 0.925 0.631 0 0 0 71 35 PaperTowelRoll 0.783 1.015 -1.357 0 45 0 53 36 ButterKnife 1.598 0.911 0.465 0 0 0 52 37 PepperShaker 1.697 1.651 0.092 0 0 0 62 38 DishSponge -0.471 0.910 1.094 0 0 0 43 39 Pot -2.311 0.105 0.895 0 270 0 69 40 Spoon 0.048 0.912 1.317 0 0 0 43 41 Tomato 1.625 0.953 -1.022 0 45 0 53 42 Mug -2.599 1.533 0.918 0 0 0 67 43 CounterTop -0.360 0.946 1.093 0 0 0 44 StoveBurner 1.412 0.923 -0.335 0 0 0 45 StoveKnob 1.878 1.093 0.018 287.989 90 0 46 StoveKnob 1.878 1.093 -0.306 287.989 90 0 47 Cabinet -2.446 1.948 2.924 0 0 0 48 Drawer -2.276 0.792 0.902 0 0 0 49 Cabinet -2.145 0.402 1.578 0 0 0 50 Cabinet 0.149 2.008 -1.603 0 90 0 51 StoveBurner 1.691 0.923 -0.335 0 0 0 52 CounterTop 1.585 0.946 0.405 0 0 0 53 CounterTop 0.474 0.946 -1.625 0 0 0 54 StoveBurner 1.691 0.923 0.064 0 0 0 55 Cabinet -2.446 1.948 1.687 0 0 0 56 Cabinet -2.446 1.948 1.640 0 0 0 57 Sink 1.381 0.810 -1.271 0 225 0 58 StoveKnob 1.878 1.093 0.150 287.989 90 0 59 Cabinet -2.145 0.402 -0.236 0 0 0 60 Drawer -2.276 0.792 0.437 0 0 0 61 Drawer -2.276 0.792 -0.027 0 0 0 62 Cabinet 1.572 2.008 0.474 0 0 0 63 Cabinet 1.572 2.008 -0.775 0 0 0 64 Cabinet -2.445 2.148 -1.275 0 0 0 65 Cabinet -2.446 2.148 -0.284 0 0 0 66 Cabinet -2.446 1.948 0.355 0 0 0 67 Cabinet -2.446 1.948 0.405 0 0 0 68 Cabinet -2.145 0.402 0.644 0 0 0 69 Cabinet -2.145 0.402 0.695 0 0 0 70 Cabinet -2.285 1.968 -1.325 0 180 0 71 CounterTop -1.485 0.946 1.319 0 0 0 72 StoveBurner 1.411 0.923 0.064 0 0 0 73 StoveKnob 1.878 1.093 -0.441 287.989 90 0 74 Drawer -2.276 0.792 1.368 0 0 0 75 Fridge -2.475 0.0 -0.782 0 90 0 76 LightSwitch -0.929 1.350 -1.950 0 0 0 77 Toaster -2.564 0.900 1.876 0 90 0 78 CoffeeMachine 0.464 0.900 -1.810 0 0 0 79 Window 1.508 1.534 -1.496 90 135 0 80 Window 1.973 1.521 1.121 90 90 0 81 SinkBasin 1.149 0.753 -1.380 0 225 0 82 GarbageCan 1.646 -0.000 0.679 0 0 0 83 Microwave -2.580 0.900 2.440 0 90 0 84 Stool 0.439 0.010 0.747 0 0 0 85 Stool -2.303 0.010 1.839 0 0 0 86 Faucet 1.235 1.138 -1.473 0 225 0 87 NorthWall 88 EastWall 89 SouthWall 90 WestWall
[ "STEP 1: Turn to the left and go to the counter that is on the left side of the stove. | STEP 2: Pick up the butter knife that is on the counter. | STEP 3: Turn to the left, go to the wall, hang a left, go to the microwave. | STEP 4: Open the microwave, cut the potato into slices, close the microwave. | STEP 5: Turn to the left and go to the counter on the left where the skillets are. | STEP 6: Put the butter knife in the skillet that is on the left. | STEP 7: Turn to the left and go to the microwave. | STEP 8: Open the microwave, remove a slice of potato, close the microwave. | STEP 9: Turn around and go back to the counter where the skillets are. | STEP 10: Put the potato in the skillet with the butter knife. | STEP 11: Pick up the skillet that has the potato and butter knife in it. | STEP 12: Turn to the right and go to the fridge. | STEP 13: Open the freezer, put the skillet inside, close the freezer. | END" ]
[ [ "STEP 1: Turn to the left and go to the counter that is on the left side of the stove. ", " STEP 2: Pick up the butter knife that is on the counter. ", " STEP 3: Turn to the left, go to the wall, hang a left, go to the microwave. ", " STEP 4: Open the microwave, cut the potato into slices, close the microwave. ", " STEP 5: Turn to the left and go to the counter on the left where the skillets are. ", " STEP 6: Put the butter knife in the skillet that is on the left. ", " STEP 7: Turn to the left and go to the microwave. ", " STEP 8: Open the microwave, remove a slice of potato, close the microwave. ", " STEP 9: Turn around and go back to the counter where the skillets are. ", " STEP 10: Put the potato in the skillet with the butter knife. ", " STEP 11: Pick up the skillet that has the potato and butter knife in it. ", " STEP 12: Turn to the right and go to the fridge. ", " STEP 13: Open the freezer, put the skillet inside, close the freezer. ", " END" ] ]
seen
trial_T20190907_012722_837128-3
Place skillet in a freezer
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.25 0.900 1.75 0 270 0 1 Pan 1.691 0.929 0.064 0 0 0 54 2 Pan -0.471 0.910 0.870 0 180 0 43 3 Pan 1.412 0.929 -0.335 0 0 0 44 4 ButterKnife -2.621 0.910 1.230 0 90 0 71 5 Fork 1.353 0.919 -1.239 0 45 0 57 6 Spoon 1.461 0.919 -1.131 0 45 0 57 7 Spoon -2.348 0.775 0.809 0 90 0 48 8 Egg -0.081 0.941 0.423 0 0 0 43 9 Egg 1.396 0.949 -1.336 0 225 0 57 10 Cup -0.341 0.908 1.317 0 0 0 43 11 Cup -2.645 1.535 2.550 0 0 0 47 12 Plate -2.289 0.913 0.931 0 0 0 71 13 Tomato 0.390 0.953 -1.369 0 0 0 53 14 Bowl -2.560 1.535 1.984 0 0 0 55 15 PepperShaker 1.855 0.906 0.435 0 0 0 52 16 PepperShaker 1.771 1.651 0.018 0 180 0 62 17 Lettuce -2.485 1.172 -0.979 0 90 0 75 18 Bread 0.048 0.996 0.423 0 0 0 43 19 Apple 1.199 0.972 -0.918 0 45 0 57 20 Pan -0.341 0.910 0.647 0 90 0 43 21 Knife -2.227 0.799 0.857 0 90 0 48 22 Apple 1.604 0.246 0.706 0 0 0 82 23 Bowl -2.538 0.908 1.230 0 0 0 71 24 Fork -0.471 0.911 1.317 0 0 0 43 25 Bread -2.289 0.996 1.230 0 0 0 71 26 Plate -2.621 0.913 0.931 0 0 0 71 27 Egg -2.558 0.209 -1.123 0 90 0 75 28 Kettle -2.310 0.115 -0.072 0 0 0 59 29 Potato -2.603 1.051 2.481 0 90 0 83 30 SaltShaker 0.930 0.905 -1.186 0 45 0 57 31 Lettuce 0.048 0.994 0.647 0 0 0 43 32 Cup -2.538 0.908 0.031 0 0 0 71 33 SoapBottle 1.735 1.665 -0.479 0 0 0 63 34 Spatula -2.372 0.925 0.631 0 0 0 71 35 PaperTowelRoll 0.783 1.015 -1.357 0 45 0 53 36 ButterKnife 1.598 0.911 0.465 0 0 0 52 37 PepperShaker 1.697 1.651 0.092 0 0 0 62 38 DishSponge -0.471 0.910 1.094 0 0 0 43 39 Pot -2.311 0.105 0.895 0 270 0 69 40 Spoon 0.048 0.912 1.317 0 0 0 43 41 Tomato 1.625 0.953 -1.022 0 45 0 53 42 Mug -2.599 1.533 0.918 0 0 0 67 43 CounterTop -0.360 0.946 1.093 0 0 0 44 StoveBurner 1.412 0.923 -0.335 0 0 0 45 StoveKnob 1.878 1.093 0.018 287.989 90 0 46 StoveKnob 1.878 1.093 -0.306 287.989 90 0 47 Cabinet -2.446 1.948 2.924 0 0 0 48 Drawer -2.276 0.792 0.902 0 0 0 49 Cabinet -2.145 0.402 1.578 0 0 0 50 Cabinet 0.149 2.008 -1.603 0 90 0 51 StoveBurner 1.691 0.923 -0.335 0 0 0 52 CounterTop 1.585 0.946 0.405 0 0 0 53 CounterTop 0.474 0.946 -1.625 0 0 0 54 StoveBurner 1.691 0.923 0.064 0 0 0 55 Cabinet -2.446 1.948 1.687 0 0 0 56 Cabinet -2.446 1.948 1.640 0 0 0 57 Sink 1.381 0.810 -1.271 0 225 0 58 StoveKnob 1.878 1.093 0.150 287.989 90 0 59 Cabinet -2.145 0.402 -0.236 0 0 0 60 Drawer -2.276 0.792 0.437 0 0 0 61 Drawer -2.276 0.792 -0.027 0 0 0 62 Cabinet 1.572 2.008 0.474 0 0 0 63 Cabinet 1.572 2.008 -0.775 0 0 0 64 Cabinet -2.445 2.148 -1.275 0 0 0 65 Cabinet -2.446 2.148 -0.284 0 0 0 66 Cabinet -2.446 1.948 0.355 0 0 0 67 Cabinet -2.446 1.948 0.405 0 0 0 68 Cabinet -2.145 0.402 0.644 0 0 0 69 Cabinet -2.145 0.402 0.695 0 0 0 70 Cabinet -2.285 1.968 -1.325 0 180 0 71 CounterTop -1.485 0.946 1.319 0 0 0 72 StoveBurner 1.411 0.923 0.064 0 0 0 73 StoveKnob 1.878 1.093 -0.441 287.989 90 0 74 Drawer -2.276 0.792 1.368 0 0 0 75 Fridge -2.475 0.0 -0.782 0 90 0 76 LightSwitch -0.929 1.350 -1.950 0 0 0 77 Toaster -2.564 0.900 1.876 0 90 0 78 CoffeeMachine 0.464 0.900 -1.810 0 0 0 79 Window 1.508 1.534 -1.496 90 135 0 80 Window 1.973 1.521 1.121 90 90 0 81 SinkBasin 1.149 0.753 -1.380 0 225 0 82 GarbageCan 1.646 -0.000 0.679 0 0 0 83 Microwave -2.580 0.900 2.440 0 90 0 84 Stool 0.439 0.010 0.747 0 0 0 85 Stool -2.303 0.010 1.839 0 0 0 86 Faucet 1.235 1.138 -1.473 0 225 0 87 NorthWall 88 EastWall 89 SouthWall 90 WestWall
[ "STEP 1: Turn left and walk to the counter to the left of the stove that is to your left | STEP 2: Pick up the knife to the left of the stove | STEP 3: Turn to your left and cross the room, then turn to your left and walk to the microwave in front of you | STEP 4: Open the microwave and cut the potato inside | STEP 5: Turn to your left, then walk to the counter to your left | STEP 6: Place the knife into the skillet on the left | STEP 7: Turn left and walk to the microwave on your left | STEP 8: Open the microwave, pick up a potato slice, and then close the microwave | STEP 9: Turn left and walk to the counter on your left | STEP 10: Place potato in the left hand skillet to the right of the knife | STEP 11: Pick up the skillet that contains the knife and potato slice | STEP 12: Turn right and head to the refrigerator on your right | STEP 13: Open the fridge and freezer and place the skillet in the freezer ro the right of the lettuce | END" ]
[ [ "STEP 1: Turn left and walk to the counter to the left of the stove that is to your left ", " STEP 2: Pick up the knife to the left of the stove ", " STEP 3: Turn to your left and cross the room, then turn to your left and walk to the microwave in front of you ", " STEP 4: Open the microwave and cut the potato inside ", " STEP 5: Turn to your left, then walk to the counter to your left ", " STEP 6: Place the knife into the skillet on the left ", " STEP 7: Turn left and walk to the microwave on your left ", " STEP 8: Open the microwave, pick up a potato slice, and then close the microwave ", " STEP 9: Turn left and walk to the counter on your left ", " STEP 10: Place potato in the left hand skillet to the right of the knife ", " STEP 11: Pick up the skillet that contains the knife and potato slice ", " STEP 12: Turn right and head to the refrigerator on your right ", " STEP 13: Open the fridge and freezer and place the skillet in the freezer ro the right of the lettuce ", " END" ] ]
seen
trial_T20190906_193843_829987-0
Refrigerate a slice of lettuce
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.900 3.0 0 0 0 1 Potato -0.715 1.155 0.115 0 0 0 58 2 ButterKnife -0.415 1.048 2.593 0 90 0 46 3 Pot -2.262 1.129 0.567 0 0 0 56 4 Pot -3.475 1.133 0.48 0 90 0 44 5 Fork -0.292 1.039 1.920 0 0 0 46 6 Spatula -0.662 1.063 3.266 0 0 0 46 7 Spatula -0.538 1.063 2.144 0 180 0 46 8 Egg -1.568 1.184 0.082 0 0 0 43 9 Plate -0.662 1.045 2.144 0 0 0 46 10 Knife -0.715 1.157 0.478 0 0 0 58 11 Knife -1.376 0.963 0.359 0 180 0 68 12 Tomato -2.388 1.165 0.284 0 0 0 56 13 Tomato -0.415 1.088 2.369 0 0 0 46 14 Bowl -1.195 0.047 0.437 0 0 0 50 15 SaltShaker -0.538 1.044 3.042 0 0 0 46 16 Lettuce -0.908 1.125 3.266 0 0 0 46 17 Mug -3.440 1.557 2.990 0 90 0 63 18 Mug -3.887 1.119 0.284 0 0 0 53 19 Fork -1.465 0.932 0.498 0 0 0 68 20 SoapBottle -1.195 0.049 0.664 0 0 0 50 21 Pot -3.506 1.291 3.061 0 90 0 63 22 Ladle -0.785 1.087 3.042 0 0 0 46 23 Potato -3.440 1.592 3.203 0 90 0 63 24 Plate -1.601 0.047 0.495 0 0 0 61 25 Bread -0.175 1.119 1.886 0 2.271 1.160 46 26 Lettuce -0.168 1.107 2.145 0 0 0 46 27 Spatula -1.111 0.946 0.290 0 90 0 68 28 Pan -3.000 1.133 0.227 0 270 0 60 29 Egg -0.883 1.155 0.659 0 0 0 58 30 Cup -1.092 1.152 0.095 0 0 0 43 31 SaltShaker -2.639 1.121 0.567 0 0 0 56 32 Knife -0.662 1.080 2.593 0 0 0 46 33 Bowl -0.908 1.045 2.593 0 0 0 46 34 PepperShaker -1.522 0.045 0.665 0 0 0 61 35 ButterKnife -0.662 1.047 3.266 0 0 0 46 36 Apple -3.778 1.192 0.662 0 0 0 53 37 Tomato -3.373 0.952 3.061 0 90 0 63 38 DishSponge -0.908 1.046 2.369 0 0 0 46 39 Spoon -1.553 0.932 0.359 0 0 0 68 40 Mug -0.785 1.043 2.817 0 0 0 46 41 StoveKnob -3.322 1.053 0.709 45 0 0 42 StoveBurner -3.474 1.097 0.227 0 180 0 43 Sink -1.394 0.982 0.439 0 0 0 44 StoveBurner -3.474 1.097 0.479 0 180 0 45 StoveKnob -3.164 1.053 0.709 45 0 0 46 DiningTable -0.620 0.017 2.486 0 0 0 47 Drawer -2.043 0.608 0.594 0 0 0 48 Drawer -2.043 0.216 0.594 0 0 0 49 Drawer -2.498 0.216 0.594 0 0 0 50 Cabinet -1.001 0.393 0.734 0 0 0 51 StoveBurner -3.000 1.097 0.480 0 0 0 52 StoveKnob -3.492 1.053 0.709 45 0 0 53 CounterTop -3.856 1.160 0.379 0 0 0 54 Drawer -2.043 0.937 0.599 0 0 0 55 Drawer -2.509 0.937 0.599 0 0 0 56 CounterTop -2.280 1.160 0.379 0 0 0 57 StoveKnob -2.985 1.053 0.709 45 0 0 58 CounterTop -0.514 1.160 0.492 0 0 0 59 Drawer -2.498 0.608 0.594 0 0 0 60 StoveBurner -3.000 1.097 0.227 0 0 0 61 Cabinet -1.733 0.393 0.734 0 0 0 62 CoffeeMachine -0.153 1.038 3.193 0 270 0 63 Fridge -3.519 0.0 2.717 0 90 0 64 Window -1.394 1.924 0.014 90 0 0 65 Window -3.266 1.924 0.014 90 0 0 66 Toaster -0.225 1.038 2.865 0 270 0 67 GarbageCan -3.696 0.002 2.008 0 0 0 68 SinkBasin -1.389 0.921 0.428 0 0 0 69 Microwave -0.366 1.113 0.430 0 0 0 70 HousePlant -2.155 1.101 0.169 0 332.897 0 71 LightSwitch -2.584 1.299 3.5 0 180 0 72 Faucet -1.393 1.373 0.168 0 270 0 73 NorthWall 74 SouthWall 75 SouthWall
[ "STEP 1: Turn right and walk to the wooden table. | STEP 2: Pick up the butter knife on the wooden table. | STEP 3: Look down towards the lettuce head on the wooden table. | STEP 4: Slice the lettuce head on the wooden table. | STEP 5: Put the butter knife back on the wooden table. | STEP 6: Grab a slice of lettuce from the table. | STEP 7: Turn around, turn left and walk to the sink. | STEP 8: Place the lettuce slice in a pan in the cabinet below the sink. | STEP 9: Remove the pan with the lettuce slice from the cabinet below the sink. | STEP 10: Turn around, walk across the room, turn left and walk to the refrigerator. | STEP 11: Place the pan with the lettuce slice on the shelf next to the tomato. | END" ]
[ [ "STEP 1: Turn right and walk to the wooden table. ", " STEP 2: Pick up the butter knife on the wooden table. ", " STEP 3: Look down towards the lettuce head on the wooden table. ", " STEP 4: Slice the lettuce head on the wooden table. ", " STEP 5: Put the butter knife back on the wooden table. ", " STEP 6: Grab a slice of lettuce from the table. ", " STEP 7: Turn around, turn left and walk to the sink. ", " STEP 8: Place the lettuce slice in a pan in the cabinet below the sink. ", " STEP 9: Remove the pan with the lettuce slice from the cabinet below the sink. ", " STEP 10: Turn around, walk across the room, turn left and walk to the refrigerator. ", " STEP 11: Place the pan with the lettuce slice on the shelf next to the tomato. ", " END" ] ]
seen
trial_T20190906_193843_829987-1
place a plate with a sliced piece of lettuce on it inside of 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 -2.0 0.900 3.0 0 0 0 1 Potato -0.715 1.155 0.115 0 0 0 58 2 ButterKnife -0.415 1.048 2.593 0 90 0 46 3 Pot -2.262 1.129 0.567 0 0 0 56 4 Pot -3.475 1.133 0.48 0 90 0 44 5 Fork -0.292 1.039 1.920 0 0 0 46 6 Spatula -0.662 1.063 3.266 0 0 0 46 7 Spatula -0.538 1.063 2.144 0 180 0 46 8 Egg -1.568 1.184 0.082 0 0 0 43 9 Plate -0.662 1.045 2.144 0 0 0 46 10 Knife -0.715 1.157 0.478 0 0 0 58 11 Knife -1.376 0.963 0.359 0 180 0 68 12 Tomato -2.388 1.165 0.284 0 0 0 56 13 Tomato -0.415 1.088 2.369 0 0 0 46 14 Bowl -1.195 0.047 0.437 0 0 0 50 15 SaltShaker -0.538 1.044 3.042 0 0 0 46 16 Lettuce -0.908 1.125 3.266 0 0 0 46 17 Mug -3.440 1.557 2.990 0 90 0 63 18 Mug -3.887 1.119 0.284 0 0 0 53 19 Fork -1.465 0.932 0.498 0 0 0 68 20 SoapBottle -1.195 0.049 0.664 0 0 0 50 21 Pot -3.506 1.291 3.061 0 90 0 63 22 Ladle -0.785 1.087 3.042 0 0 0 46 23 Potato -3.440 1.592 3.203 0 90 0 63 24 Plate -1.601 0.047 0.495 0 0 0 61 25 Bread -0.175 1.119 1.886 0 2.271 1.160 46 26 Lettuce -0.168 1.107 2.145 0 0 0 46 27 Spatula -1.111 0.946 0.290 0 90 0 68 28 Pan -3.000 1.133 0.227 0 270 0 60 29 Egg -0.883 1.155 0.659 0 0 0 58 30 Cup -1.092 1.152 0.095 0 0 0 43 31 SaltShaker -2.639 1.121 0.567 0 0 0 56 32 Knife -0.662 1.080 2.593 0 0 0 46 33 Bowl -0.908 1.045 2.593 0 0 0 46 34 PepperShaker -1.522 0.045 0.665 0 0 0 61 35 ButterKnife -0.662 1.047 3.266 0 0 0 46 36 Apple -3.778 1.192 0.662 0 0 0 53 37 Tomato -3.373 0.952 3.061 0 90 0 63 38 DishSponge -0.908 1.046 2.369 0 0 0 46 39 Spoon -1.553 0.932 0.359 0 0 0 68 40 Mug -0.785 1.043 2.817 0 0 0 46 41 StoveKnob -3.322 1.053 0.709 45 0 0 42 StoveBurner -3.474 1.097 0.227 0 180 0 43 Sink -1.394 0.982 0.439 0 0 0 44 StoveBurner -3.474 1.097 0.479 0 180 0 45 StoveKnob -3.164 1.053 0.709 45 0 0 46 DiningTable -0.620 0.017 2.486 0 0 0 47 Drawer -2.043 0.608 0.594 0 0 0 48 Drawer -2.043 0.216 0.594 0 0 0 49 Drawer -2.498 0.216 0.594 0 0 0 50 Cabinet -1.001 0.393 0.734 0 0 0 51 StoveBurner -3.000 1.097 0.480 0 0 0 52 StoveKnob -3.492 1.053 0.709 45 0 0 53 CounterTop -3.856 1.160 0.379 0 0 0 54 Drawer -2.043 0.937 0.599 0 0 0 55 Drawer -2.509 0.937 0.599 0 0 0 56 CounterTop -2.280 1.160 0.379 0 0 0 57 StoveKnob -2.985 1.053 0.709 45 0 0 58 CounterTop -0.514 1.160 0.492 0 0 0 59 Drawer -2.498 0.608 0.594 0 0 0 60 StoveBurner -3.000 1.097 0.227 0 0 0 61 Cabinet -1.733 0.393 0.734 0 0 0 62 CoffeeMachine -0.153 1.038 3.193 0 270 0 63 Fridge -3.519 0.0 2.717 0 90 0 64 Window -1.394 1.924 0.014 90 0 0 65 Window -3.266 1.924 0.014 90 0 0 66 Toaster -0.225 1.038 2.865 0 270 0 67 GarbageCan -3.696 0.002 2.008 0 0 0 68 SinkBasin -1.389 0.921 0.428 0 0 0 69 Microwave -0.366 1.113 0.430 0 0 0 70 HousePlant -2.155 1.101 0.169 0 332.897 0 71 LightSwitch -2.584 1.299 3.5 0 180 0 72 Faucet -1.393 1.373 0.168 0 270 0 73 NorthWall 74 SouthWall 75 SouthWall
[ "STEP 1: turn right and walk to the kitchen table ahead | STEP 2: grab the butter knife off of the table | STEP 3: look down a bit at the table | STEP 4: cut up the lettuce with the butter knife | STEP 5: put the knife down on the table in front of the cup on the right | STEP 6: grab a slice of lettuce off of the coffee table | STEP 7: turn to the right and walk to the kitchen sink at the end of the room | STEP 8: place the lettuce inside a plate in a cabinet bottom right of the sink | STEP 9: pick up the plate out of the cabinet | STEP 10: turn around and walk to the fridge on the left back corner of the room | STEP 11: place the plate inside of the fridge | END" ]
[ [ "STEP 1: turn right and walk to the kitchen table ahead ", " STEP 2: grab the butter knife off of the table ", " STEP 3: look down a bit at the table ", " STEP 4: cut up the lettuce with the butter knife ", " STEP 5: put the knife down on the table in front of the cup on the right ", " STEP 6: grab a slice of lettuce off of the coffee table ", " STEP 7: turn to the right and walk to the kitchen sink at the end of the room ", " STEP 8: place the lettuce inside a plate in a cabinet bottom right of the sink ", " STEP 9: pick up the plate out of the cabinet ", " STEP 10: turn around and walk to the fridge on the left back corner of the room ", " STEP 11: place the plate inside of the fridge ", " END" ] ]
seen
trial_T20190906_193843_829987-2
Put a slice of lettuce in a bowl, in the fridge.
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0.963", " 0.359", " 0", " 180", " 0", " 68" ], [ "12", " Tomato", " -2.388", " 1.165", " 0.284", " 0", " 0", " 0", " 56" ], [ "13", " Tomato", " -0.415", " 1.088", " 2.369", " 0", " 0", " 0", " 46" ], [ "14", " Bowl", " -1.195", " 0.047", " 0.437", " 0", " 0", " 0", " 50" ], [ "15", " SaltShaker", " -0.538", " 1.044", " 3.042", " 0", " 0", " 0", " 46" ], [ "16", " Lettuce", " -0.908", " 1.125", " 3.266", " 0", " 0", " 0", " 46" ], [ "17", " Mug", " -3.440", " 1.557", " 2.990", " 0", " 90", " 0", " 63" ], [ "18", " Mug", " -3.887", " 1.119", " 0.284", " 0", " 0", " 0", " 53" ], [ "19", " Fork", " -1.465", " 0.932", " 0.498", " 0", " 0", " 0", " 68" ], [ "20", " SoapBottle", " -1.195", " 0.049", " 0.664", " 0", " 0", " 0", " 50" ], [ "21", " Pot", " -3.506", " 1.291", " 3.061", " 0", " 90", " 0", " 63" ], [ "22", " Ladle", " -0.785", " 1.087", " 3.042", " 0", " 0", " 0", " 46" ], [ "23", " Potato", " -3.440", " 1.592", " 3.203", " 0", " 90", " 0", " 63" ], [ "24", " Plate", " -1.601", " 0.047", " 0.495", " 0", " 0", " 0", " 61" ], [ "25", " Bread", " -0.175", " 1.119", " 1.886", " 0", " 2.271", " 1.160", " 46" ], [ "26", " Lettuce", " -0.168", " 1.107", " 2.145", " 0", " 0", " 0", " 46" ], [ "27", " Spatula", " -1.111", " 0.946", " 0.290", " 0", " 90", " 0", " 68" ], [ "28", " Pan", " -3.000", " 1.133", " 0.227", " 0", " 270", " 0", " 60" ], [ "29", " Egg", " -0.883", " 1.155", " 0.659", " 0", " 0", " 0", " 58" ], [ "30", " Cup", " -1.092", " 1.152", " 0.095", " 0", " 0", " 0", " 43" ], [ "31", " SaltShaker", " -2.639", " 1.121", " 0.567", " 0", " 0", " 0", " 56" ], [ "32", " Knife", " -0.662", " 1.080", " 2.593", " 0", " 0", " 0", " 46" ], [ "33", " Bowl", " -0.908", " 1.045", " 2.593", " 0", " 0", " 0", " 46" ], [ "34", " PepperShaker", " -1.522", " 0.045", " 0.665", " 0", " 0", " 0", " 61" ], [ "35", " ButterKnife", " -0.662", " 1.047", " 3.266", " 0", " 0", " 0", " 46" ], [ "36", " Apple", " -3.778", " 1.192", " 0.662", " 0", " 0", " 0", " 53" ], [ "37", " Tomato", " -3.373", " 0.952", " 3.061", " 0", " 90", " 0", " 63" ], [ "38", " DishSponge", " -0.908", " 1.046", " 2.369", " 0", " 0", " 0", " 46" ], [ "39", " Spoon", " -1.553", " 0.932", " 0.359", " 0", " 0", " 0", " 68" ], [ "40", " Mug", " -0.785", " 1.043", " 2.817", " 0", " 0", " 0", " 46" ], [ "41", " StoveKnob", " -3.322", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "42", " StoveBurner", " -3.474", " 1.097", " 0.227", " 0", " 180", " 0", "" ], [ "43", " Sink", " -1.394", " 0.982", " 0.439", " 0", " 0", " 0", "" ], [ "44", " StoveBurner", " -3.474", " 1.097", " 0.479", " 0", " 180", " 0", "" ], [ "45", " StoveKnob", " -3.164", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "46", " DiningTable", " -0.620", " 0.017", " 2.486", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -2.043", " 0.608", " 0.594", " 0", " 0", " 0", "" ], [ "48", " Drawer", " -2.043", " 0.216", " 0.594", " 0", " 0", " 0", "" ], [ "49", " Drawer", " -2.498", " 0.216", " 0.594", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -1.001", " 0.393", " 0.734", " 0", " 0", " 0", "" ], [ "51", " StoveBurner", " -3.000", " 1.097", " 0.480", " 0", " 0", " 0", "" ], [ "52", " StoveKnob", " -3.492", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "53", " CounterTop", " -3.856", " 1.160", " 0.379", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -2.043", " 0.937", " 0.599", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -2.509", " 0.937", " 0.599", " 0", " 0", " 0", "" ], [ "56", " CounterTop", " -2.280", " 1.160", " 0.379", " 0", " 0", " 0", "" ], [ "57", " StoveKnob", " -2.985", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "58", " CounterTop", " -0.514", " 1.160", " 0.492", " 0", " 0", " 0", "" ], [ "59", " Drawer", " -2.498", " 0.608", " 0.594", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -3.000", " 1.097", " 0.227", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -1.733", " 0.393", " 0.734", " 0", " 0", " 0", "" ], [ "62", " CoffeeMachine", " -0.153", " 1.038", " 3.193", " 0", " 270", " 0", "" ], [ "63", " Fridge", " -3.519", " 0.0", " 2.717", " 0", " 90", " 0", "" ], [ "64", " Window", " -1.394", " 1.924", " 0.014", " 90", " 0", " 0", "" ], [ "65", " Window", " -3.266", " 1.924", " 0.014", " 90", " 0", " 0", "" ], [ "66", " Toaster", " -0.225", " 1.038", " 2.865", " 0", " 270", " 0", "" ], [ "67", " GarbageCan", " -3.696", " 0.002", " 2.008", " 0", " 0", " 0", "" ], [ "68", " SinkBasin", " -1.389", " 0.921", " 0.428", " 0", " 0", " 0", "" ], [ "69", " Microwave", " -0.366", " 1.113", " 0.430", " 0", " 0", " 0", "" ], [ "70", " HousePlant", " -2.155", " 1.101", " 0.169", " 0", " 332.897", " 0", "" ], [ "71", " LightSwitch", " -2.584", " 1.299", " 3.5", " 0", " 180", " 0", "" ], [ "72", " Faucet", " -1.393", " 1.373", " 0.168", " 0", " 270", " 0", "" ], [ "73", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "75", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.900 3.0 0 0 0 1 Potato -0.715 1.155 0.115 0 0 0 58 2 ButterKnife -0.415 1.048 2.593 0 90 0 46 3 Pot -2.262 1.129 0.567 0 0 0 56 4 Pot -3.475 1.133 0.48 0 90 0 44 5 Fork -0.292 1.039 1.920 0 0 0 46 6 Spatula -0.662 1.063 3.266 0 0 0 46 7 Spatula -0.538 1.063 2.144 0 180 0 46 8 Egg -1.568 1.184 0.082 0 0 0 43 9 Plate -0.662 1.045 2.144 0 0 0 46 10 Knife -0.715 1.157 0.478 0 0 0 58 11 Knife -1.376 0.963 0.359 0 180 0 68 12 Tomato -2.388 1.165 0.284 0 0 0 56 13 Tomato -0.415 1.088 2.369 0 0 0 46 14 Bowl -1.195 0.047 0.437 0 0 0 50 15 SaltShaker -0.538 1.044 3.042 0 0 0 46 16 Lettuce -0.908 1.125 3.266 0 0 0 46 17 Mug -3.440 1.557 2.990 0 90 0 63 18 Mug -3.887 1.119 0.284 0 0 0 53 19 Fork -1.465 0.932 0.498 0 0 0 68 20 SoapBottle -1.195 0.049 0.664 0 0 0 50 21 Pot -3.506 1.291 3.061 0 90 0 63 22 Ladle -0.785 1.087 3.042 0 0 0 46 23 Potato -3.440 1.592 3.203 0 90 0 63 24 Plate -1.601 0.047 0.495 0 0 0 61 25 Bread -0.175 1.119 1.886 0 2.271 1.160 46 26 Lettuce -0.168 1.107 2.145 0 0 0 46 27 Spatula -1.111 0.946 0.290 0 90 0 68 28 Pan -3.000 1.133 0.227 0 270 0 60 29 Egg -0.883 1.155 0.659 0 0 0 58 30 Cup -1.092 1.152 0.095 0 0 0 43 31 SaltShaker -2.639 1.121 0.567 0 0 0 56 32 Knife -0.662 1.080 2.593 0 0 0 46 33 Bowl -0.908 1.045 2.593 0 0 0 46 34 PepperShaker -1.522 0.045 0.665 0 0 0 61 35 ButterKnife -0.662 1.047 3.266 0 0 0 46 36 Apple -3.778 1.192 0.662 0 0 0 53 37 Tomato -3.373 0.952 3.061 0 90 0 63 38 DishSponge -0.908 1.046 2.369 0 0 0 46 39 Spoon -1.553 0.932 0.359 0 0 0 68 40 Mug -0.785 1.043 2.817 0 0 0 46 41 StoveKnob -3.322 1.053 0.709 45 0 0 42 StoveBurner -3.474 1.097 0.227 0 180 0 43 Sink -1.394 0.982 0.439 0 0 0 44 StoveBurner -3.474 1.097 0.479 0 180 0 45 StoveKnob -3.164 1.053 0.709 45 0 0 46 DiningTable -0.620 0.017 2.486 0 0 0 47 Drawer -2.043 0.608 0.594 0 0 0 48 Drawer -2.043 0.216 0.594 0 0 0 49 Drawer -2.498 0.216 0.594 0 0 0 50 Cabinet -1.001 0.393 0.734 0 0 0 51 StoveBurner -3.000 1.097 0.480 0 0 0 52 StoveKnob -3.492 1.053 0.709 45 0 0 53 CounterTop -3.856 1.160 0.379 0 0 0 54 Drawer -2.043 0.937 0.599 0 0 0 55 Drawer -2.509 0.937 0.599 0 0 0 56 CounterTop -2.280 1.160 0.379 0 0 0 57 StoveKnob -2.985 1.053 0.709 45 0 0 58 CounterTop -0.514 1.160 0.492 0 0 0 59 Drawer -2.498 0.608 0.594 0 0 0 60 StoveBurner -3.000 1.097 0.227 0 0 0 61 Cabinet -1.733 0.393 0.734 0 0 0 62 CoffeeMachine -0.153 1.038 3.193 0 270 0 63 Fridge -3.519 0.0 2.717 0 90 0 64 Window -1.394 1.924 0.014 90 0 0 65 Window -3.266 1.924 0.014 90 0 0 66 Toaster -0.225 1.038 2.865 0 270 0 67 GarbageCan -3.696 0.002 2.008 0 0 0 68 SinkBasin -1.389 0.921 0.428 0 0 0 69 Microwave -0.366 1.113 0.430 0 0 0 70 HousePlant -2.155 1.101 0.169 0 332.897 0 71 LightSwitch -2.584 1.299 3.5 0 180 0 72 Faucet -1.393 1.373 0.168 0 270 0 73 NorthWall 74 SouthWall 75 SouthWall
[ "STEP 1: Turn left and go to the table, near the coffee maker. | STEP 2: Pick up the butter knife that's in front of the coffee maker. | STEP 3: Look down on the table. | STEP 4: Slice the lettuce on the table. | STEP 5: Put the knife on the table, in front of the mug. | STEP 6: Pick up a slice of lettuce from the table. | STEP 7: Turn around, then go to the sink to your left. | STEP 8: Put the lettuce in the right cabinet under the sink, in the bowl. | STEP 9: Pick up the bowl from in the cabinet. | STEP 10: Turn around, go straight, then turn left to go to the fridge. | STEP 11: Put the bowl in the fridge, to the left of the tomato. | END" ]
[ [ "STEP 1: Turn left and go to the table, near the coffee maker. ", " STEP 2: Pick up the butter knife that's in front of the coffee maker. ", " STEP 3: Look down on the table. ", " STEP 4: Slice the lettuce on the table. ", " STEP 5: Put the knife on the table, in front of the mug. ", " STEP 6: Pick up a slice of lettuce from the table. ", " STEP 7: Turn around, then go to the sink to your left. ", " STEP 8: Put the lettuce in the right cabinet under the sink, in the bowl. ", " STEP 9: Pick up the bowl from in the cabinet. ", " STEP 10: Turn around, go straight, then turn left to go to the fridge. ", " STEP 11: Put the bowl in the fridge, to the left of the tomato. ", " END" ] ]
seen
trial_T20190906_185624_820644-0
Put a cooked potato 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 -2.0 0.900 2.25 0 180 0 1 Pen -1.809 0.913 -1.448 0 0 0 76 2 Pen 1.420 0.217 1.08 0 0 0 88 3 Potato 1.325 1.409 2.351 0 270 0 90 4 Ladle -1.809 0.954 -1.448 0 0 0 69 5 Ladle -2.094 1.700 -1.926 0 90 0 52 6 Kettle -1.431 0.949 -1.525 0 0 0 79 7 ButterKnife -2.323 0.910 0.377 0 0 0 73 8 DishSponge 1.015 0.772 -1.178 0 0 0 49 9 DishSponge 1.461 1.655 -1.579 0 0 0 63 10 Fork 0.320 0.920 -1.708 0 90 0 50 11 Fork 1.010 0.911 0.372 0 0 0 71 12 Spoon -2.079 0.911 0.377 0 0 0 73 13 Spatula 1.260 0.926 0.372 0 270 0 71 14 Cup 1.343 0.911 0.372 0 0 0 71 15 Cup 1.275 1.367 2.226 0 270 0 90 16 Knife 0.115 0.949 -1.657 0 270 0 50 17 SoapBottle -2.445 0.910 0.118 0 0 0 73 18 Bread -1.712 0.988 0.291 0 0 0 73 19 Mug -0.619 0.106 -1.681 0 0 0 58 20 Apple 1.454 1.196 -1.002 0 0 0 77 21 Apple -2.445 0.945 0.032 0 0 0 73 22 Tomato -0.401 0.951 -1.960 0 0 0 71 23 Glassbottle 0.475 0.912 -1.704 0 0 0 71 24 Knife -2.079 0.940 0.549 0 0 0 73 25 Plate 1.461 1.656 -0.815 0 0 0 59 26 Fork -2.039 0.911 -1.534 0 90 0 69 27 Ladle 1.176 0.955 0.372 0 0 0 71 28 Potato 0.183 0.961 -1.556 0 270 0 50 29 Lettuce 1.176 0.980 -0.990 0 0 0 71 30 Kettle 0.645 1.656 -1.876 0 0 0 60 31 Pen -2.116 0.913 -1.534 0 0 0 66 32 SaltShaker 0.914 0.109 -0.625 0 0 0 55 33 Cup 1.035 0.115 -0.956 0 0 0 56 34 Egg 0.217 0.948 -1.657 0 270 0 50 35 Spatula -2.079 0.925 0.118 0 0 0 73 36 Bowl 1.375 1.162 -0.659 0 0 0 77 37 SprayBottle -0.718 0.111 -1.535 0 0 0 58 38 Pan -1.081 0.949 -1.81 0 0 0 67 39 SoapBottle 1.335 1.162 -1.688 0 0 0 77 40 Pot -1.431 0.949 -1.81 0 0 0 81 41 ButterKnife -2.079 0.910 0.118 0 90 0 73 42 PepperShaker 1.342 1.651 -0.658 0 0 0 59 43 DishSponge -1.957 0.910 0.463 0 0 0 73 44 Bread 1.414 1.240 -1.345 0 0 0 77 45 Apple 0.217 0.954 -1.758 0 270 0 50 46 Spoon 1.176 0.912 -0.65 0 0 0 62 47 Mug 1.275 1.362 1.976 0 270 0 90 48 Drawer 0.860 0.75 0.430 0 0 0 49 Drawer 0.871 0.75 -1.134 0 0 0 50 Sink 0.156 0.817 -1.801 0 270 0 51 Cabinet -0.868 2.005 -1.690 0 0 0 52 Cabinet -1.661 2.059 -1.684 0 90 0 53 Cabinet -0.817 2.059 -1.689 0 0 0 54 Cabinet 0.860 0.402 0.665 0 0 0 55 Cabinet 0.860 0.402 -0.552 0 0 0 56 Cabinet 0.860 0.402 -1.365 0 0 0 57 Cabinet -0.244 0.402 -1.389 0 0 0 58 Cabinet -0.815 0.402 -1.389 0 0 0 59 Cabinet 1.159 2.059 -0.334 0 0 0 60 Cabinet 0.488 2.059 -1.689 0 0 0 61 Cabinet -0.193 2.059 -1.689 0 0 0 62 Drawer 0.860 0.75 -0.699 0 0 0 63 Cabinet 1.159 2.059 -1.019 0 0 0 64 Cabinet -1.611 2.005 -1.690 0 0 0 65 Cabinet 0.832 0.401 -1.393 0 90 0 66 Drawer -2.105 0.75 -1.389 0 0 0 67 StoveBurner -1.081 0.941 -1.809 0 0 0 68 Cabinet -0.202 0.401 -1.391 0 90 0 69 CounterTop -1.973 0.945 -1.707 0 0 0 70 Drawer -0.375 0.75 -1.389 0 0 0 71 CounterTop 1.164 0.946 -0.649 0 0 0 72 StoveBurner -1.081 0.941 -1.527 0 0 0 73 CounterTop -2.096 0.945 0.291 0 0 0 74 Cabinet -2.237 0.402 -1.389 0 0 0 75 Drawer 0.584 0.75 -1.389 0 0 0 76 Drawer -1.795 0.75 -1.389 0 0 0 77 CounterTop 1.5 1.197 -0.654 0 0 0 78 Cabinet -1.667 0.402 -1.389 0 0 0 79 StoveBurner -1.430 0.941 -1.525 0 0 0 80 Drawer -0.685 0.75 -1.389 0 0 0 81 StoveBurner -1.430 0.941 -1.809 0 0 0 82 LightSwitch -2.539 1.289 2.568 0 90 0 83 StoveKnob -1.362 1.095 -1.983 287.970 180 0 84 StoveKnob -0.962 1.095 -1.983 287.970 180 0 85 StoveKnob -1.522 1.095 -1.983 287.970 180 0 86 StoveKnob -1.112 1.095 -1.983 287.970 180 0 87 CoffeeMachine 1.082 0.900 -1.848 0 0 0 88 GarbageCan 1.343 0.015 1.041 0 0 0 89 HousePlant 1.440 1.153 0.593 0 0 0 90 Fridge 1.417 0.0 2.101 0 0 0 91 Window -0.486 1.452 3.302 90 0 0 92 SinkBasin -0.063 0.765 -1.713 0 270 0 93 Microwave 1.422 1.150 0.022 0 270 0 94 Toaster -2.066 0.900 -1.848 0 0 0 95 Stool -1.994 0.010 0.882 0 0 0 96 Faucet -0.096 1.041 -1.867 0 270 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: Go to the sink in the left corner of the room. | STEP 2: Pick up the potato that is next to the egg. | STEP 3: Go to the microwave to your left. | STEP 4: Cook the potato in the microwave. | STEP 5: Return to the sink. | STEP 6: Place the potato in the sink. | END" ]
[ [ "STEP 1: Go to the sink in the left corner of the room. ", " STEP 2: Pick up the potato that is next to the egg. ", " STEP 3: Go to the microwave to your left. ", " STEP 4: Cook the potato in the microwave. ", " STEP 5: Return to the sink. ", " STEP 6: Place the potato in the sink. ", " END" ] ]
seen
trial_T20190906_185624_820644-1
Heat up a potato, place the heated potato 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 -2.0 0.900 2.25 0 180 0 1 Pen -1.809 0.913 -1.448 0 0 0 76 2 Pen 1.420 0.217 1.08 0 0 0 88 3 Potato 1.325 1.409 2.351 0 270 0 90 4 Ladle -1.809 0.954 -1.448 0 0 0 69 5 Ladle -2.094 1.700 -1.926 0 90 0 52 6 Kettle -1.431 0.949 -1.525 0 0 0 79 7 ButterKnife -2.323 0.910 0.377 0 0 0 73 8 DishSponge 1.015 0.772 -1.178 0 0 0 49 9 DishSponge 1.461 1.655 -1.579 0 0 0 63 10 Fork 0.320 0.920 -1.708 0 90 0 50 11 Fork 1.010 0.911 0.372 0 0 0 71 12 Spoon -2.079 0.911 0.377 0 0 0 73 13 Spatula 1.260 0.926 0.372 0 270 0 71 14 Cup 1.343 0.911 0.372 0 0 0 71 15 Cup 1.275 1.367 2.226 0 270 0 90 16 Knife 0.115 0.949 -1.657 0 270 0 50 17 SoapBottle -2.445 0.910 0.118 0 0 0 73 18 Bread -1.712 0.988 0.291 0 0 0 73 19 Mug -0.619 0.106 -1.681 0 0 0 58 20 Apple 1.454 1.196 -1.002 0 0 0 77 21 Apple -2.445 0.945 0.032 0 0 0 73 22 Tomato -0.401 0.951 -1.960 0 0 0 71 23 Glassbottle 0.475 0.912 -1.704 0 0 0 71 24 Knife -2.079 0.940 0.549 0 0 0 73 25 Plate 1.461 1.656 -0.815 0 0 0 59 26 Fork -2.039 0.911 -1.534 0 90 0 69 27 Ladle 1.176 0.955 0.372 0 0 0 71 28 Potato 0.183 0.961 -1.556 0 270 0 50 29 Lettuce 1.176 0.980 -0.990 0 0 0 71 30 Kettle 0.645 1.656 -1.876 0 0 0 60 31 Pen -2.116 0.913 -1.534 0 0 0 66 32 SaltShaker 0.914 0.109 -0.625 0 0 0 55 33 Cup 1.035 0.115 -0.956 0 0 0 56 34 Egg 0.217 0.948 -1.657 0 270 0 50 35 Spatula -2.079 0.925 0.118 0 0 0 73 36 Bowl 1.375 1.162 -0.659 0 0 0 77 37 SprayBottle -0.718 0.111 -1.535 0 0 0 58 38 Pan -1.081 0.949 -1.81 0 0 0 67 39 SoapBottle 1.335 1.162 -1.688 0 0 0 77 40 Pot -1.431 0.949 -1.81 0 0 0 81 41 ButterKnife -2.079 0.910 0.118 0 90 0 73 42 PepperShaker 1.342 1.651 -0.658 0 0 0 59 43 DishSponge -1.957 0.910 0.463 0 0 0 73 44 Bread 1.414 1.240 -1.345 0 0 0 77 45 Apple 0.217 0.954 -1.758 0 270 0 50 46 Spoon 1.176 0.912 -0.65 0 0 0 62 47 Mug 1.275 1.362 1.976 0 270 0 90 48 Drawer 0.860 0.75 0.430 0 0 0 49 Drawer 0.871 0.75 -1.134 0 0 0 50 Sink 0.156 0.817 -1.801 0 270 0 51 Cabinet -0.868 2.005 -1.690 0 0 0 52 Cabinet -1.661 2.059 -1.684 0 90 0 53 Cabinet -0.817 2.059 -1.689 0 0 0 54 Cabinet 0.860 0.402 0.665 0 0 0 55 Cabinet 0.860 0.402 -0.552 0 0 0 56 Cabinet 0.860 0.402 -1.365 0 0 0 57 Cabinet -0.244 0.402 -1.389 0 0 0 58 Cabinet -0.815 0.402 -1.389 0 0 0 59 Cabinet 1.159 2.059 -0.334 0 0 0 60 Cabinet 0.488 2.059 -1.689 0 0 0 61 Cabinet -0.193 2.059 -1.689 0 0 0 62 Drawer 0.860 0.75 -0.699 0 0 0 63 Cabinet 1.159 2.059 -1.019 0 0 0 64 Cabinet -1.611 2.005 -1.690 0 0 0 65 Cabinet 0.832 0.401 -1.393 0 90 0 66 Drawer -2.105 0.75 -1.389 0 0 0 67 StoveBurner -1.081 0.941 -1.809 0 0 0 68 Cabinet -0.202 0.401 -1.391 0 90 0 69 CounterTop -1.973 0.945 -1.707 0 0 0 70 Drawer -0.375 0.75 -1.389 0 0 0 71 CounterTop 1.164 0.946 -0.649 0 0 0 72 StoveBurner -1.081 0.941 -1.527 0 0 0 73 CounterTop -2.096 0.945 0.291 0 0 0 74 Cabinet -2.237 0.402 -1.389 0 0 0 75 Drawer 0.584 0.75 -1.389 0 0 0 76 Drawer -1.795 0.75 -1.389 0 0 0 77 CounterTop 1.5 1.197 -0.654 0 0 0 78 Cabinet -1.667 0.402 -1.389 0 0 0 79 StoveBurner -1.430 0.941 -1.525 0 0 0 80 Drawer -0.685 0.75 -1.389 0 0 0 81 StoveBurner -1.430 0.941 -1.809 0 0 0 82 LightSwitch -2.539 1.289 2.568 0 90 0 83 StoveKnob -1.362 1.095 -1.983 287.970 180 0 84 StoveKnob -0.962 1.095 -1.983 287.970 180 0 85 StoveKnob -1.522 1.095 -1.983 287.970 180 0 86 StoveKnob -1.112 1.095 -1.983 287.970 180 0 87 CoffeeMachine 1.082 0.900 -1.848 0 0 0 88 GarbageCan 1.343 0.015 1.041 0 0 0 89 HousePlant 1.440 1.153 0.593 0 0 0 90 Fridge 1.417 0.0 2.101 0 0 0 91 Window -0.486 1.452 3.302 90 0 0 92 SinkBasin -0.063 0.765 -1.713 0 270 0 93 Microwave 1.422 1.150 0.022 0 270 0 94 Toaster -2.066 0.900 -1.848 0 0 0 95 Stool -1.994 0.010 0.882 0 0 0 96 Faucet -0.096 1.041 -1.867 0 270 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: Go to the kitchen sink to the far left of you | STEP 2: Pick up the potato in front of you | STEP 3: Turn around and go to the microwave that's should now be on your right | STEP 4: Put the potato in the microwave and heat it up | STEP 5: Take out the potato, then turn back around and go to the sink | STEP 6: Put the potato in the sink | END" ]
[ [ "STEP 1: Go to the kitchen sink to the far left of you ", " STEP 2: Pick up the potato in front of you ", " STEP 3: Turn around and go to the microwave that's should now be on your right ", " STEP 4: Put the potato in the microwave and heat it up ", " STEP 5: Take out the potato, then turn back around and go to the sink ", " STEP 6: Put the potato in the sink ", " END" ] ]
seen
trial_T20190906_185624_820644-2
Cook a potato found next to the sink in the microwave.
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[ "89", " HousePlant", " 1.440", " 1.153", " 0.593", " 0", " 0", " 0", "" ], [ "90", " Fridge", " 1.417", " 0.0", " 2.101", " 0", " 0", " 0", "" ], [ "91", " Window", " -0.486", " 1.452", " 3.302", " 90", " 0", " 0", "" ], [ "92", " SinkBasin", " -0.063", " 0.765", " -1.713", " 0", " 270", " 0", "" ], [ "93", " Microwave", " 1.422", " 1.150", " 0.022", " 0", " 270", " 0", "" ], [ "94", " Toaster", " -2.066", " 0.900", " -1.848", " 0", " 0", " 0", "" ], [ "95", " Stool", " -1.994", " 0.010", " 0.882", " 0", " 0", " 0", "" ], [ "96", " Faucet", " -0.096", " 1.041", " -1.867", " 0", " 270", " 0", "" ], [ "97", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "98", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "99", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "100", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.900 2.25 0 180 0 1 Pen -1.809 0.913 -1.448 0 0 0 76 2 Pen 1.420 0.217 1.08 0 0 0 88 3 Potato 1.325 1.409 2.351 0 270 0 90 4 Ladle -1.809 0.954 -1.448 0 0 0 69 5 Ladle -2.094 1.700 -1.926 0 90 0 52 6 Kettle -1.431 0.949 -1.525 0 0 0 79 7 ButterKnife -2.323 0.910 0.377 0 0 0 73 8 DishSponge 1.015 0.772 -1.178 0 0 0 49 9 DishSponge 1.461 1.655 -1.579 0 0 0 63 10 Fork 0.320 0.920 -1.708 0 90 0 50 11 Fork 1.010 0.911 0.372 0 0 0 71 12 Spoon -2.079 0.911 0.377 0 0 0 73 13 Spatula 1.260 0.926 0.372 0 270 0 71 14 Cup 1.343 0.911 0.372 0 0 0 71 15 Cup 1.275 1.367 2.226 0 270 0 90 16 Knife 0.115 0.949 -1.657 0 270 0 50 17 SoapBottle -2.445 0.910 0.118 0 0 0 73 18 Bread -1.712 0.988 0.291 0 0 0 73 19 Mug -0.619 0.106 -1.681 0 0 0 58 20 Apple 1.454 1.196 -1.002 0 0 0 77 21 Apple -2.445 0.945 0.032 0 0 0 73 22 Tomato -0.401 0.951 -1.960 0 0 0 71 23 Glassbottle 0.475 0.912 -1.704 0 0 0 71 24 Knife -2.079 0.940 0.549 0 0 0 73 25 Plate 1.461 1.656 -0.815 0 0 0 59 26 Fork -2.039 0.911 -1.534 0 90 0 69 27 Ladle 1.176 0.955 0.372 0 0 0 71 28 Potato 0.183 0.961 -1.556 0 270 0 50 29 Lettuce 1.176 0.980 -0.990 0 0 0 71 30 Kettle 0.645 1.656 -1.876 0 0 0 60 31 Pen -2.116 0.913 -1.534 0 0 0 66 32 SaltShaker 0.914 0.109 -0.625 0 0 0 55 33 Cup 1.035 0.115 -0.956 0 0 0 56 34 Egg 0.217 0.948 -1.657 0 270 0 50 35 Spatula -2.079 0.925 0.118 0 0 0 73 36 Bowl 1.375 1.162 -0.659 0 0 0 77 37 SprayBottle -0.718 0.111 -1.535 0 0 0 58 38 Pan -1.081 0.949 -1.81 0 0 0 67 39 SoapBottle 1.335 1.162 -1.688 0 0 0 77 40 Pot -1.431 0.949 -1.81 0 0 0 81 41 ButterKnife -2.079 0.910 0.118 0 90 0 73 42 PepperShaker 1.342 1.651 -0.658 0 0 0 59 43 DishSponge -1.957 0.910 0.463 0 0 0 73 44 Bread 1.414 1.240 -1.345 0 0 0 77 45 Apple 0.217 0.954 -1.758 0 270 0 50 46 Spoon 1.176 0.912 -0.65 0 0 0 62 47 Mug 1.275 1.362 1.976 0 270 0 90 48 Drawer 0.860 0.75 0.430 0 0 0 49 Drawer 0.871 0.75 -1.134 0 0 0 50 Sink 0.156 0.817 -1.801 0 270 0 51 Cabinet -0.868 2.005 -1.690 0 0 0 52 Cabinet -1.661 2.059 -1.684 0 90 0 53 Cabinet -0.817 2.059 -1.689 0 0 0 54 Cabinet 0.860 0.402 0.665 0 0 0 55 Cabinet 0.860 0.402 -0.552 0 0 0 56 Cabinet 0.860 0.402 -1.365 0 0 0 57 Cabinet -0.244 0.402 -1.389 0 0 0 58 Cabinet -0.815 0.402 -1.389 0 0 0 59 Cabinet 1.159 2.059 -0.334 0 0 0 60 Cabinet 0.488 2.059 -1.689 0 0 0 61 Cabinet -0.193 2.059 -1.689 0 0 0 62 Drawer 0.860 0.75 -0.699 0 0 0 63 Cabinet 1.159 2.059 -1.019 0 0 0 64 Cabinet -1.611 2.005 -1.690 0 0 0 65 Cabinet 0.832 0.401 -1.393 0 90 0 66 Drawer -2.105 0.75 -1.389 0 0 0 67 StoveBurner -1.081 0.941 -1.809 0 0 0 68 Cabinet -0.202 0.401 -1.391 0 90 0 69 CounterTop -1.973 0.945 -1.707 0 0 0 70 Drawer -0.375 0.75 -1.389 0 0 0 71 CounterTop 1.164 0.946 -0.649 0 0 0 72 StoveBurner -1.081 0.941 -1.527 0 0 0 73 CounterTop -2.096 0.945 0.291 0 0 0 74 Cabinet -2.237 0.402 -1.389 0 0 0 75 Drawer 0.584 0.75 -1.389 0 0 0 76 Drawer -1.795 0.75 -1.389 0 0 0 77 CounterTop 1.5 1.197 -0.654 0 0 0 78 Cabinet -1.667 0.402 -1.389 0 0 0 79 StoveBurner -1.430 0.941 -1.525 0 0 0 80 Drawer -0.685 0.75 -1.389 0 0 0 81 StoveBurner -1.430 0.941 -1.809 0 0 0 82 LightSwitch -2.539 1.289 2.568 0 90 0 83 StoveKnob -1.362 1.095 -1.983 287.970 180 0 84 StoveKnob -0.962 1.095 -1.983 287.970 180 0 85 StoveKnob -1.522 1.095 -1.983 287.970 180 0 86 StoveKnob -1.112 1.095 -1.983 287.970 180 0 87 CoffeeMachine 1.082 0.900 -1.848 0 0 0 88 GarbageCan 1.343 0.015 1.041 0 0 0 89 HousePlant 1.440 1.153 0.593 0 0 0 90 Fridge 1.417 0.0 2.101 0 0 0 91 Window -0.486 1.452 3.302 90 0 0 92 SinkBasin -0.063 0.765 -1.713 0 270 0 93 Microwave 1.422 1.150 0.022 0 270 0 94 Toaster -2.066 0.900 -1.848 0 0 0 95 Stool -1.994 0.010 0.882 0 0 0 96 Faucet -0.096 1.041 -1.867 0 270 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: Turn 90 degrees to your right, walk to the fridge, turn 90 degrees to your right, and walk to the counter. | STEP 2: Pick up the potato next to the sink. | STEP 3: Turn 180 degrees, then turn another 90 degrees to the right and walk to the microwave. | STEP 4: Open the microwave, place the potato inside, close the door, set the time, and when it's done cooking, take the potato out of the microwave and close it. | STEP 5: Turn around 180 degrees, then turn 90 degrees to the left and walk to the sink. | STEP 6: Place the potato in the sink. | END" ]
[ [ "STEP 1: Turn 90 degrees to your right, walk to the fridge, turn 90 degrees to your right, and walk to the counter. ", " STEP 2: Pick up the potato next to the sink. ", " STEP 3: Turn 180 degrees, then turn another 90 degrees to the right and walk to the microwave. ", " STEP 4: Open the microwave, place the potato inside, close the door, set the time, and when it's done cooking, take the potato out of the microwave and close it. ", " STEP 5: Turn around 180 degrees, then turn 90 degrees to the left and walk to the sink. ", " STEP 6: Place the potato in the sink. ", " END" ] ]
seen
trial_T20190906_202513_646704-0
To get keys off the dresser and turn on the lamp on the dresser.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.0", " 0.900", " 1.75", " 0", " 180", " 0", "" ], [ "1", " Bowl", " 1.170", " 0.504", " -1.983", " 0", " 270", " 0", " 22" ], [ "2", " Pencil", " 1.226", " 0.388", " -0.531", " 0", " 270", " 0", " 31" ], [ "3", " KeyChain", " -1.332", " 0.698", " -1.900", " 0", " 180", " 0", " 44" ], [ "4", " Book", " -1.203", " 0.610", " -0.223", " 0", " 0", " 0", " 21" ], [ "5", " Book", " 0.623", " 0.569", " -2.471", " 0", " 350.999", " 0", " 28" ], [ "6", " KeyChain", " 1.159", " 1.412", " -0.238", " 0", " 270", " 0", " 30" ], [ "7", " BaseballBat", " 1.436", " 0.636", " 1.985", " 21.882", " 0", " 0", "" ], [ "8", " BasketBall", " 1.270", " 0.12", " -1.290", " 0", " 345.557", " 0", "" ], [ "9", " Pencil", " -1.457", " 0.704", " -2.191", " 0", " 0", " 0", " 44" ], [ "10", " CellPhone", " 1.226", " 0.384", " 0.046", " 0", " 270", " 0", " 31" ], [ "11", " CreditCard", " -1.400", " 0.100", " -1.832", " 0", " 0", " 0", " 43" ], [ "12", " Laptop", " -1.082", " 0.609", " 0.337", " 0", " 0", " 0", " 21" ], [ "13", " Pillow", " -1.170", " 0.684", " -0.990", " 0", " 0", " 0", " 21" ], [ "14", " Boots", " 1.288", " 0.000", " -0.961", " 0", " 177.912", " 0", "" ], [ "15", " Pen", " -1.332", " 0.705", " -2.191", " 0", " 0", " 0", " 44" ], [ "16", " AlarmClock", " 1.226", " 1.410", " -0.671", " 0", " 270", " 0", " 32" ], [ "17", " CD", " 1.172", " 0.237", " -1.929", " 0", " 0", " 0", " 19" ], [ "18", " Bowl", " -1.519", " 0.696", " -1.755", " 0", " 0", " 0", " 44" ], [ "19", " Drawer", " 0.980", " 0.271", " -1.963", " 0", " 0", " 0", "" ], [ "20", " Drawer", " 0.980", " 0.139", " -1.963", " 0", " 0", " 0", "" ], [ "21", " Bed", " -1.209", " 0.016", " -0.266", " 0", " 180", " 1.624", "" ], [ "22", " Shelf", " 1.220", " 0.859", " -1.802", " 0", " 270", " 0", "" ], [ "23", " Drawer", " 0.980", " 0.404", " -1.963", " 0", " 0", " 0", "" ], [ "24", " Drawer", " 0.980", " 0.272", " -1.639", " 0", " 0", " 0", "" ], [ "25", " Mirror", " 0.740", " 1.491", " 2.099", " 0", " 0", " 0", "" ], [ "26", " Drawer", " 0.980", " 0.139", " -1.639", " 0", " 0", " 0", "" ], [ "27", " Drawer", " 0.980", " 0.404", " -1.639", " 0", " 0", " 0", "" ], [ "28", " Chair", " 0.280", " -0.001", " -2.264", " 0", " 180", " 0", "" ], [ "29", " GarbageCan", " -1.542", " 0.013", " 1.919", " 2.249", " 116.925", " 355.175", "" ], [ "30", " Shelf", " 1.259", " 0.903", " -0.269", " 0", " 270", " 0", "" ], [ "31", " Shelf", " 1.259", " 0.375", " -0.263", " 0", " 270", " 0", "" ], [ "32", " Shelf", " 1.259", " 1.402", " -0.259", " 0", " 270", " 0", "" ], [ "33", " Shelf", " -1.577", " 1.513", " -2.025", " 0", " 270", " 0", "" ], [ "34", " LightSwitch", " -0.755", " 1.176", " 2.099", " 0", " 180", " 0", "" ], [ "35", " DeskLamp", " -1.489", " 0.669", " -2.419", " 0", " 0", " 0", "" ], [ "36", " Window", " 0.243", " 0.963", " -2.678", " 90", " 0", " 0", "" ], [ "37", " Window", " -0.361", " 0.963", " -2.679", " 90", " 0", " 0", "" ], [ "38", " Window", " -0.962", " 0.963", " -2.678", " 90", " 0", " 0", "" ], [ "39", " Desk", " 0.445", " 0.001", " -2.430", " 0", " 0", " 0", "" ], [ "40", " Blinds", " -0.349", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "41", " Blinds", " 0.250", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "42", " Blinds", " -0.952", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "43", " Drawer", " -1.314", " 0.163", " -2.051", " 0", " 90", " 0", "" ], [ "44", " SideTable", " -1.444", " -0.001", " -2.051", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.314", " 0.455", " -2.051", " 0", " 90", " 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 1.0 0.900 1.75 0 180 0 1 Bowl 1.170 0.504 -1.983 0 270 0 22 2 Pencil 1.226 0.388 -0.531 0 270 0 31 3 KeyChain -1.332 0.698 -1.900 0 180 0 44 4 Book -1.203 0.610 -0.223 0 0 0 21 5 Book 0.623 0.569 -2.471 0 350.999 0 28 6 KeyChain 1.159 1.412 -0.238 0 270 0 30 7 BaseballBat 1.436 0.636 1.985 21.882 0 0 8 BasketBall 1.270 0.12 -1.290 0 345.557 0 9 Pencil -1.457 0.704 -2.191 0 0 0 44 10 CellPhone 1.226 0.384 0.046 0 270 0 31 11 CreditCard -1.400 0.100 -1.832 0 0 0 43 12 Laptop -1.082 0.609 0.337 0 0 0 21 13 Pillow -1.170 0.684 -0.990 0 0 0 21 14 Boots 1.288 0.000 -0.961 0 177.912 0 15 Pen -1.332 0.705 -2.191 0 0 0 44 16 AlarmClock 1.226 1.410 -0.671 0 270 0 32 17 CD 1.172 0.237 -1.929 0 0 0 19 18 Bowl -1.519 0.696 -1.755 0 0 0 44 19 Drawer 0.980 0.271 -1.963 0 0 0 20 Drawer 0.980 0.139 -1.963 0 0 0 21 Bed -1.209 0.016 -0.266 0 180 1.624 22 Shelf 1.220 0.859 -1.802 0 270 0 23 Drawer 0.980 0.404 -1.963 0 0 0 24 Drawer 0.980 0.272 -1.639 0 0 0 25 Mirror 0.740 1.491 2.099 0 0 0 26 Drawer 0.980 0.139 -1.639 0 0 0 27 Drawer 0.980 0.404 -1.639 0 0 0 28 Chair 0.280 -0.001 -2.264 0 180 0 29 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 30 Shelf 1.259 0.903 -0.269 0 270 0 31 Shelf 1.259 0.375 -0.263 0 270 0 32 Shelf 1.259 1.402 -0.259 0 270 0 33 Shelf -1.577 1.513 -2.025 0 270 0 34 LightSwitch -0.755 1.176 2.099 0 180 0 35 DeskLamp -1.489 0.669 -2.419 0 0 0 36 Window 0.243 0.963 -2.678 90 0 0 37 Window -0.361 0.963 -2.679 90 0 0 38 Window -0.962 0.963 -2.678 90 0 0 39 Desk 0.445 0.001 -2.430 0 0 0 40 Blinds -0.349 2.186 -2.685 0 0 0 41 Blinds 0.250 2.186 -2.685 0 0 0 42 Blinds -0.952 2.186 -2.685 0 0 0 43 Drawer -1.314 0.163 -2.051 0 90 0 44 SideTable -1.444 -0.001 -2.051 0 90 0 45 Drawer -1.314 0.455 -2.051 0 90 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Go forward and take a right at the shelves and take a left when you get to the bed then go forward and take a right at the desk and go to the dresser. | STEP 2: Pick up the keys from the right of the pen on top of the dresser. | STEP 3: Take a left and go forward to the end of the dresser and face the dresser. | STEP 4: Turn on the lamp to the left of the pen on top of the dresser. | END" ]
[ [ "STEP 1: Go forward and take a right at the shelves and take a left when you get to the bed then go forward and take a right at the desk and go to the dresser. ", " STEP 2: Pick up the keys from the right of the pen on top of the dresser. ", " STEP 3: Take a left and go forward to the end of the dresser and face the dresser. ", " STEP 4: Turn on the lamp to the left of the pen on top of the dresser. ", " END" ] ]
seen
trial_T20190906_202513_646704-1
Examine a set of keys by the light of a table lamp.
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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 1.75 0 180 0 1 Bowl 1.170 0.504 -1.983 0 270 0 22 2 Pencil 1.226 0.388 -0.531 0 270 0 31 3 KeyChain -1.332 0.698 -1.900 0 180 0 44 4 Book -1.203 0.610 -0.223 0 0 0 21 5 Book 0.623 0.569 -2.471 0 350.999 0 28 6 KeyChain 1.159 1.412 -0.238 0 270 0 30 7 BaseballBat 1.436 0.636 1.985 21.882 0 0 8 BasketBall 1.270 0.12 -1.290 0 345.557 0 9 Pencil -1.457 0.704 -2.191 0 0 0 44 10 CellPhone 1.226 0.384 0.046 0 270 0 31 11 CreditCard -1.400 0.100 -1.832 0 0 0 43 12 Laptop -1.082 0.609 0.337 0 0 0 21 13 Pillow -1.170 0.684 -0.990 0 0 0 21 14 Boots 1.288 0.000 -0.961 0 177.912 0 15 Pen -1.332 0.705 -2.191 0 0 0 44 16 AlarmClock 1.226 1.410 -0.671 0 270 0 32 17 CD 1.172 0.237 -1.929 0 0 0 19 18 Bowl -1.519 0.696 -1.755 0 0 0 44 19 Drawer 0.980 0.271 -1.963 0 0 0 20 Drawer 0.980 0.139 -1.963 0 0 0 21 Bed -1.209 0.016 -0.266 0 180 1.624 22 Shelf 1.220 0.859 -1.802 0 270 0 23 Drawer 0.980 0.404 -1.963 0 0 0 24 Drawer 0.980 0.272 -1.639 0 0 0 25 Mirror 0.740 1.491 2.099 0 0 0 26 Drawer 0.980 0.139 -1.639 0 0 0 27 Drawer 0.980 0.404 -1.639 0 0 0 28 Chair 0.280 -0.001 -2.264 0 180 0 29 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 30 Shelf 1.259 0.903 -0.269 0 270 0 31 Shelf 1.259 0.375 -0.263 0 270 0 32 Shelf 1.259 1.402 -0.259 0 270 0 33 Shelf -1.577 1.513 -2.025 0 270 0 34 LightSwitch -0.755 1.176 2.099 0 180 0 35 DeskLamp -1.489 0.669 -2.419 0 0 0 36 Window 0.243 0.963 -2.678 90 0 0 37 Window -0.361 0.963 -2.679 90 0 0 38 Window -0.962 0.963 -2.678 90 0 0 39 Desk 0.445 0.001 -2.430 0 0 0 40 Blinds -0.349 2.186 -2.685 0 0 0 41 Blinds 0.250 2.186 -2.685 0 0 0 42 Blinds -0.952 2.186 -2.685 0 0 0 43 Drawer -1.314 0.163 -2.051 0 90 0 44 SideTable -1.444 -0.001 -2.051 0 90 0 45 Drawer -1.314 0.455 -2.051 0 90 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Head to the dresser in the right corner of the room. | STEP 2: Pick up the keys from the dresser. | STEP 3: Walk towards the lamp on the dresser. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Head to the dresser in the right corner of the room. ", " STEP 2: Pick up the keys from the dresser. ", " STEP 3: Walk towards the lamp on the dresser. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190906_202513_646704-2
Examine the keys by the light of 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 1.0 0.900 1.75 0 180 0 1 Bowl 1.170 0.504 -1.983 0 270 0 22 2 Pencil 1.226 0.388 -0.531 0 270 0 31 3 KeyChain -1.332 0.698 -1.900 0 180 0 44 4 Book -1.203 0.610 -0.223 0 0 0 21 5 Book 0.623 0.569 -2.471 0 350.999 0 28 6 KeyChain 1.159 1.412 -0.238 0 270 0 30 7 BaseballBat 1.436 0.636 1.985 21.882 0 0 8 BasketBall 1.270 0.12 -1.290 0 345.557 0 9 Pencil -1.457 0.704 -2.191 0 0 0 44 10 CellPhone 1.226 0.384 0.046 0 270 0 31 11 CreditCard -1.400 0.100 -1.832 0 0 0 43 12 Laptop -1.082 0.609 0.337 0 0 0 21 13 Pillow -1.170 0.684 -0.990 0 0 0 21 14 Boots 1.288 0.000 -0.961 0 177.912 0 15 Pen -1.332 0.705 -2.191 0 0 0 44 16 AlarmClock 1.226 1.410 -0.671 0 270 0 32 17 CD 1.172 0.237 -1.929 0 0 0 19 18 Bowl -1.519 0.696 -1.755 0 0 0 44 19 Drawer 0.980 0.271 -1.963 0 0 0 20 Drawer 0.980 0.139 -1.963 0 0 0 21 Bed -1.209 0.016 -0.266 0 180 1.624 22 Shelf 1.220 0.859 -1.802 0 270 0 23 Drawer 0.980 0.404 -1.963 0 0 0 24 Drawer 0.980 0.272 -1.639 0 0 0 25 Mirror 0.740 1.491 2.099 0 0 0 26 Drawer 0.980 0.139 -1.639 0 0 0 27 Drawer 0.980 0.404 -1.639 0 0 0 28 Chair 0.280 -0.001 -2.264 0 180 0 29 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 30 Shelf 1.259 0.903 -0.269 0 270 0 31 Shelf 1.259 0.375 -0.263 0 270 0 32 Shelf 1.259 1.402 -0.259 0 270 0 33 Shelf -1.577 1.513 -2.025 0 270 0 34 LightSwitch -0.755 1.176 2.099 0 180 0 35 DeskLamp -1.489 0.669 -2.419 0 0 0 36 Window 0.243 0.963 -2.678 90 0 0 37 Window -0.361 0.963 -2.679 90 0 0 38 Window -0.962 0.963 -2.678 90 0 0 39 Desk 0.445 0.001 -2.430 0 0 0 40 Blinds -0.349 2.186 -2.685 0 0 0 41 Blinds 0.250 2.186 -2.685 0 0 0 42 Blinds -0.952 2.186 -2.685 0 0 0 43 Drawer -1.314 0.163 -2.051 0 90 0 44 SideTable -1.444 -0.001 -2.051 0 90 0 45 Drawer -1.314 0.455 -2.051 0 90 0 46 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Head straight towards the chair and then turn right towards the drawer. | STEP 2: Pick up the keys from the drawer. | STEP 3: Turn left, walk towards the window, and then turn right to face the lamp. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Head straight towards the chair and then turn right towards the drawer. ", " STEP 2: Pick up the keys from the drawer. ", " STEP 3: Turn left, walk towards the window, and then turn right to face the lamp. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190911_081633_704611-0
Put the clean spoon on the cabinet drawer.
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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 0 180 0 1 Statue 2.900 0.886 0.195 0 180 0 86 2 Statue 2.694 0.559 0.090 0 90 0 88 3 Potato -1.413 0.943 -0.353 0 0 0 75 4 DishSponge 0.008 0.913 0.188 0 0 0 75 5 DishSponge -0.577 0.693 0.279 0 180 0 76 6 Pot -1.289 0.957 -1.02 0 0 0 72 7 Spatula -1.157 0.926 -1.469 0 0 0 82 8 Egg 1.910 1.049 -1.402 0 270 0 87 9 Egg 1.891 1.132 -0.830 0 270 0 89 10 Plate -0.049 0.114 0.163 0 180 0 70 11 Knife -0.031 0.786 -2.008 0 0 0 92 12 Tomato 0.055 0.812 -2.063 0 0 0 92 13 Tomato -1.163 0.963 -0.231 0 0 0 75 14 Bowl -1.356 1.655 -1.663 0 0 0 64 15 Bowl 1.836 1.424 -0.365 0 270 0 89 16 PepperShaker -1.404 0.907 -1.806 0 0 0 82 17 Bread -0.152 1.213 0.573 0 0 0 78 18 Lettuce 1.194 0.987 -2.014 0 0 0 82 19 Lettuce 2.000 1.504 -0.551 0 270 0 89 20 Mug 1.419 0.906 -2.183 0 0 0 82 21 Mug 1.910 1.010 -1.192 0 0 0 87 22 Apple 2.002 0.111 0.138 0 0 0 85 23 Apple 1.845 0.111 0.080 0 0 0 85 24 Pan -1.056 0.956 -0.672 0 180 0 54 25 Knife -0.555 0.715 -1.846 0 270 0 52 26 Bowl -1.312 1.657 -0.626 0 0 0 65 27 Fork -0.849 0.914 0.083 0 0 0 75 28 Cup 0.101 0.750 -1.938 0 0 0 92 29 Ladle -0.679 0.728 0.190 0 270 0 76 30 Apple 1.813 1.064 -1.297 0 270 0 87 31 Kettle -1.047 0.953 -2.094 0 0 0 82 32 Vase -0.205 0.915 0.241 0 0 0 75 33 Potato -0.376 0.793 -2.118 0 0 0 92 34 Pot -1.289 0.957 -0.756 0 180 0 57 35 Bread -0.420 0.995 0.188 0 0 0 75 36 Plate -1.313 1.660 0.231 0 0 0 66 37 Spatula -0.203 0.778 -2.008 0 0 0 92 38 PaperTowelRoll 0.071 1.235 0.618 0 0 0 78 39 Vase 1.057 1.664 -2.200 0 0 0 61 40 Egg 1.845 0.096 0.166 0 0 0 85 41 SoapBottle -0.822 1.131 0.573 0 0 0 78 42 SaltShaker 3.105 0.876 0.114 0 180 0 86 43 Lettuce 1.891 1.175 -0.458 0 270 0 89 44 PepperShaker -1.413 0.909 -0.109 0 0 0 75 45 ButterKnife -1.278 0.913 0.135 0 0 0 75 46 DishSponge 0.563 1.660 -2.124 0 0 0 62 47 Vase -1.379 0.908 -2.267 0 0 0 82 48 Spoon -1.330 0.914 -0.109 0 0 0 75 49 Tomato -0.375 1.181 0.618 0 0 0 78 50 Mug 1.945 0.812 -0.644 0 270 0 89 51 Statue -1.063 0.920 0.135 0 0 0 75 52 Drawer -0.819 0.75 -1.690 0 0 0 53 Cabinet -1.149 2.264 -0.838 0 90 0 54 StoveBurner -1.056 0.949 -0.671 0 180 0 55 Cabinet 1.738 2.019 -2.000 0 0 0 56 Cabinet 1.389 0.469 -1.059 0 0 0 57 StoveBurner -1.289 0.949 -0.755 0 180 0 58 Faucet -0.157 1.052 -2.196 0 270 0 59 Cabinet 1.75 2.019 -1.029 0 0 0 60 Cabinet 1.75 2.019 -1.399 0 0 0 61 Cabinet 1.179 2.019 -2.0 0 0 0 62 Cabinet 0.199 2.019 -2.0 0 0 0 63 Cabinet -1.100 2.019 -2.0 0 0 0 64 Cabinet -1.149 2.019 -1.979 0 0 0 65 Cabinet -1.149 2.019 -0.770 0 0 0 66 Cabinet -1.149 2.019 0.380 0 0 0 67 Cabinet -0.819 0.469 -1.689 0 0 0 68 Cabinet -0.839 0.469 -1.664 0 0 0 69 Cabinet -0.839 0.469 -0.049 0 0 0 70 Cabinet -0.414 0.370 -0.009 0 0 0 71 Sink -0.118 0.875 -2.009 0 0 0 72 StoveBurner -1.289 0.949 -1.019 0 0 0 73 Cabinet 0.119 2.264 -2.0 0 0 0 74 Cabinet -0.459 2.264 -2.0 0 0 0 75 CounterTop -0.665 0.949 0.188 0 0 0 76 Drawer -0.449 0.75 -0.010 0 180 0 77 Cabinet -0.450 0.469 -0.009 0 0 0 78 CounterTop -0.630 1.167 0.573 0 0 0 79 StoveBurner -1.056 0.949 -1.126 0 0 0 80 Cabinet 1.376 0.460 -1.685 0 0 0 81 Drawer -0.070 0.75 -0.009 0 180 0 82 CounterTop 1.159 0.946 -2.013 0 0 0 83 Cabinet -1.150 2.264 -1.418 0 90 0 84 HousePlant -1.246 1.108 0.606 0 0 0 85 GarbageCan 1.923 -0.010 0.137 0 0 0 86 Shelf 2.759 0.880 0.144 0 0 0 87 Microwave 1.827 0.900 -1.354 0 270 0 88 Shelf 2.759 0.552 0.145 0 0 0 89 Fridge 1.975 0.0 -0.537 0 0 0 90 LightSwitch 0.404 1.297 2.0 0 180 0 91 Shelf 2.760 0.172 0.145 0 0 0 92 SinkBasin -0.129 0.752 -2.007 0 0 0 93 StoveKnob -0.873 0.903 -0.827 45 90 0 94 StoveKnob -0.873 0.903 -0.676 45 90 0 95 StoveKnob -0.873 0.903 -0.966 45 90 0 96 StoveKnob -0.873 0.903 -1.123 45 90 0 97 Toaster 0.840 0.900 -2.057 0 0 0 98 CoffeeMachine 0.501 0.900 -2.125 0 0 0 99 ShelvingUnit 2.760 0.006 0.144 0 0 0 100 Stool -0.826 0.010 0.908 0 347.513 0 101 Stool -0.132 0.010 0.883 0 71.555 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: Turn around to your right and head to the right side of the stove | STEP 2: Pick up the spoon on the counter in front of the salt | STEP 3: Turn around to your left and head to the sink | STEP 4: Put the spoon on the sink, rinse it and pick up the spoon | STEP 5: Turn to your right and face the stove | STEP 6: Pull the cabinet drawer beside the stove and put inside the spoon then close the drawer | END" ]
[ [ "STEP 1: Turn around to your right and head to the right side of the stove ", " STEP 2: Pick up the spoon on the counter in front of the salt ", " STEP 3: Turn around to your left and head to the sink ", " STEP 4: Put the spoon on the sink, rinse it and pick up the spoon ", " STEP 5: Turn to your right and face the stove ", " STEP 6: Pull the cabinet drawer beside the stove and put inside the spoon then close the drawer ", " END" ] ]
seen
trial_T20190911_081633_704611-1
Wash a metal spoon and put it away 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 0.25 0.900 -1.25 0 180 0 1 Statue 2.900 0.886 0.195 0 180 0 86 2 Statue 2.694 0.559 0.090 0 90 0 88 3 Potato -1.413 0.943 -0.353 0 0 0 75 4 DishSponge 0.008 0.913 0.188 0 0 0 75 5 DishSponge -0.577 0.693 0.279 0 180 0 76 6 Pot -1.289 0.957 -1.02 0 0 0 72 7 Spatula -1.157 0.926 -1.469 0 0 0 82 8 Egg 1.910 1.049 -1.402 0 270 0 87 9 Egg 1.891 1.132 -0.830 0 270 0 89 10 Plate -0.049 0.114 0.163 0 180 0 70 11 Knife -0.031 0.786 -2.008 0 0 0 92 12 Tomato 0.055 0.812 -2.063 0 0 0 92 13 Tomato -1.163 0.963 -0.231 0 0 0 75 14 Bowl -1.356 1.655 -1.663 0 0 0 64 15 Bowl 1.836 1.424 -0.365 0 270 0 89 16 PepperShaker -1.404 0.907 -1.806 0 0 0 82 17 Bread -0.152 1.213 0.573 0 0 0 78 18 Lettuce 1.194 0.987 -2.014 0 0 0 82 19 Lettuce 2.000 1.504 -0.551 0 270 0 89 20 Mug 1.419 0.906 -2.183 0 0 0 82 21 Mug 1.910 1.010 -1.192 0 0 0 87 22 Apple 2.002 0.111 0.138 0 0 0 85 23 Apple 1.845 0.111 0.080 0 0 0 85 24 Pan -1.056 0.956 -0.672 0 180 0 54 25 Knife -0.555 0.715 -1.846 0 270 0 52 26 Bowl -1.312 1.657 -0.626 0 0 0 65 27 Fork -0.849 0.914 0.083 0 0 0 75 28 Cup 0.101 0.750 -1.938 0 0 0 92 29 Ladle -0.679 0.728 0.190 0 270 0 76 30 Apple 1.813 1.064 -1.297 0 270 0 87 31 Kettle -1.047 0.953 -2.094 0 0 0 82 32 Vase -0.205 0.915 0.241 0 0 0 75 33 Potato -0.376 0.793 -2.118 0 0 0 92 34 Pot -1.289 0.957 -0.756 0 180 0 57 35 Bread -0.420 0.995 0.188 0 0 0 75 36 Plate -1.313 1.660 0.231 0 0 0 66 37 Spatula -0.203 0.778 -2.008 0 0 0 92 38 PaperTowelRoll 0.071 1.235 0.618 0 0 0 78 39 Vase 1.057 1.664 -2.200 0 0 0 61 40 Egg 1.845 0.096 0.166 0 0 0 85 41 SoapBottle -0.822 1.131 0.573 0 0 0 78 42 SaltShaker 3.105 0.876 0.114 0 180 0 86 43 Lettuce 1.891 1.175 -0.458 0 270 0 89 44 PepperShaker -1.413 0.909 -0.109 0 0 0 75 45 ButterKnife -1.278 0.913 0.135 0 0 0 75 46 DishSponge 0.563 1.660 -2.124 0 0 0 62 47 Vase -1.379 0.908 -2.267 0 0 0 82 48 Spoon -1.330 0.914 -0.109 0 0 0 75 49 Tomato -0.375 1.181 0.618 0 0 0 78 50 Mug 1.945 0.812 -0.644 0 270 0 89 51 Statue -1.063 0.920 0.135 0 0 0 75 52 Drawer -0.819 0.75 -1.690 0 0 0 53 Cabinet -1.149 2.264 -0.838 0 90 0 54 StoveBurner -1.056 0.949 -0.671 0 180 0 55 Cabinet 1.738 2.019 -2.000 0 0 0 56 Cabinet 1.389 0.469 -1.059 0 0 0 57 StoveBurner -1.289 0.949 -0.755 0 180 0 58 Faucet -0.157 1.052 -2.196 0 270 0 59 Cabinet 1.75 2.019 -1.029 0 0 0 60 Cabinet 1.75 2.019 -1.399 0 0 0 61 Cabinet 1.179 2.019 -2.0 0 0 0 62 Cabinet 0.199 2.019 -2.0 0 0 0 63 Cabinet -1.100 2.019 -2.0 0 0 0 64 Cabinet -1.149 2.019 -1.979 0 0 0 65 Cabinet -1.149 2.019 -0.770 0 0 0 66 Cabinet -1.149 2.019 0.380 0 0 0 67 Cabinet -0.819 0.469 -1.689 0 0 0 68 Cabinet -0.839 0.469 -1.664 0 0 0 69 Cabinet -0.839 0.469 -0.049 0 0 0 70 Cabinet -0.414 0.370 -0.009 0 0 0 71 Sink -0.118 0.875 -2.009 0 0 0 72 StoveBurner -1.289 0.949 -1.019 0 0 0 73 Cabinet 0.119 2.264 -2.0 0 0 0 74 Cabinet -0.459 2.264 -2.0 0 0 0 75 CounterTop -0.665 0.949 0.188 0 0 0 76 Drawer -0.449 0.75 -0.010 0 180 0 77 Cabinet -0.450 0.469 -0.009 0 0 0 78 CounterTop -0.630 1.167 0.573 0 0 0 79 StoveBurner -1.056 0.949 -1.126 0 0 0 80 Cabinet 1.376 0.460 -1.685 0 0 0 81 Drawer -0.070 0.75 -0.009 0 180 0 82 CounterTop 1.159 0.946 -2.013 0 0 0 83 Cabinet -1.150 2.264 -1.418 0 90 0 84 HousePlant -1.246 1.108 0.606 0 0 0 85 GarbageCan 1.923 -0.010 0.137 0 0 0 86 Shelf 2.759 0.880 0.144 0 0 0 87 Microwave 1.827 0.900 -1.354 0 270 0 88 Shelf 2.759 0.552 0.145 0 0 0 89 Fridge 1.975 0.0 -0.537 0 0 0 90 LightSwitch 0.404 1.297 2.0 0 180 0 91 Shelf 2.760 0.172 0.145 0 0 0 92 SinkBasin -0.129 0.752 -2.007 0 0 0 93 StoveKnob -0.873 0.903 -0.827 45 90 0 94 StoveKnob -0.873 0.903 -0.676 45 90 0 95 StoveKnob -0.873 0.903 -0.966 45 90 0 96 StoveKnob -0.873 0.903 -1.123 45 90 0 97 Toaster 0.840 0.900 -2.057 0 0 0 98 CoffeeMachine 0.501 0.900 -2.125 0 0 0 99 ShelvingUnit 2.760 0.006 0.144 0 0 0 100 Stool -0.826 0.010 0.908 0 347.513 0 101 Stool -0.132 0.010 0.883 0 71.555 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: Turn around and walk straight then turn left and face the counter to the right of the stove | STEP 2: Pick up the metal spoon from the counter | STEP 3: Turn to the left and walk to the kitchen sink and face it | STEP 4: Place the spoon in the sink and rinse it off with water then pick it back up | STEP 5: Turn to the right and face the counter to the left of the stove | STEP 6: Open the drawer on your left in the corner and place the clean spoon inside | END" ]
[ [ "STEP 1: Turn around and walk straight then turn left and face the counter to the right of the stove ", " STEP 2: Pick up the metal spoon from the counter ", " STEP 3: Turn to the left and walk to the kitchen sink and face it ", " STEP 4: Place the spoon in the sink and rinse it off with water then pick it back up ", " STEP 5: Turn to the right and face the counter to the left of the stove ", " STEP 6: Open the drawer on your left in the corner and place the clean spoon inside ", " END" ] ]
seen
trial_T20190911_081633_704611-2
Put a cleaned spoon in the drawer to the right of 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 0 180 0 1 Statue 2.900 0.886 0.195 0 180 0 86 2 Statue 2.694 0.559 0.090 0 90 0 88 3 Potato -1.413 0.943 -0.353 0 0 0 75 4 DishSponge 0.008 0.913 0.188 0 0 0 75 5 DishSponge -0.577 0.693 0.279 0 180 0 76 6 Pot -1.289 0.957 -1.02 0 0 0 72 7 Spatula -1.157 0.926 -1.469 0 0 0 82 8 Egg 1.910 1.049 -1.402 0 270 0 87 9 Egg 1.891 1.132 -0.830 0 270 0 89 10 Plate -0.049 0.114 0.163 0 180 0 70 11 Knife -0.031 0.786 -2.008 0 0 0 92 12 Tomato 0.055 0.812 -2.063 0 0 0 92 13 Tomato -1.163 0.963 -0.231 0 0 0 75 14 Bowl -1.356 1.655 -1.663 0 0 0 64 15 Bowl 1.836 1.424 -0.365 0 270 0 89 16 PepperShaker -1.404 0.907 -1.806 0 0 0 82 17 Bread -0.152 1.213 0.573 0 0 0 78 18 Lettuce 1.194 0.987 -2.014 0 0 0 82 19 Lettuce 2.000 1.504 -0.551 0 270 0 89 20 Mug 1.419 0.906 -2.183 0 0 0 82 21 Mug 1.910 1.010 -1.192 0 0 0 87 22 Apple 2.002 0.111 0.138 0 0 0 85 23 Apple 1.845 0.111 0.080 0 0 0 85 24 Pan -1.056 0.956 -0.672 0 180 0 54 25 Knife -0.555 0.715 -1.846 0 270 0 52 26 Bowl -1.312 1.657 -0.626 0 0 0 65 27 Fork -0.849 0.914 0.083 0 0 0 75 28 Cup 0.101 0.750 -1.938 0 0 0 92 29 Ladle -0.679 0.728 0.190 0 270 0 76 30 Apple 1.813 1.064 -1.297 0 270 0 87 31 Kettle -1.047 0.953 -2.094 0 0 0 82 32 Vase -0.205 0.915 0.241 0 0 0 75 33 Potato -0.376 0.793 -2.118 0 0 0 92 34 Pot -1.289 0.957 -0.756 0 180 0 57 35 Bread -0.420 0.995 0.188 0 0 0 75 36 Plate -1.313 1.660 0.231 0 0 0 66 37 Spatula -0.203 0.778 -2.008 0 0 0 92 38 PaperTowelRoll 0.071 1.235 0.618 0 0 0 78 39 Vase 1.057 1.664 -2.200 0 0 0 61 40 Egg 1.845 0.096 0.166 0 0 0 85 41 SoapBottle -0.822 1.131 0.573 0 0 0 78 42 SaltShaker 3.105 0.876 0.114 0 180 0 86 43 Lettuce 1.891 1.175 -0.458 0 270 0 89 44 PepperShaker -1.413 0.909 -0.109 0 0 0 75 45 ButterKnife -1.278 0.913 0.135 0 0 0 75 46 DishSponge 0.563 1.660 -2.124 0 0 0 62 47 Vase -1.379 0.908 -2.267 0 0 0 82 48 Spoon -1.330 0.914 -0.109 0 0 0 75 49 Tomato -0.375 1.181 0.618 0 0 0 78 50 Mug 1.945 0.812 -0.644 0 270 0 89 51 Statue -1.063 0.920 0.135 0 0 0 75 52 Drawer -0.819 0.75 -1.690 0 0 0 53 Cabinet -1.149 2.264 -0.838 0 90 0 54 StoveBurner -1.056 0.949 -0.671 0 180 0 55 Cabinet 1.738 2.019 -2.000 0 0 0 56 Cabinet 1.389 0.469 -1.059 0 0 0 57 StoveBurner -1.289 0.949 -0.755 0 180 0 58 Faucet -0.157 1.052 -2.196 0 270 0 59 Cabinet 1.75 2.019 -1.029 0 0 0 60 Cabinet 1.75 2.019 -1.399 0 0 0 61 Cabinet 1.179 2.019 -2.0 0 0 0 62 Cabinet 0.199 2.019 -2.0 0 0 0 63 Cabinet -1.100 2.019 -2.0 0 0 0 64 Cabinet -1.149 2.019 -1.979 0 0 0 65 Cabinet -1.149 2.019 -0.770 0 0 0 66 Cabinet -1.149 2.019 0.380 0 0 0 67 Cabinet -0.819 0.469 -1.689 0 0 0 68 Cabinet -0.839 0.469 -1.664 0 0 0 69 Cabinet -0.839 0.469 -0.049 0 0 0 70 Cabinet -0.414 0.370 -0.009 0 0 0 71 Sink -0.118 0.875 -2.009 0 0 0 72 StoveBurner -1.289 0.949 -1.019 0 0 0 73 Cabinet 0.119 2.264 -2.0 0 0 0 74 Cabinet -0.459 2.264 -2.0 0 0 0 75 CounterTop -0.665 0.949 0.188 0 0 0 76 Drawer -0.449 0.75 -0.010 0 180 0 77 Cabinet -0.450 0.469 -0.009 0 0 0 78 CounterTop -0.630 1.167 0.573 0 0 0 79 StoveBurner -1.056 0.949 -1.126 0 0 0 80 Cabinet 1.376 0.460 -1.685 0 0 0 81 Drawer -0.070 0.75 -0.009 0 180 0 82 CounterTop 1.159 0.946 -2.013 0 0 0 83 Cabinet -1.150 2.264 -1.418 0 90 0 84 HousePlant -1.246 1.108 0.606 0 0 0 85 GarbageCan 1.923 -0.010 0.137 0 0 0 86 Shelf 2.759 0.880 0.144 0 0 0 87 Microwave 1.827 0.900 -1.354 0 270 0 88 Shelf 2.759 0.552 0.145 0 0 0 89 Fridge 1.975 0.0 -0.537 0 0 0 90 LightSwitch 0.404 1.297 2.0 0 180 0 91 Shelf 2.760 0.172 0.145 0 0 0 92 SinkBasin -0.129 0.752 -2.007 0 0 0 93 StoveKnob -0.873 0.903 -0.827 45 90 0 94 StoveKnob -0.873 0.903 -0.676 45 90 0 95 StoveKnob -0.873 0.903 -0.966 45 90 0 96 StoveKnob -0.873 0.903 -1.123 45 90 0 97 Toaster 0.840 0.900 -2.057 0 0 0 98 CoffeeMachine 0.501 0.900 -2.125 0 0 0 99 ShelvingUnit 2.760 0.006 0.144 0 0 0 100 Stool -0.826 0.010 0.908 0 347.513 0 101 Stool -0.132 0.010 0.883 0 71.555 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: Move to the counter to the right of the sink | STEP 2: Pick up a spoon from the counter | STEP 3: Move to the sink to the left of you | STEP 4: Clean the spoon in the sink | STEP 5: Move to the counter to the left of the stove | STEP 6: Put the spoon in the drawer to the right of sink | END" ]
[ [ "STEP 1: Move to the counter to the right of the sink ", " STEP 2: Pick up a spoon from the counter ", " STEP 3: Move to the sink to the left of you ", " STEP 4: Clean the spoon in the sink ", " STEP 5: Move to the counter to the left of the stove ", " STEP 6: Put the spoon in the drawer to the right of sink ", " END" ] ]
seen
trial_T20190911_081633_704611-3
Place a clean spoon in 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 0.25 0.900 -1.25 0 180 0 1 Statue 2.900 0.886 0.195 0 180 0 86 2 Statue 2.694 0.559 0.090 0 90 0 88 3 Potato -1.413 0.943 -0.353 0 0 0 75 4 DishSponge 0.008 0.913 0.188 0 0 0 75 5 DishSponge -0.577 0.693 0.279 0 180 0 76 6 Pot -1.289 0.957 -1.02 0 0 0 72 7 Spatula -1.157 0.926 -1.469 0 0 0 82 8 Egg 1.910 1.049 -1.402 0 270 0 87 9 Egg 1.891 1.132 -0.830 0 270 0 89 10 Plate -0.049 0.114 0.163 0 180 0 70 11 Knife -0.031 0.786 -2.008 0 0 0 92 12 Tomato 0.055 0.812 -2.063 0 0 0 92 13 Tomato -1.163 0.963 -0.231 0 0 0 75 14 Bowl -1.356 1.655 -1.663 0 0 0 64 15 Bowl 1.836 1.424 -0.365 0 270 0 89 16 PepperShaker -1.404 0.907 -1.806 0 0 0 82 17 Bread -0.152 1.213 0.573 0 0 0 78 18 Lettuce 1.194 0.987 -2.014 0 0 0 82 19 Lettuce 2.000 1.504 -0.551 0 270 0 89 20 Mug 1.419 0.906 -2.183 0 0 0 82 21 Mug 1.910 1.010 -1.192 0 0 0 87 22 Apple 2.002 0.111 0.138 0 0 0 85 23 Apple 1.845 0.111 0.080 0 0 0 85 24 Pan -1.056 0.956 -0.672 0 180 0 54 25 Knife -0.555 0.715 -1.846 0 270 0 52 26 Bowl -1.312 1.657 -0.626 0 0 0 65 27 Fork -0.849 0.914 0.083 0 0 0 75 28 Cup 0.101 0.750 -1.938 0 0 0 92 29 Ladle -0.679 0.728 0.190 0 270 0 76 30 Apple 1.813 1.064 -1.297 0 270 0 87 31 Kettle -1.047 0.953 -2.094 0 0 0 82 32 Vase -0.205 0.915 0.241 0 0 0 75 33 Potato -0.376 0.793 -2.118 0 0 0 92 34 Pot -1.289 0.957 -0.756 0 180 0 57 35 Bread -0.420 0.995 0.188 0 0 0 75 36 Plate -1.313 1.660 0.231 0 0 0 66 37 Spatula -0.203 0.778 -2.008 0 0 0 92 38 PaperTowelRoll 0.071 1.235 0.618 0 0 0 78 39 Vase 1.057 1.664 -2.200 0 0 0 61 40 Egg 1.845 0.096 0.166 0 0 0 85 41 SoapBottle -0.822 1.131 0.573 0 0 0 78 42 SaltShaker 3.105 0.876 0.114 0 180 0 86 43 Lettuce 1.891 1.175 -0.458 0 270 0 89 44 PepperShaker -1.413 0.909 -0.109 0 0 0 75 45 ButterKnife -1.278 0.913 0.135 0 0 0 75 46 DishSponge 0.563 1.660 -2.124 0 0 0 62 47 Vase -1.379 0.908 -2.267 0 0 0 82 48 Spoon -1.330 0.914 -0.109 0 0 0 75 49 Tomato -0.375 1.181 0.618 0 0 0 78 50 Mug 1.945 0.812 -0.644 0 270 0 89 51 Statue -1.063 0.920 0.135 0 0 0 75 52 Drawer -0.819 0.75 -1.690 0 0 0 53 Cabinet -1.149 2.264 -0.838 0 90 0 54 StoveBurner -1.056 0.949 -0.671 0 180 0 55 Cabinet 1.738 2.019 -2.000 0 0 0 56 Cabinet 1.389 0.469 -1.059 0 0 0 57 StoveBurner -1.289 0.949 -0.755 0 180 0 58 Faucet -0.157 1.052 -2.196 0 270 0 59 Cabinet 1.75 2.019 -1.029 0 0 0 60 Cabinet 1.75 2.019 -1.399 0 0 0 61 Cabinet 1.179 2.019 -2.0 0 0 0 62 Cabinet 0.199 2.019 -2.0 0 0 0 63 Cabinet -1.100 2.019 -2.0 0 0 0 64 Cabinet -1.149 2.019 -1.979 0 0 0 65 Cabinet -1.149 2.019 -0.770 0 0 0 66 Cabinet -1.149 2.019 0.380 0 0 0 67 Cabinet -0.819 0.469 -1.689 0 0 0 68 Cabinet -0.839 0.469 -1.664 0 0 0 69 Cabinet -0.839 0.469 -0.049 0 0 0 70 Cabinet -0.414 0.370 -0.009 0 0 0 71 Sink -0.118 0.875 -2.009 0 0 0 72 StoveBurner -1.289 0.949 -1.019 0 0 0 73 Cabinet 0.119 2.264 -2.0 0 0 0 74 Cabinet -0.459 2.264 -2.0 0 0 0 75 CounterTop -0.665 0.949 0.188 0 0 0 76 Drawer -0.449 0.75 -0.010 0 180 0 77 Cabinet -0.450 0.469 -0.009 0 0 0 78 CounterTop -0.630 1.167 0.573 0 0 0 79 StoveBurner -1.056 0.949 -1.126 0 0 0 80 Cabinet 1.376 0.460 -1.685 0 0 0 81 Drawer -0.070 0.75 -0.009 0 180 0 82 CounterTop 1.159 0.946 -2.013 0 0 0 83 Cabinet -1.150 2.264 -1.418 0 90 0 84 HousePlant -1.246 1.108 0.606 0 0 0 85 GarbageCan 1.923 -0.010 0.137 0 0 0 86 Shelf 2.759 0.880 0.144 0 0 0 87 Microwave 1.827 0.900 -1.354 0 270 0 88 Shelf 2.759 0.552 0.145 0 0 0 89 Fridge 1.975 0.0 -0.537 0 0 0 90 LightSwitch 0.404 1.297 2.0 0 180 0 91 Shelf 2.760 0.172 0.145 0 0 0 92 SinkBasin -0.129 0.752 -2.007 0 0 0 93 StoveKnob -0.873 0.903 -0.827 45 90 0 94 StoveKnob -0.873 0.903 -0.676 45 90 0 95 StoveKnob -0.873 0.903 -0.966 45 90 0 96 StoveKnob -0.873 0.903 -1.123 45 90 0 97 Toaster 0.840 0.900 -2.057 0 0 0 98 CoffeeMachine 0.501 0.900 -2.125 0 0 0 99 ShelvingUnit 2.760 0.006 0.144 0 0 0 100 Stool -0.826 0.010 0.908 0 347.513 0 101 Stool -0.132 0.010 0.883 0 71.555 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: Turn around and walk to the counter turn right and walk to the counter to the right of the stove | STEP 2: Pick up the spoon that is sitting on the counter | STEP 3: Turn left and head to the sink | STEP 4: Place the spoon into the sink on top of the knife. Turn on the faucet then turn off the faucet | STEP 5: Pick up the spoon | STEP 6: Turn right and open the drawer that is to the right of the sink. Place the spoon in the drawer then close the drawer. | END" ]
[ [ "STEP 1: Turn around and walk to the counter turn right and walk to the counter to the right of the stove ", " STEP 2: Pick up the spoon that is sitting on the counter ", " STEP 3: Turn left and head to the sink ", " STEP 4: Place the spoon into the sink on top of the knife. Turn on the faucet then turn off the faucet ", " STEP 5: Pick up the spoon ", " STEP 6: Turn right and open the drawer that is to the right of the sink. Place the spoon in the drawer then close the drawer. ", " END" ] ]
seen
trial_T20190911_081633_704611-4
Place a clean spoon 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 0.25 0.900 -1.25 0 180 0 1 Statue 2.900 0.886 0.195 0 180 0 86 2 Statue 2.694 0.559 0.090 0 90 0 88 3 Potato -1.413 0.943 -0.353 0 0 0 75 4 DishSponge 0.008 0.913 0.188 0 0 0 75 5 DishSponge -0.577 0.693 0.279 0 180 0 76 6 Pot -1.289 0.957 -1.02 0 0 0 72 7 Spatula -1.157 0.926 -1.469 0 0 0 82 8 Egg 1.910 1.049 -1.402 0 270 0 87 9 Egg 1.891 1.132 -0.830 0 270 0 89 10 Plate -0.049 0.114 0.163 0 180 0 70 11 Knife -0.031 0.786 -2.008 0 0 0 92 12 Tomato 0.055 0.812 -2.063 0 0 0 92 13 Tomato -1.163 0.963 -0.231 0 0 0 75 14 Bowl -1.356 1.655 -1.663 0 0 0 64 15 Bowl 1.836 1.424 -0.365 0 270 0 89 16 PepperShaker -1.404 0.907 -1.806 0 0 0 82 17 Bread -0.152 1.213 0.573 0 0 0 78 18 Lettuce 1.194 0.987 -2.014 0 0 0 82 19 Lettuce 2.000 1.504 -0.551 0 270 0 89 20 Mug 1.419 0.906 -2.183 0 0 0 82 21 Mug 1.910 1.010 -1.192 0 0 0 87 22 Apple 2.002 0.111 0.138 0 0 0 85 23 Apple 1.845 0.111 0.080 0 0 0 85 24 Pan -1.056 0.956 -0.672 0 180 0 54 25 Knife -0.555 0.715 -1.846 0 270 0 52 26 Bowl -1.312 1.657 -0.626 0 0 0 65 27 Fork -0.849 0.914 0.083 0 0 0 75 28 Cup 0.101 0.750 -1.938 0 0 0 92 29 Ladle -0.679 0.728 0.190 0 270 0 76 30 Apple 1.813 1.064 -1.297 0 270 0 87 31 Kettle -1.047 0.953 -2.094 0 0 0 82 32 Vase -0.205 0.915 0.241 0 0 0 75 33 Potato -0.376 0.793 -2.118 0 0 0 92 34 Pot -1.289 0.957 -0.756 0 180 0 57 35 Bread -0.420 0.995 0.188 0 0 0 75 36 Plate -1.313 1.660 0.231 0 0 0 66 37 Spatula -0.203 0.778 -2.008 0 0 0 92 38 PaperTowelRoll 0.071 1.235 0.618 0 0 0 78 39 Vase 1.057 1.664 -2.200 0 0 0 61 40 Egg 1.845 0.096 0.166 0 0 0 85 41 SoapBottle -0.822 1.131 0.573 0 0 0 78 42 SaltShaker 3.105 0.876 0.114 0 180 0 86 43 Lettuce 1.891 1.175 -0.458 0 270 0 89 44 PepperShaker -1.413 0.909 -0.109 0 0 0 75 45 ButterKnife -1.278 0.913 0.135 0 0 0 75 46 DishSponge 0.563 1.660 -2.124 0 0 0 62 47 Vase -1.379 0.908 -2.267 0 0 0 82 48 Spoon -1.330 0.914 -0.109 0 0 0 75 49 Tomato -0.375 1.181 0.618 0 0 0 78 50 Mug 1.945 0.812 -0.644 0 270 0 89 51 Statue -1.063 0.920 0.135 0 0 0 75 52 Drawer -0.819 0.75 -1.690 0 0 0 53 Cabinet -1.149 2.264 -0.838 0 90 0 54 StoveBurner -1.056 0.949 -0.671 0 180 0 55 Cabinet 1.738 2.019 -2.000 0 0 0 56 Cabinet 1.389 0.469 -1.059 0 0 0 57 StoveBurner -1.289 0.949 -0.755 0 180 0 58 Faucet -0.157 1.052 -2.196 0 270 0 59 Cabinet 1.75 2.019 -1.029 0 0 0 60 Cabinet 1.75 2.019 -1.399 0 0 0 61 Cabinet 1.179 2.019 -2.0 0 0 0 62 Cabinet 0.199 2.019 -2.0 0 0 0 63 Cabinet -1.100 2.019 -2.0 0 0 0 64 Cabinet -1.149 2.019 -1.979 0 0 0 65 Cabinet -1.149 2.019 -0.770 0 0 0 66 Cabinet -1.149 2.019 0.380 0 0 0 67 Cabinet -0.819 0.469 -1.689 0 0 0 68 Cabinet -0.839 0.469 -1.664 0 0 0 69 Cabinet -0.839 0.469 -0.049 0 0 0 70 Cabinet -0.414 0.370 -0.009 0 0 0 71 Sink -0.118 0.875 -2.009 0 0 0 72 StoveBurner -1.289 0.949 -1.019 0 0 0 73 Cabinet 0.119 2.264 -2.0 0 0 0 74 Cabinet -0.459 2.264 -2.0 0 0 0 75 CounterTop -0.665 0.949 0.188 0 0 0 76 Drawer -0.449 0.75 -0.010 0 180 0 77 Cabinet -0.450 0.469 -0.009 0 0 0 78 CounterTop -0.630 1.167 0.573 0 0 0 79 StoveBurner -1.056 0.949 -1.126 0 0 0 80 Cabinet 1.376 0.460 -1.685 0 0 0 81 Drawer -0.070 0.75 -0.009 0 180 0 82 CounterTop 1.159 0.946 -2.013 0 0 0 83 Cabinet -1.150 2.264 -1.418 0 90 0 84 HousePlant -1.246 1.108 0.606 0 0 0 85 GarbageCan 1.923 -0.010 0.137 0 0 0 86 Shelf 2.759 0.880 0.144 0 0 0 87 Microwave 1.827 0.900 -1.354 0 270 0 88 Shelf 2.759 0.552 0.145 0 0 0 89 Fridge 1.975 0.0 -0.537 0 0 0 90 LightSwitch 0.404 1.297 2.0 0 180 0 91 Shelf 2.760 0.172 0.145 0 0 0 92 SinkBasin -0.129 0.752 -2.007 0 0 0 93 StoveKnob -0.873 0.903 -0.827 45 90 0 94 StoveKnob -0.873 0.903 -0.676 45 90 0 95 StoveKnob -0.873 0.903 -0.966 45 90 0 96 StoveKnob -0.873 0.903 -1.123 45 90 0 97 Toaster 0.840 0.900 -2.057 0 0 0 98 CoffeeMachine 0.501 0.900 -2.125 0 0 0 99 ShelvingUnit 2.760 0.006 0.144 0 0 0 100 Stool -0.826 0.010 0.908 0 347.513 0 101 Stool -0.132 0.010 0.883 0 71.555 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: Turn around and walk toward the counter, then turn left and walk to the oven. | STEP 2: Pick up the spoon that is on the counter next to the stovetop. | STEP 3: Turn around and step forward, then turn right and walk to the sink. | STEP 4: Wash the spoon in the sink. | STEP 5: Pick up the spoon out of the sink. | STEP 6: Turn right and open the drawer by the sink and place the spoon inside, then close the drawer. | END" ]
[ [ "STEP 1: Turn around and walk toward the counter, then turn left and walk to the oven. ", " STEP 2: Pick up the spoon that is on the counter next to the stovetop. ", " STEP 3: Turn around and step forward, then turn right and walk to the sink. ", " STEP 4: Wash the spoon in the sink. ", " STEP 5: Pick up the spoon out of the sink. ", " STEP 6: Turn right and open the drawer by the sink and place the spoon inside, then close the drawer. ", " END" ] ]
seen
trial_T20190911_081633_704611-5
Place a washed spoon in 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 0.25 0.900 -1.25 0 180 0 1 Statue 2.900 0.886 0.195 0 180 0 86 2 Statue 2.694 0.559 0.090 0 90 0 88 3 Potato -1.413 0.943 -0.353 0 0 0 75 4 DishSponge 0.008 0.913 0.188 0 0 0 75 5 DishSponge -0.577 0.693 0.279 0 180 0 76 6 Pot -1.289 0.957 -1.02 0 0 0 72 7 Spatula -1.157 0.926 -1.469 0 0 0 82 8 Egg 1.910 1.049 -1.402 0 270 0 87 9 Egg 1.891 1.132 -0.830 0 270 0 89 10 Plate -0.049 0.114 0.163 0 180 0 70 11 Knife -0.031 0.786 -2.008 0 0 0 92 12 Tomato 0.055 0.812 -2.063 0 0 0 92 13 Tomato -1.163 0.963 -0.231 0 0 0 75 14 Bowl -1.356 1.655 -1.663 0 0 0 64 15 Bowl 1.836 1.424 -0.365 0 270 0 89 16 PepperShaker -1.404 0.907 -1.806 0 0 0 82 17 Bread -0.152 1.213 0.573 0 0 0 78 18 Lettuce 1.194 0.987 -2.014 0 0 0 82 19 Lettuce 2.000 1.504 -0.551 0 270 0 89 20 Mug 1.419 0.906 -2.183 0 0 0 82 21 Mug 1.910 1.010 -1.192 0 0 0 87 22 Apple 2.002 0.111 0.138 0 0 0 85 23 Apple 1.845 0.111 0.080 0 0 0 85 24 Pan -1.056 0.956 -0.672 0 180 0 54 25 Knife -0.555 0.715 -1.846 0 270 0 52 26 Bowl -1.312 1.657 -0.626 0 0 0 65 27 Fork -0.849 0.914 0.083 0 0 0 75 28 Cup 0.101 0.750 -1.938 0 0 0 92 29 Ladle -0.679 0.728 0.190 0 270 0 76 30 Apple 1.813 1.064 -1.297 0 270 0 87 31 Kettle -1.047 0.953 -2.094 0 0 0 82 32 Vase -0.205 0.915 0.241 0 0 0 75 33 Potato -0.376 0.793 -2.118 0 0 0 92 34 Pot -1.289 0.957 -0.756 0 180 0 57 35 Bread -0.420 0.995 0.188 0 0 0 75 36 Plate -1.313 1.660 0.231 0 0 0 66 37 Spatula -0.203 0.778 -2.008 0 0 0 92 38 PaperTowelRoll 0.071 1.235 0.618 0 0 0 78 39 Vase 1.057 1.664 -2.200 0 0 0 61 40 Egg 1.845 0.096 0.166 0 0 0 85 41 SoapBottle -0.822 1.131 0.573 0 0 0 78 42 SaltShaker 3.105 0.876 0.114 0 180 0 86 43 Lettuce 1.891 1.175 -0.458 0 270 0 89 44 PepperShaker -1.413 0.909 -0.109 0 0 0 75 45 ButterKnife -1.278 0.913 0.135 0 0 0 75 46 DishSponge 0.563 1.660 -2.124 0 0 0 62 47 Vase -1.379 0.908 -2.267 0 0 0 82 48 Spoon -1.330 0.914 -0.109 0 0 0 75 49 Tomato -0.375 1.181 0.618 0 0 0 78 50 Mug 1.945 0.812 -0.644 0 270 0 89 51 Statue -1.063 0.920 0.135 0 0 0 75 52 Drawer -0.819 0.75 -1.690 0 0 0 53 Cabinet -1.149 2.264 -0.838 0 90 0 54 StoveBurner -1.056 0.949 -0.671 0 180 0 55 Cabinet 1.738 2.019 -2.000 0 0 0 56 Cabinet 1.389 0.469 -1.059 0 0 0 57 StoveBurner -1.289 0.949 -0.755 0 180 0 58 Faucet -0.157 1.052 -2.196 0 270 0 59 Cabinet 1.75 2.019 -1.029 0 0 0 60 Cabinet 1.75 2.019 -1.399 0 0 0 61 Cabinet 1.179 2.019 -2.0 0 0 0 62 Cabinet 0.199 2.019 -2.0 0 0 0 63 Cabinet -1.100 2.019 -2.0 0 0 0 64 Cabinet -1.149 2.019 -1.979 0 0 0 65 Cabinet -1.149 2.019 -0.770 0 0 0 66 Cabinet -1.149 2.019 0.380 0 0 0 67 Cabinet -0.819 0.469 -1.689 0 0 0 68 Cabinet -0.839 0.469 -1.664 0 0 0 69 Cabinet -0.839 0.469 -0.049 0 0 0 70 Cabinet -0.414 0.370 -0.009 0 0 0 71 Sink -0.118 0.875 -2.009 0 0 0 72 StoveBurner -1.289 0.949 -1.019 0 0 0 73 Cabinet 0.119 2.264 -2.0 0 0 0 74 Cabinet -0.459 2.264 -2.0 0 0 0 75 CounterTop -0.665 0.949 0.188 0 0 0 76 Drawer -0.449 0.75 -0.010 0 180 0 77 Cabinet -0.450 0.469 -0.009 0 0 0 78 CounterTop -0.630 1.167 0.573 0 0 0 79 StoveBurner -1.056 0.949 -1.126 0 0 0 80 Cabinet 1.376 0.460 -1.685 0 0 0 81 Drawer -0.070 0.75 -0.009 0 180 0 82 CounterTop 1.159 0.946 -2.013 0 0 0 83 Cabinet -1.150 2.264 -1.418 0 90 0 84 HousePlant -1.246 1.108 0.606 0 0 0 85 GarbageCan 1.923 -0.010 0.137 0 0 0 86 Shelf 2.759 0.880 0.144 0 0 0 87 Microwave 1.827 0.900 -1.354 0 270 0 88 Shelf 2.759 0.552 0.145 0 0 0 89 Fridge 1.975 0.0 -0.537 0 0 0 90 LightSwitch 0.404 1.297 2.0 0 180 0 91 Shelf 2.760 0.172 0.145 0 0 0 92 SinkBasin -0.129 0.752 -2.007 0 0 0 93 StoveKnob -0.873 0.903 -0.827 45 90 0 94 StoveKnob -0.873 0.903 -0.676 45 90 0 95 StoveKnob -0.873 0.903 -0.966 45 90 0 96 StoveKnob -0.873 0.903 -1.123 45 90 0 97 Toaster 0.840 0.900 -2.057 0 0 0 98 CoffeeMachine 0.501 0.900 -2.125 0 0 0 99 ShelvingUnit 2.760 0.006 0.144 0 0 0 100 Stool -0.826 0.010 0.908 0 347.513 0 101 Stool -0.132 0.010 0.883 0 71.555 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: turn to the right twice and go to the counter top and turn to the left and go to the counter top | STEP 2: pick up the spoon from the counter top | STEP 3: turn to the left twice take a few steps and turn to the right and go to the front of the sink | STEP 4: put the spoon in the sink and turn on the water to fill it up and turn off and drain the water and pick up the spoon up from the sink | STEP 5: turn to the right | STEP 6: open the drawer and put the spoon in it and close the drawer | END" ]
[ [ "STEP 1: turn to the right twice and go to the counter top and turn to the left and go to the counter top ", " STEP 2: pick up the spoon from the counter top ", " STEP 3: turn to the left twice take a few steps and turn to the right and go to the front of the sink ", " STEP 4: put the spoon in the sink and turn on the water to fill it up and turn off and drain the water and pick up the spoon up from the sink ", " STEP 5: turn to the right ", " STEP 6: open the drawer and put the spoon in it and close the drawer ", " END" ] ]
seen
trial_T20190907_215724_990630-0
Put a fry pan containing a knife and tomato slice in the refrigerator.
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1.514", " 0.388", " 2.360", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " 0.351", " 0.388", " 2.360", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 2.041", " 1.810", " 0.872", " 0", " 0", " 0", "" ], [ "53", " Drawer", " 2.167", " 0.774", " 0.582", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 2.041", " 2.113", " 0.892", " 0", " 0", " 0", "" ], [ "55", " CounterTop", " 2.060", " 0.973", " 0.583", " 0", " 0", " 0", "" ], [ "56", " Sink", " 0.935", " 0.936", " 2.646", " 0", " 0", " 0", "" ], [ "57", " Curtains", " 0.964", " 2.061", " 2.989", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " 1.863", " 0.929", " 1.106", " 0", " 0", " 0", "" ], [ "59", " Drawer", " 1.911", " 0.774", " 2.060", " 0", " 0", " 0", "" ], [ "60", " StoveKnob", " 2.326", " 1.092", " 1.610", " 288.013", " 90", " 0", "" ], [ "61", " StoveKnob", " 2.326", " 1.092", " 1.460", " 288.013", " 90", " 0", "" ], [ "62", " StoveKnob", " 2.326", " 1.092", " 1.210", " 288.013", " 90", " 0", "" ], [ "63", " StoveKnob", " 2.326", " 1.092", " 1.050", " 288.013", " 90", " 0", "" ], [ "64", " Toaster", " 2.126", " 0.926", " 0.572", " 0", " 270", " 0", "" ], [ "65", " Fridge", " 2.104", " 0.0", " -0.279", " 0", " 270", " 0", "" ], [ "66", " GarbageCan", " -0.309", " -0.001", " -0.807", " 0", " 91.471", " 0", "" ], [ "67", " LightSwitch", " 0.354", " 1.518", " -1.031", " 0", " 0", " 0", "" ], [ "68", " SinkBasin", " 0.903", " 0.784", " 2.640", " 0", " 0", " 0", "" ], [ "69", " Microwave", " -0.310", " 0.926", " 2.077", " 0", " 90", " 0", "" ], [ "70", " CoffeeMachine", " 2.084", " 0.927", " 2.667", " 0", " 225", " 0", "" ], [ "71", " DiningTable", " -0.153", " -0.000", " 1.073", " 0", " 270", " 0", "" ], [ "72", " Faucet", " 1.175", " 0.926", " 2.950", " 270", " 90", " 0", "" ], [ "73", " Faucet", " 0.686", " 0.926", " 2.950", " 270", " 90", " 0", "" ], [ "74", " Chair", " -0.077", " 0.002", " 0.196", " 0", " 15.000", " 0", "" ], [ "75", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "76", " EastWall", 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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 0.901 0.75 0 270 0 1 Potato 1.118 0.835 2.584 0 0 0 68 2 WineBottle -0.119 0.791 0.377 0 0 0 71 3 DishSponge 1.997 0.937 1.964 0 0 0 44 4 DishSponge -0.115 0.080 1.993 0 0 0 43 5 Spatula 0.060 0.952 2.548 0 0 0 44 6 Knife 0.037 0.772 1.925 0 90 0 43 7 Tomato 0.576 0.841 2.750 0 0 0 68 8 Bowl 1.855 1.499 2.767 0 0 0 37 9 PepperShaker 1.840 0.933 0.806 0 270 0 55 10 Bread 2.112 1.371 -0.369 0 270 0 65 11 Bread 2.127 1.567 -0.278 0 270 0 65 12 Mug 2.064 0.989 2.462 0 225 0 70 13 Egg -0.053 0.980 2.897 0 0 0 44 14 Lettuce 2.225 1.000 0.806 0 90 0 55 15 Fork 0.002 0.746 1.993 0 0 0 43 16 SoapBottle -0.042 0.791 1.217 0 0 0 71 17 Ladle 1.941 0.790 0.446 0 90 0 53 18 Ladle 1.919 0.791 2.197 0 270 0 59 19 Bread -0.200 0.824 0.827 0 0 0 71 20 SaltShaker 1.840 0.933 0.435 0 0 0 55 21 Potato 1.556 0.977 2.898 0 0 0 44 22 Pan 2.140 0.935 1.504 0 180 0 39 23 WineBottle 0.033 0.791 0.377 0 0 0 71 24 Spatula -0.349 0.805 1.217 0 180 0 71 25 Knife -0.349 0.816 1.386 0 180 0 71 26 Tomato -0.042 0.837 0.545 0 0 0 71 27 Apple -0.263 0.087 -0.737 0 90 0 66 28 ButterKnife -0.349 0.782 0.713 0 0 0 71 29 Pot 1.854 0.937 1.497 0 0 0 48 30 PepperShaker 2.165 1.498 0.478 0 0 0 42 31 Cup 2.203 1.501 0.388 0 0 0 52 32 DishSponge 2.150 0.937 2.063 0 0 0 44 33 Plate -0.312 0.781 0.409 0 0 0 71 34 Spoon 1.276 0.796 2.64 0 0 0 68 35 Mug -0.167 0.932 2.827 0 0 0 44 36 Bowl 2.207 0.599 -0.007 0 270 0 65 37 Cabinet 2.041 2.113 2.618 0 0 0 38 Cabinet 0.126 0.388 1.774 0 0 0 39 StoveBurner 2.140 0.929 1.504 0 180 0 40 Cabinet 1.760 0.388 2.346 0 0 0 41 Cabinet 1.760 0.388 0.869 0 0 0 42 Cabinet 2.041 1.810 0.283 0 0 0 43 Drawer -0.024 0.774 2.061 0 0 0 44 CounterTop 1.065 0.973 2.666 0 0 0 45 Cabinet 1.969 2.113 2.618 0 0 0 46 StoveBurner 2.140 0.929 1.106 0 0 0 47 Cabinet 2.041 2.113 1.809 0 0 0 48 StoveBurner 1.866 0.929 1.504 0 180 0 49 Cabinet 2.041 2.113 1.766 0 0 0 50 Cabinet 1.514 0.388 2.360 0 0 0 51 Cabinet 0.351 0.388 2.360 0 0 0 52 Cabinet 2.041 1.810 0.872 0 0 0 53 Drawer 2.167 0.774 0.582 0 0 0 54 Cabinet 2.041 2.113 0.892 0 0 0 55 CounterTop 2.060 0.973 0.583 0 0 0 56 Sink 0.935 0.936 2.646 0 0 0 57 Curtains 0.964 2.061 2.989 0 0 0 58 StoveBurner 1.863 0.929 1.106 0 0 0 59 Drawer 1.911 0.774 2.060 0 0 0 60 StoveKnob 2.326 1.092 1.610 288.013 90 0 61 StoveKnob 2.326 1.092 1.460 288.013 90 0 62 StoveKnob 2.326 1.092 1.210 288.013 90 0 63 StoveKnob 2.326 1.092 1.050 288.013 90 0 64 Toaster 2.126 0.926 0.572 0 270 0 65 Fridge 2.104 0.0 -0.279 0 270 0 66 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 67 LightSwitch 0.354 1.518 -1.031 0 0 0 68 SinkBasin 0.903 0.784 2.640 0 0 0 69 Microwave -0.310 0.926 2.077 0 90 0 70 CoffeeMachine 2.084 0.927 2.667 0 225 0 71 DiningTable -0.153 -0.000 1.073 0 270 0 72 Faucet 1.175 0.926 2.950 270 90 0 73 Faucet 0.686 0.926 2.950 270 90 0 74 Chair -0.077 0.002 0.196 0 15.000 0 75 NorthWall 76 EastWall 77 SouthWall 78 WestWall
[ "STEP 1: Move to your right so that you are in front of the right end of the white table, closest to the microwave. | STEP 2: Pick up the knife on the white table to the right of the spatula. | STEP 3: Turn to your right and go to the sink. | STEP 4: Cut the tomato in the sink into slices. | STEP 5: Turn to your right and walk to the stove. | STEP 6: Place the knife in the black pan on the front, right burner of the stove. | STEP 7: Turn to your left and walk back to the sink. | STEP 8: Pick up one of the end slices of the tomato. | STEP 9: Turn to your right and go back to the stove. | STEP 10: Place the tomato in the black pan, to the left of the knife, on the front, left burner of the stove. | STEP 11: Pick up the black pan with the knife and the tomato inside it | STEP 12: Turn to your right to walk to the refrigerator. | STEP 13: Place the black pan with the knife and the tomato inside it inside the refrigerator, on the second shelf. | END" ]
[ [ "STEP 1: Move to your right so that you are in front of the right end of the white table, closest to the microwave. ", " STEP 2: Pick up the knife on the white table to the right of the spatula. ", " STEP 3: Turn to your right and go to the sink. ", " STEP 4: Cut the tomato in the sink into slices. ", " STEP 5: Turn to your right and walk to the stove. ", " STEP 6: Place the knife in the black pan on the front, right burner of the stove. ", " STEP 7: Turn to your left and walk back to the sink. ", " STEP 8: Pick up one of the end slices of the tomato. ", " STEP 9: Turn to your right and go back to the stove. ", " STEP 10: Place the tomato in the black pan, to the left of the knife, on the front, left burner of the stove. ", " STEP 11: Pick up the black pan with the knife and the tomato inside it ", " STEP 12: Turn to your right to walk to the refrigerator. ", " STEP 13: Place the black pan with the knife and the tomato inside it inside the refrigerator, on the second shelf. ", " END" ] ]
seen
trial_T20190907_215724_990630-1
Put a pan holding a knife and a slice of tomato into a refrigerator.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.901 0.75 0 270 0 1 Potato 1.118 0.835 2.584 0 0 0 68 2 WineBottle -0.119 0.791 0.377 0 0 0 71 3 DishSponge 1.997 0.937 1.964 0 0 0 44 4 DishSponge -0.115 0.080 1.993 0 0 0 43 5 Spatula 0.060 0.952 2.548 0 0 0 44 6 Knife 0.037 0.772 1.925 0 90 0 43 7 Tomato 0.576 0.841 2.750 0 0 0 68 8 Bowl 1.855 1.499 2.767 0 0 0 37 9 PepperShaker 1.840 0.933 0.806 0 270 0 55 10 Bread 2.112 1.371 -0.369 0 270 0 65 11 Bread 2.127 1.567 -0.278 0 270 0 65 12 Mug 2.064 0.989 2.462 0 225 0 70 13 Egg -0.053 0.980 2.897 0 0 0 44 14 Lettuce 2.225 1.000 0.806 0 90 0 55 15 Fork 0.002 0.746 1.993 0 0 0 43 16 SoapBottle -0.042 0.791 1.217 0 0 0 71 17 Ladle 1.941 0.790 0.446 0 90 0 53 18 Ladle 1.919 0.791 2.197 0 270 0 59 19 Bread -0.200 0.824 0.827 0 0 0 71 20 SaltShaker 1.840 0.933 0.435 0 0 0 55 21 Potato 1.556 0.977 2.898 0 0 0 44 22 Pan 2.140 0.935 1.504 0 180 0 39 23 WineBottle 0.033 0.791 0.377 0 0 0 71 24 Spatula -0.349 0.805 1.217 0 180 0 71 25 Knife -0.349 0.816 1.386 0 180 0 71 26 Tomato -0.042 0.837 0.545 0 0 0 71 27 Apple -0.263 0.087 -0.737 0 90 0 66 28 ButterKnife -0.349 0.782 0.713 0 0 0 71 29 Pot 1.854 0.937 1.497 0 0 0 48 30 PepperShaker 2.165 1.498 0.478 0 0 0 42 31 Cup 2.203 1.501 0.388 0 0 0 52 32 DishSponge 2.150 0.937 2.063 0 0 0 44 33 Plate -0.312 0.781 0.409 0 0 0 71 34 Spoon 1.276 0.796 2.64 0 0 0 68 35 Mug -0.167 0.932 2.827 0 0 0 44 36 Bowl 2.207 0.599 -0.007 0 270 0 65 37 Cabinet 2.041 2.113 2.618 0 0 0 38 Cabinet 0.126 0.388 1.774 0 0 0 39 StoveBurner 2.140 0.929 1.504 0 180 0 40 Cabinet 1.760 0.388 2.346 0 0 0 41 Cabinet 1.760 0.388 0.869 0 0 0 42 Cabinet 2.041 1.810 0.283 0 0 0 43 Drawer -0.024 0.774 2.061 0 0 0 44 CounterTop 1.065 0.973 2.666 0 0 0 45 Cabinet 1.969 2.113 2.618 0 0 0 46 StoveBurner 2.140 0.929 1.106 0 0 0 47 Cabinet 2.041 2.113 1.809 0 0 0 48 StoveBurner 1.866 0.929 1.504 0 180 0 49 Cabinet 2.041 2.113 1.766 0 0 0 50 Cabinet 1.514 0.388 2.360 0 0 0 51 Cabinet 0.351 0.388 2.360 0 0 0 52 Cabinet 2.041 1.810 0.872 0 0 0 53 Drawer 2.167 0.774 0.582 0 0 0 54 Cabinet 2.041 2.113 0.892 0 0 0 55 CounterTop 2.060 0.973 0.583 0 0 0 56 Sink 0.935 0.936 2.646 0 0 0 57 Curtains 0.964 2.061 2.989 0 0 0 58 StoveBurner 1.863 0.929 1.106 0 0 0 59 Drawer 1.911 0.774 2.060 0 0 0 60 StoveKnob 2.326 1.092 1.610 288.013 90 0 61 StoveKnob 2.326 1.092 1.460 288.013 90 0 62 StoveKnob 2.326 1.092 1.210 288.013 90 0 63 StoveKnob 2.326 1.092 1.050 288.013 90 0 64 Toaster 2.126 0.926 0.572 0 270 0 65 Fridge 2.104 0.0 -0.279 0 270 0 66 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 67 LightSwitch 0.354 1.518 -1.031 0 0 0 68 SinkBasin 0.903 0.784 2.640 0 0 0 69 Microwave -0.310 0.926 2.077 0 90 0 70 CoffeeMachine 2.084 0.927 2.667 0 225 0 71 DiningTable -0.153 -0.000 1.073 0 270 0 72 Faucet 1.175 0.926 2.950 270 90 0 73 Faucet 0.686 0.926 2.950 270 90 0 74 Chair -0.077 0.002 0.196 0 15.000 0 75 NorthWall 76 EastWall 77 SouthWall 78 WestWall
[ "STEP 1: Move to your right and continue to face the white table. | STEP 2: Pick up the yellow-handled knife from the right side of the table. | STEP 3: Turn right and move to the sink. | STEP 4: Slice the tomato that is in the left side of the sink. | STEP 5: Turn right and take the knife to the stove. | STEP 6: Put the knife in the square pan on the stove. | STEP 7: Go back to the sink. | STEP 8: Grab the nearest slice of tomato. | STEP 9: Carry the tomato slice to the stove on your right. | STEP 10: Put the tomato slice next to the knife in the pan. | STEP 11: Pick up the pan. | STEP 12: Turn right, to to the fridge, then turn left to face the fridge. | STEP 13: Put the pan that is holding the knife and tomato slice onto the center of the center shelf of the fridge. | END" ]
[ [ "STEP 1: Move to your right and continue to face the white table. ", " STEP 2: Pick up the yellow-handled knife from the right side of the table. ", " STEP 3: Turn right and move to the sink. ", " STEP 4: Slice the tomato that is in the left side of the sink. ", " STEP 5: Turn right and take the knife to the stove. ", " STEP 6: Put the knife in the square pan on the stove. ", " STEP 7: Go back to the sink. ", " STEP 8: Grab the nearest slice of tomato. ", " STEP 9: Carry the tomato slice to the stove on your right. ", " STEP 10: Put the tomato slice next to the knife in the pan. ", " STEP 11: Pick up the pan. ", " STEP 12: Turn right, to to the fridge, then turn left to face the fridge. ", " STEP 13: Put the pan that is holding the knife and tomato slice onto the center of the center shelf of the fridge. ", " END" ] ]
seen
trial_T20190907_215724_990630-2
drop a pot in the fridge with a tomato slice with a knife in it
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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 0.901 0.75 0 270 0 1 Potato 1.118 0.835 2.584 0 0 0 68 2 WineBottle -0.119 0.791 0.377 0 0 0 71 3 DishSponge 1.997 0.937 1.964 0 0 0 44 4 DishSponge -0.115 0.080 1.993 0 0 0 43 5 Spatula 0.060 0.952 2.548 0 0 0 44 6 Knife 0.037 0.772 1.925 0 90 0 43 7 Tomato 0.576 0.841 2.750 0 0 0 68 8 Bowl 1.855 1.499 2.767 0 0 0 37 9 PepperShaker 1.840 0.933 0.806 0 270 0 55 10 Bread 2.112 1.371 -0.369 0 270 0 65 11 Bread 2.127 1.567 -0.278 0 270 0 65 12 Mug 2.064 0.989 2.462 0 225 0 70 13 Egg -0.053 0.980 2.897 0 0 0 44 14 Lettuce 2.225 1.000 0.806 0 90 0 55 15 Fork 0.002 0.746 1.993 0 0 0 43 16 SoapBottle -0.042 0.791 1.217 0 0 0 71 17 Ladle 1.941 0.790 0.446 0 90 0 53 18 Ladle 1.919 0.791 2.197 0 270 0 59 19 Bread -0.200 0.824 0.827 0 0 0 71 20 SaltShaker 1.840 0.933 0.435 0 0 0 55 21 Potato 1.556 0.977 2.898 0 0 0 44 22 Pan 2.140 0.935 1.504 0 180 0 39 23 WineBottle 0.033 0.791 0.377 0 0 0 71 24 Spatula -0.349 0.805 1.217 0 180 0 71 25 Knife -0.349 0.816 1.386 0 180 0 71 26 Tomato -0.042 0.837 0.545 0 0 0 71 27 Apple -0.263 0.087 -0.737 0 90 0 66 28 ButterKnife -0.349 0.782 0.713 0 0 0 71 29 Pot 1.854 0.937 1.497 0 0 0 48 30 PepperShaker 2.165 1.498 0.478 0 0 0 42 31 Cup 2.203 1.501 0.388 0 0 0 52 32 DishSponge 2.150 0.937 2.063 0 0 0 44 33 Plate -0.312 0.781 0.409 0 0 0 71 34 Spoon 1.276 0.796 2.64 0 0 0 68 35 Mug -0.167 0.932 2.827 0 0 0 44 36 Bowl 2.207 0.599 -0.007 0 270 0 65 37 Cabinet 2.041 2.113 2.618 0 0 0 38 Cabinet 0.126 0.388 1.774 0 0 0 39 StoveBurner 2.140 0.929 1.504 0 180 0 40 Cabinet 1.760 0.388 2.346 0 0 0 41 Cabinet 1.760 0.388 0.869 0 0 0 42 Cabinet 2.041 1.810 0.283 0 0 0 43 Drawer -0.024 0.774 2.061 0 0 0 44 CounterTop 1.065 0.973 2.666 0 0 0 45 Cabinet 1.969 2.113 2.618 0 0 0 46 StoveBurner 2.140 0.929 1.106 0 0 0 47 Cabinet 2.041 2.113 1.809 0 0 0 48 StoveBurner 1.866 0.929 1.504 0 180 0 49 Cabinet 2.041 2.113 1.766 0 0 0 50 Cabinet 1.514 0.388 2.360 0 0 0 51 Cabinet 0.351 0.388 2.360 0 0 0 52 Cabinet 2.041 1.810 0.872 0 0 0 53 Drawer 2.167 0.774 0.582 0 0 0 54 Cabinet 2.041 2.113 0.892 0 0 0 55 CounterTop 2.060 0.973 0.583 0 0 0 56 Sink 0.935 0.936 2.646 0 0 0 57 Curtains 0.964 2.061 2.989 0 0 0 58 StoveBurner 1.863 0.929 1.106 0 0 0 59 Drawer 1.911 0.774 2.060 0 0 0 60 StoveKnob 2.326 1.092 1.610 288.013 90 0 61 StoveKnob 2.326 1.092 1.460 288.013 90 0 62 StoveKnob 2.326 1.092 1.210 288.013 90 0 63 StoveKnob 2.326 1.092 1.050 288.013 90 0 64 Toaster 2.126 0.926 0.572 0 270 0 65 Fridge 2.104 0.0 -0.279 0 270 0 66 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 67 LightSwitch 0.354 1.518 -1.031 0 0 0 68 SinkBasin 0.903 0.784 2.640 0 0 0 69 Microwave -0.310 0.926 2.077 0 90 0 70 CoffeeMachine 2.084 0.927 2.667 0 225 0 71 DiningTable -0.153 -0.000 1.073 0 270 0 72 Faucet 1.175 0.926 2.950 270 90 0 73 Faucet 0.686 0.926 2.950 270 90 0 74 Chair -0.077 0.002 0.196 0 15.000 0 75 NorthWall 76 EastWall 77 SouthWall 78 WestWall
[ "STEP 1: turn right towards the table | STEP 2: pick up the knife on the table | STEP 3: turn right towards the sink | STEP 4: slice the tomato in the sink | STEP 5: turn right towards the pot on the gas | STEP 6: drop the knife in the pot in the gas | STEP 7: turn around towards the sink | STEP 8: pick up the tomato slice | STEP 9: turn around towards the gas | STEP 10: drop the tomato slice in the pot | STEP 11: pick up the pot from the gas | STEP 12: turn right and head for the fridge | STEP 13: drop the pot in the fridge | END" ]
[ [ "STEP 1: turn right towards the table ", " STEP 2: pick up the knife on the table ", " STEP 3: turn right towards the sink ", " STEP 4: slice the tomato in the sink ", " STEP 5: turn right towards the pot on the gas ", " STEP 6: drop the knife in the pot in the gas ", " STEP 7: turn around towards the sink ", " STEP 8: pick up the tomato slice ", " STEP 9: turn around towards the gas ", " STEP 10: drop the tomato slice in the pot ", " STEP 11: pick up the pot from the gas ", " STEP 12: turn right and head for the fridge ", " STEP 13: drop the pot in the fridge ", " END" ] ]
seen
trial_T20190910_090143_488192-0
To cool a potato slice plus place it 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 -0.75 0.900 0.75 0 0 0 1 Pan 1.543 0.909 -0.320 0 90 0 44 2 ButterKnife 0.988 0.910 1.004 0 90 0 41 3 DishSponge 1.775 2.135 1.236 0 0 0 48 4 Fork 0.553 0.911 -1.352 0 90 0 45 5 Fork 1.796 0.911 -1.717 0 0 0 45 6 Spoon 1.865 0.912 -1.460 0 90 0 45 7 Egg 1.706 1.050 -0.729 0 270 0 65 8 Cup 1.917 0.908 0.415 0 90 0 41 9 Knife 0.476 0.943 0.827 0 180 0 41 10 SoapBottle 0.220 0.908 0.739 0 90 0 41 11 Tomato 1.656 0.975 -1.288 0 90 0 45 12 Tomato -0.790 0.810 -1.559 0 0 0 68 13 Bowl 1.805 1.644 -1.724 0 0 0 55 14 SaltShaker 1.355 0.906 -1.264 0 90 0 45 15 SaltShaker 1.935 0.906 -1.717 0 90 0 45 16 PepperShaker 1.770 1.628 -1.046 0 0 0 53 17 Apple 1.183 0.968 -1.247 0 90 0 45 18 Apple 1.501 0.967 1.269 0 90 0 41 19 Plate 1.245 0.912 1.092 0 90 0 41 20 SoapBottle 1.878 2.135 0.805 0 0 0 49 21 Cup -0.644 1.387 -1.664 0 0 0 68 22 Egg 1.529 0.945 0.363 0 90 0 41 23 Fork 1.205 0.752 -1.725 0 0 0 60 24 Ladle 1.201 0.926 0.743 3.354 0 346.985 41 25 Apple 1.739 0.127 1.636 0 270 0 59 26 SaltShaker 1.841 1.630 -1.378 0 0 0 54 27 Pan 1.807 0.909 -0.320 0 180 0 43 28 Tomato 1.245 0.974 0.827 0 90 0 41 29 Spatula 0.732 0.925 0.915 0 180 0 41 30 Potato 0.579 0.9 0.938 0 315 0 41 31 Knife 1.839 0.943 0.518 0 0 0 41 32 ButterKnife 1.656 0.911 -1.631 0 90 0 45 33 Bread 1.615 0.977 0.761 0 50.525 0 41 34 Lettuce 0.856 0.989 1.120 0 270 1.420 41 35 PepperShaker 0.476 0.905 1.269 0 90 0 41 36 Pot 1.548 0.909 0.075 0 180 0 47 37 DishSponge 1.841 1.653 -0.305 0 0 0 52 38 Spoon 1.032 0.761 -1.599 0 0 0 60 39 Bowl 0.193 0.900 1.170 0 0 0 41 40 Mug 0.502 0.940 -1.460 0 0 0 67 41 CounterTop 0.989 0.946 1.016 0 90 0 42 StoveBurner 1.807 0.907 0.075 0 180 0 43 StoveBurner 1.807 0.907 -0.320 0 180 0 44 StoveBurner 1.543 0.907 -0.320 0 90 0 45 CounterTop 0.989 0.946 -1.516 0 90 0 46 Sink 1.100 0.906 -1.599 0 0 0 47 StoveBurner 1.548 0.907 0.075 0 180 0 48 Cabinet 1.658 2.299 1.313 0 0 0 49 Cabinet 1.658 2.299 0.686 0 0 0 50 Cabinet 1.658 2.049 0.673 0 0 0 51 Cabinet 1.658 2.059 0.193 0 0 0 52 Cabinet 1.658 2.059 -0.593 0 0 0 53 Cabinet 1.658 2.049 -0.606 0 0 0 54 Cabinet 1.658 2.049 -1.206 0 0 0 55 Cabinet 1.658 2.049 -1.893 0 0 0 56 Toaster 0.131 0.900 -1.589 0 0 0 57 Window -0.372 1.588 3.349 90 0 0 58 Window 0.782 1.741 -1.893 90 0 0 59 GarbageCan 1.770 -0.029 1.685 0 270 0 60 SinkBasin 1.091 0.740 -1.599 0 0 0 61 StoveKnob 1.364 0.821 0.086 48.421 270 0 62 StoveKnob 1.364 0.821 -0.180 48.421 270 0 63 StoveKnob 1.364 0.821 -0.317 48.421 270 0 64 StoveKnob 1.364 0.821 -0.054 48.421 270 0 65 Microwave 1.752 0.900 -0.843 0 270 0 66 LightSwitch 2.0 1.261 3.094 0 270 0 67 CoffeeMachine 0.501 0.900 -1.600 0 0 0 68 Fridge -0.533 0.0 -1.554 0 0 0 69 Chair 1.068 0.000 1.752 0 191.622 0 70 Faucet 1.110 1.138 -1.764 0 270 0 71 Chair 0.357 0.000 1.710 0 178.899 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Turn right and step forward around the counter and turn left to face it. | STEP 2: Pick up the knife on the counter. | STEP 3: Cut the potato on the counter into slices. | STEP 4: Look up to face the counter. | STEP 5: Place the knife on the counter. | STEP 6: Look up to face the potato on the counter. | STEP 7: Pick up a slice of potato on the counter. | STEP 8: Turn around and step forward to face the fridge. | STEP 9: Cool the potato slice in the fridge and remove it. | STEP 10: Turn around and cross the room, then turn right and cross the room and turn right to face the trash can. | STEP 11: Place the potato slice in the trash can. | END" ]
[ [ "STEP 1: Turn right and step forward around the counter and turn left to face it. ", " STEP 2: Pick up the knife on the counter. ", " STEP 3: Cut the potato on the counter into slices. ", " STEP 4: Look up to face the counter. ", " STEP 5: Place the knife on the counter. ", " STEP 6: Look up to face the potato on the counter. ", " STEP 7: Pick up a slice of potato on the counter. ", " STEP 8: Turn around and step forward to face the fridge. ", " STEP 9: Cool the potato slice in the fridge and remove it. ", " STEP 10: Turn around and cross the room, then turn right and cross the room and turn right to face the trash can. ", " STEP 11: Place the potato slice in the trash can. ", " END" ] ]
seen
trial_T20190910_090143_488192-1
Cool a slice of potato and put it in the bin
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1.656", " 0.975", " -1.288", " 0", " 90", " 0", " 45" ], [ "12", " Tomato", " -0.790", " 0.810", " -1.559", " 0", " 0", " 0", " 68" ], [ "13", " Bowl", " 1.805", " 1.644", " -1.724", " 0", " 0", " 0", " 55" ], [ "14", " SaltShaker", " 1.355", " 0.906", " -1.264", " 0", " 90", " 0", " 45" ], [ "15", " SaltShaker", " 1.935", " 0.906", " -1.717", " 0", " 90", " 0", " 45" ], [ "16", " PepperShaker", " 1.770", " 1.628", " -1.046", " 0", " 0", " 0", " 53" ], [ "17", " Apple", " 1.183", " 0.968", " -1.247", " 0", " 90", " 0", " 45" ], [ "18", " Apple", " 1.501", " 0.967", " 1.269", " 0", " 90", " 0", " 41" ], [ "19", " Plate", " 1.245", " 0.912", " 1.092", " 0", " 90", " 0", " 41" ], [ "20", " SoapBottle", " 1.878", " 2.135", " 0.805", " 0", " 0", " 0", " 49" ], [ "21", " Cup", " -0.644", " 1.387", " -1.664", " 0", " 0", " 0", " 68" ], [ "22", " Egg", " 1.529", " 0.945", " 0.363", " 0", " 90", " 0", " 41" ], [ "23", " Fork", " 1.205", " 0.752", " -1.725", " 0", " 0", " 0", " 60" ], [ "24", " Ladle", " 1.201", " 0.926", " 0.743", " 3.354", " 0", " 346.985", " 41" ], [ "25", " Apple", " 1.739", " 0.127", " 1.636", " 0", " 270", " 0", " 59" ], [ "26", " SaltShaker", " 1.841", " 1.630", " -1.378", " 0", " 0", " 0", " 54" ], [ "27", " Pan", " 1.807", " 0.909", " -0.320", " 0", " 180", " 0", " 43" ], [ "28", " Tomato", " 1.245", " 0.974", " 0.827", " 0", " 90", " 0", " 41" ], [ "29", " Spatula", " 0.732", " 0.925", " 0.915", " 0", " 180", " 0", " 41" ], [ "30", " Potato", " 0.579", " 0.9", " 0.938", " 0", " 315", " 0", " 41" ], [ "31", " Knife", " 1.839", " 0.943", " 0.518", " 0", " 0", " 0", " 41" ], [ "32", " ButterKnife", " 1.656", " 0.911", " -1.631", " 0", " 90", " 0", " 45" ], [ "33", " Bread", " 1.615", " 0.977", " 0.761", " 0", " 50.525", " 0", " 41" ], [ "34", " Lettuce", " 0.856", " 0.989", " 1.120", " 0", " 270", " 1.420", " 41" ], [ "35", " PepperShaker", " 0.476", " 0.905", " 1.269", " 0", " 90", " 0", " 41" ], [ "36", " Pot", " 1.548", " 0.909", " 0.075", " 0", " 180", " 0", " 47" ], [ "37", " DishSponge", " 1.841", " 1.653", " -0.305", " 0", " 0", " 0", " 52" ], [ "38", " Spoon", " 1.032", " 0.761", " -1.599", " 0", " 0", " 0", " 60" ], [ "39", " Bowl", " 0.193", " 0.900", " 1.170", " 0", " 0", " 0", " 41" ], [ "40", " Mug", " 0.502", " 0.940", " -1.460", " 0", " 0", " 0", " 67" ], [ "41", " CounterTop", " 0.989", " 0.946", " 1.016", " 0", " 90", " 0", "" ], [ "42", " StoveBurner", " 1.807", " 0.907", " 0.075", " 0", " 180", " 0", "" ], [ "43", " StoveBurner", " 1.807", " 0.907", " -0.320", " 0", " 180", " 0", "" ], [ "44", " StoveBurner", " 1.543", " 0.907", " -0.320", " 0", " 90", " 0", "" ], [ "45", " CounterTop", " 0.989", " 0.946", " -1.516", " 0", " 90", " 0", "" ], [ "46", " Sink", " 1.100", " 0.906", " -1.599", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " 1.548", " 0.907", " 0.075", " 0", " 180", " 0", "" ], [ "48", " Cabinet", " 1.658", " 2.299", " 1.313", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " 1.658", " 2.299", " 0.686", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " 1.658", " 2.049", " 0.673", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " 1.658", " 2.059", " 0.193", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 1.658", " 2.059", " -0.593", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 1.658", " 2.049", " -0.606", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 1.658", " 2.049", " -1.206", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 1.658", " 2.049", " -1.893", " 0", " 0", " 0", "" ], [ "56", " Toaster", " 0.131", " 0.900", " -1.589", " 0", " 0", " 0", "" ], [ "57", " Window", " -0.372", " 1.588", " 3.349", " 90", " 0", " 0", "" ], [ "58", " Window", " 0.782", " 1.741", " -1.893", " 90", " 0", " 0", "" ], [ "59", " GarbageCan", " 1.770", " -0.029", " 1.685", " 0", " 270", " 0", "" ], [ "60", " SinkBasin", " 1.091", " 0.740", " -1.599", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " 1.364", " 0.821", " 0.086", " 48.421", " 270", " 0", "" ], [ "62", " StoveKnob", " 1.364", " 0.821", " -0.180", " 48.421", " 270", " 0", "" ], [ "63", " StoveKnob", " 1.364", " 0.821", " -0.317", " 48.421", " 270", " 0", "" ], [ "64", " StoveKnob", " 1.364", " 0.821", " -0.054", " 48.421", " 270", " 0", "" ], [ "65", " Microwave", " 1.752", " 0.900", " -0.843", " 0", " 270", " 0", "" ], [ "66", " LightSwitch", " 2.0", " 1.261", " 3.094", " 0", " 270", " 0", "" ], [ "67", " CoffeeMachine", " 0.501", " 0.900", " -1.600", " 0", " 0", " 0", "" ], [ "68", " Fridge", " -0.533", " 0.0", " -1.554", " 0", " 0", " 0", "" ], [ "69", " Chair", " 1.068", " 0.000", " 1.752", " 0", " 191.622", " 0", "" ], [ "70", " Faucet", " 1.110", " 1.138", " -1.764", " 0", " 270", " 0", "" ], [ "71", " Chair", " 0.357", " 0.000", " 1.710", " 0", " 178.899", " 0", "" ], [ "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 -0.75 0.900 0.75 0 0 0 1 Pan 1.543 0.909 -0.320 0 90 0 44 2 ButterKnife 0.988 0.910 1.004 0 90 0 41 3 DishSponge 1.775 2.135 1.236 0 0 0 48 4 Fork 0.553 0.911 -1.352 0 90 0 45 5 Fork 1.796 0.911 -1.717 0 0 0 45 6 Spoon 1.865 0.912 -1.460 0 90 0 45 7 Egg 1.706 1.050 -0.729 0 270 0 65 8 Cup 1.917 0.908 0.415 0 90 0 41 9 Knife 0.476 0.943 0.827 0 180 0 41 10 SoapBottle 0.220 0.908 0.739 0 90 0 41 11 Tomato 1.656 0.975 -1.288 0 90 0 45 12 Tomato -0.790 0.810 -1.559 0 0 0 68 13 Bowl 1.805 1.644 -1.724 0 0 0 55 14 SaltShaker 1.355 0.906 -1.264 0 90 0 45 15 SaltShaker 1.935 0.906 -1.717 0 90 0 45 16 PepperShaker 1.770 1.628 -1.046 0 0 0 53 17 Apple 1.183 0.968 -1.247 0 90 0 45 18 Apple 1.501 0.967 1.269 0 90 0 41 19 Plate 1.245 0.912 1.092 0 90 0 41 20 SoapBottle 1.878 2.135 0.805 0 0 0 49 21 Cup -0.644 1.387 -1.664 0 0 0 68 22 Egg 1.529 0.945 0.363 0 90 0 41 23 Fork 1.205 0.752 -1.725 0 0 0 60 24 Ladle 1.201 0.926 0.743 3.354 0 346.985 41 25 Apple 1.739 0.127 1.636 0 270 0 59 26 SaltShaker 1.841 1.630 -1.378 0 0 0 54 27 Pan 1.807 0.909 -0.320 0 180 0 43 28 Tomato 1.245 0.974 0.827 0 90 0 41 29 Spatula 0.732 0.925 0.915 0 180 0 41 30 Potato 0.579 0.9 0.938 0 315 0 41 31 Knife 1.839 0.943 0.518 0 0 0 41 32 ButterKnife 1.656 0.911 -1.631 0 90 0 45 33 Bread 1.615 0.977 0.761 0 50.525 0 41 34 Lettuce 0.856 0.989 1.120 0 270 1.420 41 35 PepperShaker 0.476 0.905 1.269 0 90 0 41 36 Pot 1.548 0.909 0.075 0 180 0 47 37 DishSponge 1.841 1.653 -0.305 0 0 0 52 38 Spoon 1.032 0.761 -1.599 0 0 0 60 39 Bowl 0.193 0.900 1.170 0 0 0 41 40 Mug 0.502 0.940 -1.460 0 0 0 67 41 CounterTop 0.989 0.946 1.016 0 90 0 42 StoveBurner 1.807 0.907 0.075 0 180 0 43 StoveBurner 1.807 0.907 -0.320 0 180 0 44 StoveBurner 1.543 0.907 -0.320 0 90 0 45 CounterTop 0.989 0.946 -1.516 0 90 0 46 Sink 1.100 0.906 -1.599 0 0 0 47 StoveBurner 1.548 0.907 0.075 0 180 0 48 Cabinet 1.658 2.299 1.313 0 0 0 49 Cabinet 1.658 2.299 0.686 0 0 0 50 Cabinet 1.658 2.049 0.673 0 0 0 51 Cabinet 1.658 2.059 0.193 0 0 0 52 Cabinet 1.658 2.059 -0.593 0 0 0 53 Cabinet 1.658 2.049 -0.606 0 0 0 54 Cabinet 1.658 2.049 -1.206 0 0 0 55 Cabinet 1.658 2.049 -1.893 0 0 0 56 Toaster 0.131 0.900 -1.589 0 0 0 57 Window -0.372 1.588 3.349 90 0 0 58 Window 0.782 1.741 -1.893 90 0 0 59 GarbageCan 1.770 -0.029 1.685 0 270 0 60 SinkBasin 1.091 0.740 -1.599 0 0 0 61 StoveKnob 1.364 0.821 0.086 48.421 270 0 62 StoveKnob 1.364 0.821 -0.180 48.421 270 0 63 StoveKnob 1.364 0.821 -0.317 48.421 270 0 64 StoveKnob 1.364 0.821 -0.054 48.421 270 0 65 Microwave 1.752 0.900 -0.843 0 270 0 66 LightSwitch 2.0 1.261 3.094 0 270 0 67 CoffeeMachine 0.501 0.900 -1.600 0 0 0 68 Fridge -0.533 0.0 -1.554 0 0 0 69 Chair 1.068 0.000 1.752 0 191.622 0 70 Faucet 1.110 1.138 -1.764 0 270 0 71 Chair 0.357 0.000 1.710 0 178.899 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Turn around, go forward a bit, turn left, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Slice the potato on the counter | STEP 4: Move a bit to the right | STEP 5: Put the knife on the counter | STEP 6: Move a bit to the left | STEP 7: Pick up a potato slice from the counter | STEP 8: Turn left, go forward, turn left and go to the fridge | STEP 9: Put the potato slice in the fridge, wait, pick up the potato slice from the fridge | STEP 10: Turn around, go forward, turn right, go forward, turn right and go to the bin | STEP 11: Put the potato slice in the bin | END" ]
[ [ "STEP 1: Turn around, go forward a bit, turn left, go forward, turn left to the counter ", " STEP 2: Pick up the knife on the counter ", " STEP 3: Slice the potato on the counter ", " STEP 4: Move a bit to the right ", " STEP 5: Put the knife on the counter ", " STEP 6: Move a bit to the left ", " STEP 7: Pick up a potato slice from the counter ", " STEP 8: Turn left, go forward, turn left and go to the fridge ", " STEP 9: Put the potato slice in the fridge, wait, pick up the potato slice from the fridge ", " STEP 10: Turn around, go forward, turn right, go forward, turn right and go to the bin ", " STEP 11: Put the potato slice in the bin ", " END" ] ]
seen
trial_T20190910_090143_488192-2
trash a cold potato slice
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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 0.75 0 0 0 1 Pan 1.543 0.909 -0.320 0 90 0 44 2 ButterKnife 0.988 0.910 1.004 0 90 0 41 3 DishSponge 1.775 2.135 1.236 0 0 0 48 4 Fork 0.553 0.911 -1.352 0 90 0 45 5 Fork 1.796 0.911 -1.717 0 0 0 45 6 Spoon 1.865 0.912 -1.460 0 90 0 45 7 Egg 1.706 1.050 -0.729 0 270 0 65 8 Cup 1.917 0.908 0.415 0 90 0 41 9 Knife 0.476 0.943 0.827 0 180 0 41 10 SoapBottle 0.220 0.908 0.739 0 90 0 41 11 Tomato 1.656 0.975 -1.288 0 90 0 45 12 Tomato -0.790 0.810 -1.559 0 0 0 68 13 Bowl 1.805 1.644 -1.724 0 0 0 55 14 SaltShaker 1.355 0.906 -1.264 0 90 0 45 15 SaltShaker 1.935 0.906 -1.717 0 90 0 45 16 PepperShaker 1.770 1.628 -1.046 0 0 0 53 17 Apple 1.183 0.968 -1.247 0 90 0 45 18 Apple 1.501 0.967 1.269 0 90 0 41 19 Plate 1.245 0.912 1.092 0 90 0 41 20 SoapBottle 1.878 2.135 0.805 0 0 0 49 21 Cup -0.644 1.387 -1.664 0 0 0 68 22 Egg 1.529 0.945 0.363 0 90 0 41 23 Fork 1.205 0.752 -1.725 0 0 0 60 24 Ladle 1.201 0.926 0.743 3.354 0 346.985 41 25 Apple 1.739 0.127 1.636 0 270 0 59 26 SaltShaker 1.841 1.630 -1.378 0 0 0 54 27 Pan 1.807 0.909 -0.320 0 180 0 43 28 Tomato 1.245 0.974 0.827 0 90 0 41 29 Spatula 0.732 0.925 0.915 0 180 0 41 30 Potato 0.579 0.9 0.938 0 315 0 41 31 Knife 1.839 0.943 0.518 0 0 0 41 32 ButterKnife 1.656 0.911 -1.631 0 90 0 45 33 Bread 1.615 0.977 0.761 0 50.525 0 41 34 Lettuce 0.856 0.989 1.120 0 270 1.420 41 35 PepperShaker 0.476 0.905 1.269 0 90 0 41 36 Pot 1.548 0.909 0.075 0 180 0 47 37 DishSponge 1.841 1.653 -0.305 0 0 0 52 38 Spoon 1.032 0.761 -1.599 0 0 0 60 39 Bowl 0.193 0.900 1.170 0 0 0 41 40 Mug 0.502 0.940 -1.460 0 0 0 67 41 CounterTop 0.989 0.946 1.016 0 90 0 42 StoveBurner 1.807 0.907 0.075 0 180 0 43 StoveBurner 1.807 0.907 -0.320 0 180 0 44 StoveBurner 1.543 0.907 -0.320 0 90 0 45 CounterTop 0.989 0.946 -1.516 0 90 0 46 Sink 1.100 0.906 -1.599 0 0 0 47 StoveBurner 1.548 0.907 0.075 0 180 0 48 Cabinet 1.658 2.299 1.313 0 0 0 49 Cabinet 1.658 2.299 0.686 0 0 0 50 Cabinet 1.658 2.049 0.673 0 0 0 51 Cabinet 1.658 2.059 0.193 0 0 0 52 Cabinet 1.658 2.059 -0.593 0 0 0 53 Cabinet 1.658 2.049 -0.606 0 0 0 54 Cabinet 1.658 2.049 -1.206 0 0 0 55 Cabinet 1.658 2.049 -1.893 0 0 0 56 Toaster 0.131 0.900 -1.589 0 0 0 57 Window -0.372 1.588 3.349 90 0 0 58 Window 0.782 1.741 -1.893 90 0 0 59 GarbageCan 1.770 -0.029 1.685 0 270 0 60 SinkBasin 1.091 0.740 -1.599 0 0 0 61 StoveKnob 1.364 0.821 0.086 48.421 270 0 62 StoveKnob 1.364 0.821 -0.180 48.421 270 0 63 StoveKnob 1.364 0.821 -0.317 48.421 270 0 64 StoveKnob 1.364 0.821 -0.054 48.421 270 0 65 Microwave 1.752 0.900 -0.843 0 270 0 66 LightSwitch 2.0 1.261 3.094 0 270 0 67 CoffeeMachine 0.501 0.900 -1.600 0 0 0 68 Fridge -0.533 0.0 -1.554 0 0 0 69 Chair 1.068 0.000 1.752 0 191.622 0 70 Faucet 1.110 1.138 -1.764 0 270 0 71 Chair 0.357 0.000 1.710 0 178.899 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: move right to the table | STEP 2: pick up the knife | STEP 3: slice the potato on the table | STEP 4: move right on the table | STEP 5: drop the knife there | STEP 6: move left to the potato | STEP 7: pick up a slice | STEP 8: move left to the fridge | STEP 9: cool the slice in the fridge and take it out | STEP 10: turn around and move to the bin | STEP 11: trash the slice in the bin | END" ]
[ [ "STEP 1: move right to the table ", " STEP 2: pick up the knife ", " STEP 3: slice the potato on the table ", " STEP 4: move right on the table ", " STEP 5: drop the knife there ", " STEP 6: move left to the potato ", " STEP 7: pick up a slice ", " STEP 8: move left to the fridge ", " STEP 9: cool the slice in the fridge and take it out ", " STEP 10: turn around and move to the bin ", " STEP 11: trash the slice in the bin ", " END" ] ]
seen
trial_T20190908_023835_630525-0
Put a pan containing a knife on the table.
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"49", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "53", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "54", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "55", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "56", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "57", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "58", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "59", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "60", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "61", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "62", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "63", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "64", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "65", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "66", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "67", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "68", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "69", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "70", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "71", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "72", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "73", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "74", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "75", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "76", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "77", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.0 0.900 -1.75 0 270 0 1 DishSponge -0.266 0.941 -2.989 0 45 0 35 2 ButterKnife -1.471 0.942 -3.517 0 0 0 35 3 ButterKnife -3.230 0.760 -3.061 0 244.125 0 71 4 Fork -0.394 0.941 -1.450 0 270 0 53 5 Fork -3.882 0.691 -0.308 0 90 0 70 6 Spatula -3.183 0.775 -3.472 0 109.125 0 71 7 Cup -0.164 1.939 -1.844 0 0 0 44 8 Cup -0.245 1.489 -0.297 0 270 0 65 9 Knife -4.062 0.716 -0.430 0 180 0 70 10 Lettuce -3.409 0.851 -2.902 0 199.125 0 71 11 Lettuce -3.789 0.851 -3.424 0 199.125 0 71 12 Mug -4.002 0.686 -0.187 0 0 0 70 13 Apple -2.387 0.161 -3.604 0 0 0 60 14 SoapBottle -0.321 0.940 -2.847 0 0 0 35 15 Pot -0.437 0.961 -1.845 0 180 0 36 16 Fork -0.441 0.931 -1.326 0 0 0 53 17 Cup -0.321 1.489 -0.994 0 270 0 65 18 Tomato -3.612 0.810 -3.486 0 199.125 0 71 19 Pan -0.437 0.961 -2.243 0 0 0 38 20 Plate -0.283 1.502 -0.762 0 270 0 65 21 Bread -3.350 0.841 -3.480 0 109.125 0 71 22 Spatula -1.248 0.957 -3.517 0 0 0 35 23 Knife -3.451 0.785 -3.214 0 289.125 0 71 24 SaltShaker -0.436 0.743 -1.450 0 0 0 39 25 PepperShaker -0.126 1.935 -1.686 0 0 0 44 26 ButterKnife -1.471 0.942 -3.751 0 0 0 35 27 Apple -0.268 1.636 -2.096 0 270 0 67 28 DishSponge -0.509 0.750 -2.846 0 0 0 40 29 Potato -0.568 0.845 -3.182 0 315 0 64 30 Egg -4.242 0.731 -0.430 0 0 0 70 31 Spoon -0.475 0.753 -2.632 0 270 0 40 32 Lettuce -4.122 0.781 -0.430 0 0 0 70 33 Mug -2.514 0.972 -3.649 0 0 0 61 34 Bowl -1.184 0.080 -3.532 0 0 0 50 35 CounterTop -1.937 0.977 -3.673 0 0 0 36 StoveBurner -0.437 0.924 -1.845 0 180 0 37 StoveBurner -0.222 0.924 -1.845 0 180 0 38 StoveBurner -0.437 0.924 -2.243 0 0 0 39 Drawer -0.500 0.779 -1.450 0 0 0 40 Drawer -0.481 0.777 -2.739 0 0 0 41 Drawer -1.154 0.782 -3.499 0 0 0 42 Cabinet -0.337 2.110 -0.390 0 0 0 43 Cabinet -0.337 2.110 -1.272 0 0 0 44 Cabinet -0.337 2.110 -1.631 0 0 0 45 Cabinet -0.337 2.110 -2.497 0 0 0 46 Cabinet -0.337 1.891 -1.286 0 0 0 47 Cabinet -0.346 1.891 -3.293 0 0 0 48 Cabinet -0.629 0.388 -2.513 0 0 0 49 Cabinet -0.633 0.388 -3.008 0 0 0 50 Cabinet -1.010 0.388 -3.368 0 0 0 51 Cabinet -0.629 0.388 -1.614 0 0 0 52 Cabinet -0.327 1.886 -2.513 0 0 0 53 CounterTop -0.326 0.976 -1.450 0 0 0 54 StoveBurner -0.222 0.924 -2.243 0 0 0 55 Sink -0.600 0.929 -3.388 0 0 0 56 StoveKnob -0.617 0.899 -1.833 315 90 180 57 StoveKnob -0.617 0.899 -2.129 315 90 180 58 StoveKnob -0.617 0.899 -2.289 315 90 180 59 StoveKnob -0.617 0.899 -1.975 315 90 180 60 GarbageCan -2.418 -0.032 -3.541 0 0 0 61 CoffeeMachine -2.513 0.930 -3.797 0 0 0 62 Window -1.389 1.610 -4.113 90 0 0 63 LightSwitch -4.372 1.493 -1.031 0 90 0 64 SinkBasin -0.614 0.802 -3.384 0 315 0 65 Fridge -0.314 0.0 -0.646 0 0 0 66 Toaster -1.970 0.930 -3.763 0 0 0 67 Microwave -0.216 1.470 -2.054 0 270 0 68 Blinds -1.373 2.205 -3.961 0 0 0 69 Faucet -0.393 0.930 -3.614 270 225 0 70 SideTable -4.030 0.002 -0.301 0 185.034 0 71 DiningTable -3.586 0.000 -3.258 0 0 0 72 DiningTable -3.224 -0.003 -0.453 0 0 0 73 Shelf -4.030 0.259 -0.301 0 185.034 0 74 Shelf -4.030 0.489 -0.301 0 185.034 0 75 EastWall 76 EastWall 77 SouthWall
[ "STEP 1: Turn around and walk across the kitchen towards the stove, then turn right and go to the counter top above the dishwasher. | STEP 2: Pick up the butter knife near the edge of the counter, above the dishwasher. | STEP 3: Turn around and walk to the stove to your right. | STEP 4: Put the knife in the pan on the front left burner. | STEP 5: Pick up the pan from the stove, with the knife inside it. | STEP 6: Turn around and walk towards the door, then turn left just before the door and go to the table in the corner. | STEP 7: Place the pan with the knife inside, on the right side of the table. | END" ]
[ [ "STEP 1: Turn around and walk across the kitchen towards the stove, then turn right and go to the counter top above the dishwasher. ", " STEP 2: Pick up the butter knife near the edge of the counter, above the dishwasher. ", " STEP 3: Turn around and walk to the stove to your right. ", " STEP 4: Put the knife in the pan on the front left burner. ", " STEP 5: Pick up the pan from the stove, with the knife inside it. ", " STEP 6: Turn around and walk towards the door, then turn left just before the door and go to the table in the corner. ", " STEP 7: Place the pan with the knife inside, on the right side of the table. ", " END" ] ]
seen
trial_T20190908_023835_630525-1
Place a pot with a knife in it on a table.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -4.0", " 0.900", " -1.75", " 0", " 270", " 0", "" ], [ "1", " DishSponge", " -0.266", " 0.941", " -2.989", " 0", " 45", " 0", " 35" ], [ "2", " ButterKnife", " -1.471", " 0.942", " -3.517", " 0", " 0", " 0", " 35" ], [ "3", " ButterKnife", " -3.230", " 0.760", " -3.061", " 0", " 244.125", " 0", " 71" ], [ "4", " Fork", " -0.394", " 0.941", " -1.450", " 0", " 270", " 0", " 53" ], [ "5", " Fork", " -3.882", " 0.691", " -0.308", " 0", " 90", " 0", " 70" ], [ "6", " Spatula", " -3.183", " 0.775", " -3.472", " 0", " 109.125", " 0", " 71" ], [ "7", " Cup", " -0.164", " 1.939", " -1.844", " 0", " 0", " 0", " 44" ], [ "8", " Cup", " -0.245", " 1.489", " -0.297", " 0", " 270", " 0", " 65" ], [ "9", " Knife", " -4.062", " 0.716", " -0.430", " 0", " 180", " 0", " 70" ], [ "10", " Lettuce", " -3.409", " 0.851", " -2.902", " 0", " 199.125", " 0", " 71" ], [ "11", " Lettuce", " -3.789", " 0.851", " -3.424", " 0", " 199.125", " 0", " 71" ], [ "12", " Mug", " -4.002", " 0.686", " -0.187", " 0", " 0", " 0", " 70" ], [ "13", " Apple", " -2.387", " 0.161", " -3.604", " 0", " 0", " 0", " 60" ], [ "14", " SoapBottle", " -0.321", " 0.940", " -2.847", " 0", " 0", " 0", " 35" ], [ "15", " Pot", " -0.437", " 0.961", " -1.845", " 0", " 180", " 0", " 36" ], [ "16", " Fork", " -0.441", " 0.931", " -1.326", " 0", " 0", " 0", " 53" ], [ "17", " Cup", " -0.321", " 1.489", " -0.994", " 0", " 270", " 0", " 65" ], [ "18", " Tomato", " -3.612", " 0.810", " -3.486", " 0", " 199.125", " 0", " 71" ], [ "19", " Pan", " -0.437", " 0.961", " -2.243", " 0", " 0", " 0", " 38" ], [ "20", " Plate", " -0.283", " 1.502", " -0.762", " 0", " 270", " 0", " 65" ], [ "21", " Bread", " -3.350", " 0.841", " -3.480", " 0", " 109.125", " 0", " 71" ], [ "22", " Spatula", " -1.248", " 0.957", " -3.517", " 0", " 0", " 0", " 35" ], [ "23", " Knife", " -3.451", " 0.785", " -3.214", " 0", " 289.125", " 0", " 71" ], [ "24", " SaltShaker", " -0.436", " 0.743", " -1.450", " 0", " 0", " 0", " 39" ], [ "25", " PepperShaker", " -0.126", " 1.935", " -1.686", " 0", " 0", " 0", " 44" ], [ "26", " ButterKnife", " -1.471", " 0.942", " -3.751", " 0", " 0", " 0", " 35" ], [ "27", " Apple", " -0.268", " 1.636", " -2.096", " 0", " 270", " 0", " 67" ], [ "28", " DishSponge", " -0.509", " 0.750", " -2.846", " 0", " 0", " 0", " 40" ], [ "29", " Potato", " -0.568", " 0.845", " -3.182", " 0", " 315", " 0", " 64" ], [ "30", " Egg", " -4.242", " 0.731", " -0.430", " 0", " 0", " 0", " 70" ], [ "31", " Spoon", " -0.475", " 0.753", " -2.632", " 0", " 270", " 0", " 40" ], [ "32", " Lettuce", " -4.122", " 0.781", " -0.430", " 0", " 0", " 0", " 70" ], [ "33", " Mug", " -2.514", " 0.972", " -3.649", " 0", " 0", " 0", " 61" ], [ "34", " Bowl", " -1.184", " 0.080", " -3.532", " 0", " 0", " 0", " 50" ], [ "35", " CounterTop", " -1.937", " 0.977", " -3.673", " 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 -4.0 0.900 -1.75 0 270 0 1 DishSponge -0.266 0.941 -2.989 0 45 0 35 2 ButterKnife -1.471 0.942 -3.517 0 0 0 35 3 ButterKnife -3.230 0.760 -3.061 0 244.125 0 71 4 Fork -0.394 0.941 -1.450 0 270 0 53 5 Fork -3.882 0.691 -0.308 0 90 0 70 6 Spatula -3.183 0.775 -3.472 0 109.125 0 71 7 Cup -0.164 1.939 -1.844 0 0 0 44 8 Cup -0.245 1.489 -0.297 0 270 0 65 9 Knife -4.062 0.716 -0.430 0 180 0 70 10 Lettuce -3.409 0.851 -2.902 0 199.125 0 71 11 Lettuce -3.789 0.851 -3.424 0 199.125 0 71 12 Mug -4.002 0.686 -0.187 0 0 0 70 13 Apple -2.387 0.161 -3.604 0 0 0 60 14 SoapBottle -0.321 0.940 -2.847 0 0 0 35 15 Pot -0.437 0.961 -1.845 0 180 0 36 16 Fork -0.441 0.931 -1.326 0 0 0 53 17 Cup -0.321 1.489 -0.994 0 270 0 65 18 Tomato -3.612 0.810 -3.486 0 199.125 0 71 19 Pan -0.437 0.961 -2.243 0 0 0 38 20 Plate -0.283 1.502 -0.762 0 270 0 65 21 Bread -3.350 0.841 -3.480 0 109.125 0 71 22 Spatula -1.248 0.957 -3.517 0 0 0 35 23 Knife -3.451 0.785 -3.214 0 289.125 0 71 24 SaltShaker -0.436 0.743 -1.450 0 0 0 39 25 PepperShaker -0.126 1.935 -1.686 0 0 0 44 26 ButterKnife -1.471 0.942 -3.751 0 0 0 35 27 Apple -0.268 1.636 -2.096 0 270 0 67 28 DishSponge -0.509 0.750 -2.846 0 0 0 40 29 Potato -0.568 0.845 -3.182 0 315 0 64 30 Egg -4.242 0.731 -0.430 0 0 0 70 31 Spoon -0.475 0.753 -2.632 0 270 0 40 32 Lettuce -4.122 0.781 -0.430 0 0 0 70 33 Mug -2.514 0.972 -3.649 0 0 0 61 34 Bowl -1.184 0.080 -3.532 0 0 0 50 35 CounterTop -1.937 0.977 -3.673 0 0 0 36 StoveBurner -0.437 0.924 -1.845 0 180 0 37 StoveBurner -0.222 0.924 -1.845 0 180 0 38 StoveBurner -0.437 0.924 -2.243 0 0 0 39 Drawer -0.500 0.779 -1.450 0 0 0 40 Drawer -0.481 0.777 -2.739 0 0 0 41 Drawer -1.154 0.782 -3.499 0 0 0 42 Cabinet -0.337 2.110 -0.390 0 0 0 43 Cabinet -0.337 2.110 -1.272 0 0 0 44 Cabinet -0.337 2.110 -1.631 0 0 0 45 Cabinet -0.337 2.110 -2.497 0 0 0 46 Cabinet -0.337 1.891 -1.286 0 0 0 47 Cabinet -0.346 1.891 -3.293 0 0 0 48 Cabinet -0.629 0.388 -2.513 0 0 0 49 Cabinet -0.633 0.388 -3.008 0 0 0 50 Cabinet -1.010 0.388 -3.368 0 0 0 51 Cabinet -0.629 0.388 -1.614 0 0 0 52 Cabinet -0.327 1.886 -2.513 0 0 0 53 CounterTop -0.326 0.976 -1.450 0 0 0 54 StoveBurner -0.222 0.924 -2.243 0 0 0 55 Sink -0.600 0.929 -3.388 0 0 0 56 StoveKnob -0.617 0.899 -1.833 315 90 180 57 StoveKnob -0.617 0.899 -2.129 315 90 180 58 StoveKnob -0.617 0.899 -2.289 315 90 180 59 StoveKnob -0.617 0.899 -1.975 315 90 180 60 GarbageCan -2.418 -0.032 -3.541 0 0 0 61 CoffeeMachine -2.513 0.930 -3.797 0 0 0 62 Window -1.389 1.610 -4.113 90 0 0 63 LightSwitch -4.372 1.493 -1.031 0 90 0 64 SinkBasin -0.614 0.802 -3.384 0 315 0 65 Fridge -0.314 0.0 -0.646 0 0 0 66 Toaster -1.970 0.930 -3.763 0 0 0 67 Microwave -0.216 1.470 -2.054 0 270 0 68 Blinds -1.373 2.205 -3.961 0 0 0 69 Faucet -0.393 0.930 -3.614 270 225 0 70 SideTable -4.030 0.002 -0.301 0 185.034 0 71 DiningTable -3.586 0.000 -3.258 0 0 0 72 DiningTable -3.224 -0.003 -0.453 0 0 0 73 Shelf -4.030 0.259 -0.301 0 185.034 0 74 Shelf -4.030 0.489 -0.301 0 185.034 0 75 EastWall 76 EastWall 77 SouthWall
[ "STEP 1: Turn around and veer right to the counter to the left of the toaster. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and veer right to the stove. | STEP 4: Place the knife in the pot on the stove. | STEP 5: Pick up the pot. | STEP 6: Turn around and veer left to the round black table in the corner. | STEP 7: Place the pot on the table next to the wall. | END" ]
[ [ "STEP 1: Turn around and veer right to the counter to the left of the toaster. ", " STEP 2: Pick up the knife on the counter. ", " STEP 3: Turn around and veer right to the stove. ", " STEP 4: Place the knife in the pot on the stove. ", " STEP 5: Pick up the pot. ", " STEP 6: Turn around and veer left to the round black table in the corner. ", " STEP 7: Place the pot on the table next to the wall. ", " END" ] ]
seen
trial_T20190908_023835_630525-2
Put the pot with knife 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 -4.0 0.900 -1.75 0 270 0 1 DishSponge -0.266 0.941 -2.989 0 45 0 35 2 ButterKnife -1.471 0.942 -3.517 0 0 0 35 3 ButterKnife -3.230 0.760 -3.061 0 244.125 0 71 4 Fork -0.394 0.941 -1.450 0 270 0 53 5 Fork -3.882 0.691 -0.308 0 90 0 70 6 Spatula -3.183 0.775 -3.472 0 109.125 0 71 7 Cup -0.164 1.939 -1.844 0 0 0 44 8 Cup -0.245 1.489 -0.297 0 270 0 65 9 Knife -4.062 0.716 -0.430 0 180 0 70 10 Lettuce -3.409 0.851 -2.902 0 199.125 0 71 11 Lettuce -3.789 0.851 -3.424 0 199.125 0 71 12 Mug -4.002 0.686 -0.187 0 0 0 70 13 Apple -2.387 0.161 -3.604 0 0 0 60 14 SoapBottle -0.321 0.940 -2.847 0 0 0 35 15 Pot -0.437 0.961 -1.845 0 180 0 36 16 Fork -0.441 0.931 -1.326 0 0 0 53 17 Cup -0.321 1.489 -0.994 0 270 0 65 18 Tomato -3.612 0.810 -3.486 0 199.125 0 71 19 Pan -0.437 0.961 -2.243 0 0 0 38 20 Plate -0.283 1.502 -0.762 0 270 0 65 21 Bread -3.350 0.841 -3.480 0 109.125 0 71 22 Spatula -1.248 0.957 -3.517 0 0 0 35 23 Knife -3.451 0.785 -3.214 0 289.125 0 71 24 SaltShaker -0.436 0.743 -1.450 0 0 0 39 25 PepperShaker -0.126 1.935 -1.686 0 0 0 44 26 ButterKnife -1.471 0.942 -3.751 0 0 0 35 27 Apple -0.268 1.636 -2.096 0 270 0 67 28 DishSponge -0.509 0.750 -2.846 0 0 0 40 29 Potato -0.568 0.845 -3.182 0 315 0 64 30 Egg -4.242 0.731 -0.430 0 0 0 70 31 Spoon -0.475 0.753 -2.632 0 270 0 40 32 Lettuce -4.122 0.781 -0.430 0 0 0 70 33 Mug -2.514 0.972 -3.649 0 0 0 61 34 Bowl -1.184 0.080 -3.532 0 0 0 50 35 CounterTop -1.937 0.977 -3.673 0 0 0 36 StoveBurner -0.437 0.924 -1.845 0 180 0 37 StoveBurner -0.222 0.924 -1.845 0 180 0 38 StoveBurner -0.437 0.924 -2.243 0 0 0 39 Drawer -0.500 0.779 -1.450 0 0 0 40 Drawer -0.481 0.777 -2.739 0 0 0 41 Drawer -1.154 0.782 -3.499 0 0 0 42 Cabinet -0.337 2.110 -0.390 0 0 0 43 Cabinet -0.337 2.110 -1.272 0 0 0 44 Cabinet -0.337 2.110 -1.631 0 0 0 45 Cabinet -0.337 2.110 -2.497 0 0 0 46 Cabinet -0.337 1.891 -1.286 0 0 0 47 Cabinet -0.346 1.891 -3.293 0 0 0 48 Cabinet -0.629 0.388 -2.513 0 0 0 49 Cabinet -0.633 0.388 -3.008 0 0 0 50 Cabinet -1.010 0.388 -3.368 0 0 0 51 Cabinet -0.629 0.388 -1.614 0 0 0 52 Cabinet -0.327 1.886 -2.513 0 0 0 53 CounterTop -0.326 0.976 -1.450 0 0 0 54 StoveBurner -0.222 0.924 -2.243 0 0 0 55 Sink -0.600 0.929 -3.388 0 0 0 56 StoveKnob -0.617 0.899 -1.833 315 90 180 57 StoveKnob -0.617 0.899 -2.129 315 90 180 58 StoveKnob -0.617 0.899 -2.289 315 90 180 59 StoveKnob -0.617 0.899 -1.975 315 90 180 60 GarbageCan -2.418 -0.032 -3.541 0 0 0 61 CoffeeMachine -2.513 0.930 -3.797 0 0 0 62 Window -1.389 1.610 -4.113 90 0 0 63 LightSwitch -4.372 1.493 -1.031 0 90 0 64 SinkBasin -0.614 0.802 -3.384 0 315 0 65 Fridge -0.314 0.0 -0.646 0 0 0 66 Toaster -1.970 0.930 -3.763 0 0 0 67 Microwave -0.216 1.470 -2.054 0 270 0 68 Blinds -1.373 2.205 -3.961 0 0 0 69 Faucet -0.393 0.930 -3.614 270 225 0 70 SideTable -4.030 0.002 -0.301 0 185.034 0 71 DiningTable -3.586 0.000 -3.258 0 0 0 72 DiningTable -3.224 -0.003 -0.453 0 0 0 73 Shelf -4.030 0.259 -0.301 0 185.034 0 74 Shelf -4.030 0.489 -0.301 0 185.034 0 75 EastWall 76 EastWall 77 SouthWall
[ "STEP 1: Turn to your left walk forward then turn right head to the counter top beside the toaster | STEP 2: Pick up the knife on the counter top beside the toaster | STEP 3: Turn to your left then walk forward turn right on the stove | STEP 4: Put the knife in the pot on the stove | STEP 5: Pick up the pot with knife | STEP 6: Turn to your right walk forward then turn left facing the table | STEP 7: Put the pot with knife on the far right of the table | END" ]
[ [ "STEP 1: Turn to your left walk forward then turn right head to the counter top beside the toaster ", " STEP 2: Pick up the knife on the counter top beside the toaster ", " STEP 3: Turn to your left then walk forward turn right on the stove ", " STEP 4: Put the knife in the pot on the stove ", " STEP 5: Pick up the pot with knife ", " STEP 6: Turn to your right walk forward then turn left facing the table ", " STEP 7: Put the pot with knife on the far right of the table ", " END" ] ]
seen
trial_T20190908_014605_844197-0
Move two pencils to the top drawer of the nightstand.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " 0.0", " 0", " 90", " 0", "" ], [ "1", " CellPhone", " -1.309", " 0.508", " -0.629", " 0", " 0", " 0", " 20" ], [ "2", " Pen", " 2.158", " 1.144", " -1.579", " 0", " 0", " 0", " 38" ], [ "3", " Pencil", " 0.152", " 0.650", " -1.744", " 0", " 0", " 0", " 29" ], [ "4", " CreditCard", " 0.221", " 0.647", " -1.664", " 0", " 0", " 0", " 29" ], [ "5", " CreditCard", " 0.052", " 0.377", " -1.634", " 0", " 180", " 0", " 27" ], [ "6", " Book", " -0.475", " 0.507", " -0.143", " 0", " 0", " 0", " 20" ], [ "7", " AlarmClock", " 1.964", " 0.778", " -1.719", " 0", " 0", " 0", " 35" ], [ "8", " Book", " -1.142", " 0.507", " -1.359", " 0", " 0", " 0", " 20" ], [ "9", " Pencil", " 1.686", " 0.752", " -1.395", " 0", " 0", " 0", " 31" ], [ "10", " BasketBall", " 1.144", " 0.120", " -1.656", " 0", " 23.931", " 0", " Floor|-00.24|" ], [ "11", " Laptop", " -0.642", " 0.505", " -1.115", " 0", " 0", " 0", " 20" ], [ "12", " Pen", " 1.562", " 0.071", " -1.324", " 0", " 0", " 0", " 37" ], [ "13", " KeyChain", " 2.179", " 0.749", " -1.318", " 0", " 0", " 0", " 31" ], [ "14", " CreditCard", " 2.343", " 0.748", " -1.433", " 0", " 0", " 0", " 31" ], [ "15", " CellPhone", " 1.546", " 1.139", " -1.649", " 0", " 0", " 0", " 39" ], [ "16", " CD", " 2.661", " 0.045", " 1.303", " 0", " 0", " 0", " 22" ], [ "17", " AlarmClock", " 2.158", " 0.778", " -1.614", " 0", " 0", " 0", " 35" ], [ "18", " Pillow", " -1.142", " 0.588", " -0.872", " 0", " 0", " 0", " 20" ], [ "19", " Chair", " 2.161", " 0.008", " -1.129", " 0", " 256.825", " 0", "" ], [ "20", " Bed", " -0.809", " 0.010", " -0.891", " 0", " 180", " 0", "" ], [ "21", " DeskLamp", " 0.047", " 0.668", " -1.761", " 0", " 0", " 0", "" ], [ "22", " GarbageCan", " 2.657", " -0.021", " 1.275", " 0", " 0", " 0", "" ], [ "23", " Mirror", " 2.821", " 1.764", " -0.068", " 0", " 90", " 0", "" ], [ "24", " Window", " -1.677", " 1.402", " 0.365", " 90", " 270", " 0", "" ], [ "25", " LightSwitch", " -0.606", " 1.253", " 1.435", " 0", " 180", " 0", "" ], [ "26", " Shelf", " 2.025", " 1.440", " -1.730", " 0", " 0", " 0", "" ], [ "27", " Drawer", " 0.187", " 0.455", " -1.577", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 0.187", " 0.163", " -1.577", " 0", " 0", " 0", "" ], [ "29", " SideTable", " 0.186", " -0.001", " -1.643", " 0", " 0", " 0", "" ], [ "30", " Dumbbell", " 1.576", " 0.083", " -1.563", " 0", " 0", " 0", "" ], [ "31", " Desk", " 2.017", " 0.000", " -1.578", " 0", " 0", " 0", "" ], [ "32", " GarbageBag", " 0.806", " 0.318", " 1.143", " 270", " 186.178", " 83.264", "" ], [ "33", " Shelf", " 1.570", " 0.415", " -1.563", " 0", " 0", " 0", "" ], [ "34", " Shelf", " 1.612", " 0.945", " -1.744", " 0", " 0", " 0", "" ], [ "35", " Shelf", " 2.265", " 0.941", " -1.722", " 0", " 0", " 0", "" ], [ "36", " Shelf", " 1.572", " 0.630", " -1.563", " 0", " 0", " 0", "" ], [ "37", " Shelf", " 1.569", " 0.172", " -1.563", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 2.267", " 1.248", " -1.722", " 0", " 0", " 0", "" ], [ "39", " Shelf", " 1.614", " 1.252", " -1.745", " 0", " 0", " 0", "" ], [ "40", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 0.0 0 90 0 1 CellPhone -1.309 0.508 -0.629 0 0 0 20 2 Pen 2.158 1.144 -1.579 0 0 0 38 3 Pencil 0.152 0.650 -1.744 0 0 0 29 4 CreditCard 0.221 0.647 -1.664 0 0 0 29 5 CreditCard 0.052 0.377 -1.634 0 180 0 27 6 Book -0.475 0.507 -0.143 0 0 0 20 7 AlarmClock 1.964 0.778 -1.719 0 0 0 35 8 Book -1.142 0.507 -1.359 0 0 0 20 9 Pencil 1.686 0.752 -1.395 0 0 0 31 10 BasketBall 1.144 0.120 -1.656 0 23.931 0 Floor|-00.24| 11 Laptop -0.642 0.505 -1.115 0 0 0 20 12 Pen 1.562 0.071 -1.324 0 0 0 37 13 KeyChain 2.179 0.749 -1.318 0 0 0 31 14 CreditCard 2.343 0.748 -1.433 0 0 0 31 15 CellPhone 1.546 1.139 -1.649 0 0 0 39 16 CD 2.661 0.045 1.303 0 0 0 22 17 AlarmClock 2.158 0.778 -1.614 0 0 0 35 18 Pillow -1.142 0.588 -0.872 0 0 0 20 19 Chair 2.161 0.008 -1.129 0 256.825 0 20 Bed -0.809 0.010 -0.891 0 180 0 21 DeskLamp 0.047 0.668 -1.761 0 0 0 22 GarbageCan 2.657 -0.021 1.275 0 0 0 23 Mirror 2.821 1.764 -0.068 0 90 0 24 Window -1.677 1.402 0.365 90 270 0 25 LightSwitch -0.606 1.253 1.435 0 180 0 26 Shelf 2.025 1.440 -1.730 0 0 0 27 Drawer 0.187 0.455 -1.577 0 0 0 28 Drawer 0.187 0.163 -1.577 0 0 0 29 SideTable 0.186 -0.001 -1.643 0 0 0 30 Dumbbell 1.576 0.083 -1.563 0 0 0 31 Desk 2.017 0.000 -1.578 0 0 0 32 GarbageBag 0.806 0.318 1.143 270 186.178 83.264 33 Shelf 1.570 0.415 -1.563 0 0 0 34 Shelf 1.612 0.945 -1.744 0 0 0 35 Shelf 2.265 0.941 -1.722 0 0 0 36 Shelf 1.572 0.630 -1.563 0 0 0 37 Shelf 1.569 0.172 -1.563 0 0 0 38 Shelf 2.267 1.248 -1.722 0 0 0 39 Shelf 1.614 1.252 -1.745 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Move to stand in front of the right end of the desk, which is to your right. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and carry the pencil to stand in front of the nightstand with the lamp next to the bed. | STEP 4: Open the top drawer of the nightstand and place the pencil inside. | STEP 5: Move closer to the nightstand. | STEP 6: Pick up the pencil by the lamp on the nightstand. | STEP 7: Back up from the nightstand, so you have room to open the drawer. | STEP 8: Open the top drawer, and place the pencil inside. | END" ]
[ [ "STEP 1: Move to stand in front of the right end of the desk, which is to your right. ", " STEP 2: Pick up the pencil from the desk. ", " STEP 3: Turn around and carry the pencil to stand in front of the nightstand with the lamp next to the bed. ", " STEP 4: Open the top drawer of the nightstand and place the pencil inside. ", " STEP 5: Move closer to the nightstand. ", " STEP 6: Pick up the pencil by the lamp on the nightstand. ", " STEP 7: Back up from the nightstand, so you have room to open the drawer. ", " STEP 8: Open the top drawer, and place the pencil inside. ", " END" ] ]
seen
trial_T20190908_014605_844197-1
Putting two pencils in a drawer on the nightstand
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " 0.0", " 0", " 90", " 0", "" ], [ "1", " CellPhone", " -1.309", " 0.508", " -0.629", " 0", " 0", " 0", " 20" ], [ "2", " Pen", " 2.158", " 1.144", " -1.579", " 0", " 0", " 0", " 38" ], [ "3", " Pencil", " 0.152", " 0.650", " -1.744", " 0", " 0", " 0", " 29" ], [ "4", " CreditCard", " 0.221", " 0.647", " -1.664", " 0", " 0", " 0", " 29" ], [ "5", " CreditCard", " 0.052", " 0.377", " -1.634", " 0", " 180", " 0", " 27" ], [ "6", " Book", " -0.475", " 0.507", " -0.143", " 0", " 0", " 0", " 20" ], [ "7", " AlarmClock", " 1.964", " 0.778", " -1.719", " 0", " 0", " 0", " 35" ], [ "8", " Book", " -1.142", " 0.507", " -1.359", " 0", " 0", " 0", " 20" ], [ "9", " Pencil", " 1.686", " 0.752", " -1.395", " 0", " 0", " 0", " 31" ], [ "10", " BasketBall", " 1.144", " 0.120", " -1.656", " 0", " 23.931", " 0", " Floor|-00.24|" ], [ "11", " Laptop", " -0.642", " 0.505", " -1.115", " 0", " 0", " 0", " 20" ], [ "12", " Pen", " 1.562", " 0.071", " -1.324", " 0", " 0", " 0", " 37" ], [ "13", " KeyChain", " 2.179", " 0.749", " -1.318", " 0", " 0", " 0", " 31" ], [ "14", " CreditCard", " 2.343", " 0.748", " -1.433", " 0", " 0", " 0", " 31" ], [ "15", " CellPhone", " 1.546", " 1.139", " -1.649", " 0", " 0", " 0", " 39" ], [ "16", " CD", " 2.661", " 0.045", " 1.303", " 0", " 0", " 0", " 22" ], [ "17", " AlarmClock", " 2.158", " 0.778", " -1.614", " 0", " 0", " 0", " 35" ], [ "18", " Pillow", " -1.142", " 0.588", " -0.872", " 0", " 0", " 0", " 20" ], [ "19", " Chair", " 2.161", " 0.008", " -1.129", " 0", " 256.825", " 0", "" ], [ "20", " Bed", " -0.809", " 0.010", " -0.891", " 0", " 180", " 0", "" ], [ "21", " DeskLamp", " 0.047", " 0.668", " -1.761", " 0", " 0", " 0", "" ], [ "22", " GarbageCan", " 2.657", " -0.021", " 1.275", " 0", " 0", " 0", "" ], [ "23", " Mirror", " 2.821", " 1.764", " -0.068", " 0", " 90", " 0", "" ], [ "24", " Window", " -1.677", " 1.402", " 0.365", " 90", " 270", " 0", "" ], [ "25", " LightSwitch", " -0.606", " 1.253", " 1.435", " 0", " 180", " 0", "" ], [ "26", " Shelf", " 2.025", " 1.440", " -1.730", " 0", " 0", " 0", "" ], [ "27", " Drawer", " 0.187", " 0.455", " -1.577", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 0.187", " 0.163", " -1.577", " 0", " 0", " 0", "" ], [ "29", " SideTable", " 0.186", " -0.001", " -1.643", " 0", " 0", " 0", "" ], [ "30", " Dumbbell", " 1.576", " 0.083", " -1.563", " 0", " 0", " 0", "" ], [ "31", " Desk", " 2.017", " 0.000", " -1.578", " 0", " 0", " 0", "" ], [ "32", " GarbageBag", " 0.806", " 0.318", " 1.143", " 270", " 186.178", " 83.264", "" ], [ "33", " Shelf", " 1.570", " 0.415", " -1.563", " 0", " 0", " 0", "" ], [ "34", " Shelf", " 1.612", " 0.945", " -1.744", " 0", " 0", " 0", "" ], [ "35", " Shelf", " 2.265", " 0.941", " -1.722", " 0", " 0", " 0", "" ], [ "36", " Shelf", " 1.572", " 0.630", " -1.563", " 0", " 0", " 0", "" ], [ "37", " Shelf", " 1.569", " 0.172", " -1.563", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 2.267", " 1.248", " -1.722", " 0", " 0", " 0", "" ], [ "39", " Shelf", " 1.614", " 1.252", " -1.745", " 0", " 0", " 0", "" ], [ "40", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 0.0 0 90 0 1 CellPhone -1.309 0.508 -0.629 0 0 0 20 2 Pen 2.158 1.144 -1.579 0 0 0 38 3 Pencil 0.152 0.650 -1.744 0 0 0 29 4 CreditCard 0.221 0.647 -1.664 0 0 0 29 5 CreditCard 0.052 0.377 -1.634 0 180 0 27 6 Book -0.475 0.507 -0.143 0 0 0 20 7 AlarmClock 1.964 0.778 -1.719 0 0 0 35 8 Book -1.142 0.507 -1.359 0 0 0 20 9 Pencil 1.686 0.752 -1.395 0 0 0 31 10 BasketBall 1.144 0.120 -1.656 0 23.931 0 Floor|-00.24| 11 Laptop -0.642 0.505 -1.115 0 0 0 20 12 Pen 1.562 0.071 -1.324 0 0 0 37 13 KeyChain 2.179 0.749 -1.318 0 0 0 31 14 CreditCard 2.343 0.748 -1.433 0 0 0 31 15 CellPhone 1.546 1.139 -1.649 0 0 0 39 16 CD 2.661 0.045 1.303 0 0 0 22 17 AlarmClock 2.158 0.778 -1.614 0 0 0 35 18 Pillow -1.142 0.588 -0.872 0 0 0 20 19 Chair 2.161 0.008 -1.129 0 256.825 0 20 Bed -0.809 0.010 -0.891 0 180 0 21 DeskLamp 0.047 0.668 -1.761 0 0 0 22 GarbageCan 2.657 -0.021 1.275 0 0 0 23 Mirror 2.821 1.764 -0.068 0 90 0 24 Window -1.677 1.402 0.365 90 270 0 25 LightSwitch -0.606 1.253 1.435 0 180 0 26 Shelf 2.025 1.440 -1.730 0 0 0 27 Drawer 0.187 0.455 -1.577 0 0 0 28 Drawer 0.187 0.163 -1.577 0 0 0 29 SideTable 0.186 -0.001 -1.643 0 0 0 30 Dumbbell 1.576 0.083 -1.563 0 0 0 31 Desk 2.017 0.000 -1.578 0 0 0 32 GarbageBag 0.806 0.318 1.143 270 186.178 83.264 33 Shelf 1.570 0.415 -1.563 0 0 0 34 Shelf 1.612 0.945 -1.744 0 0 0 35 Shelf 2.265 0.941 -1.722 0 0 0 36 Shelf 1.572 0.630 -1.563 0 0 0 37 Shelf 1.569 0.172 -1.563 0 0 0 38 Shelf 2.267 1.248 -1.722 0 0 0 39 Shelf 1.614 1.252 -1.745 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Turn right and go to the desk | STEP 2: Grab the pencil that's on the desk | STEP 3: Turn right and go to the nightstand on the left | STEP 4: Put the pencil in the top drawer of the nightstand | STEP 5: Move slightly to the right | STEP 6: Get the pencil that's on top of the nightstand | STEP 7: Back up and look down at the nightstand | STEP 8: Put the pencil in the top drawer | END" ]
[ [ "STEP 1: Turn right and go to the desk ", " STEP 2: Grab the pencil that's on the desk ", " STEP 3: Turn right and go to the nightstand on the left ", " STEP 4: Put the pencil in the top drawer of the nightstand ", " STEP 5: Move slightly to the right ", " STEP 6: Get the pencil that's on top of the nightstand ", " STEP 7: Back up and look down at the nightstand ", " STEP 8: Put the pencil in the top drawer ", " END" ] ]
seen
trial_T20190908_014605_844197-2
Put two pencils in a drawer of a 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 0.5 0.900 0.0 0 90 0 1 CellPhone -1.309 0.508 -0.629 0 0 0 20 2 Pen 2.158 1.144 -1.579 0 0 0 38 3 Pencil 0.152 0.650 -1.744 0 0 0 29 4 CreditCard 0.221 0.647 -1.664 0 0 0 29 5 CreditCard 0.052 0.377 -1.634 0 180 0 27 6 Book -0.475 0.507 -0.143 0 0 0 20 7 AlarmClock 1.964 0.778 -1.719 0 0 0 35 8 Book -1.142 0.507 -1.359 0 0 0 20 9 Pencil 1.686 0.752 -1.395 0 0 0 31 10 BasketBall 1.144 0.120 -1.656 0 23.931 0 Floor|-00.24| 11 Laptop -0.642 0.505 -1.115 0 0 0 20 12 Pen 1.562 0.071 -1.324 0 0 0 37 13 KeyChain 2.179 0.749 -1.318 0 0 0 31 14 CreditCard 2.343 0.748 -1.433 0 0 0 31 15 CellPhone 1.546 1.139 -1.649 0 0 0 39 16 CD 2.661 0.045 1.303 0 0 0 22 17 AlarmClock 2.158 0.778 -1.614 0 0 0 35 18 Pillow -1.142 0.588 -0.872 0 0 0 20 19 Chair 2.161 0.008 -1.129 0 256.825 0 20 Bed -0.809 0.010 -0.891 0 180 0 21 DeskLamp 0.047 0.668 -1.761 0 0 0 22 GarbageCan 2.657 -0.021 1.275 0 0 0 23 Mirror 2.821 1.764 -0.068 0 90 0 24 Window -1.677 1.402 0.365 90 270 0 25 LightSwitch -0.606 1.253 1.435 0 180 0 26 Shelf 2.025 1.440 -1.730 0 0 0 27 Drawer 0.187 0.455 -1.577 0 0 0 28 Drawer 0.187 0.163 -1.577 0 0 0 29 SideTable 0.186 -0.001 -1.643 0 0 0 30 Dumbbell 1.576 0.083 -1.563 0 0 0 31 Desk 2.017 0.000 -1.578 0 0 0 32 GarbageBag 0.806 0.318 1.143 270 186.178 83.264 33 Shelf 1.570 0.415 -1.563 0 0 0 34 Shelf 1.612 0.945 -1.744 0 0 0 35 Shelf 2.265 0.941 -1.722 0 0 0 36 Shelf 1.572 0.630 -1.563 0 0 0 37 Shelf 1.569 0.172 -1.563 0 0 0 38 Shelf 2.267 1.248 -1.722 0 0 0 39 Shelf 1.614 1.252 -1.745 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: move to the desk to the left of the bed | STEP 2: pick up a pencil from the desk | STEP 3: move to the end table to the left of the bed | STEP 4: put the pencil the a drawer of the end table | STEP 5: move up to the end table to the left of the bed | STEP 6: pick up a pencil from the table | STEP 7: move away from end table to the left of the bed | STEP 8: put the pencil the a drawer of the end table | END" ]
[ [ "STEP 1: move to the desk to the left of the bed ", " STEP 2: pick up a pencil from the desk ", " STEP 3: move to the end table to the left of the bed ", " STEP 4: put the pencil the a drawer of the end table ", " STEP 5: move up to the end table to the left of the bed ", " STEP 6: pick up a pencil from the table ", " STEP 7: move away from end table to the left of the bed ", " STEP 8: put the pencil the a drawer of the end table ", " END" ] ]
seen
trial_T20190906_182030_725067-0
Place a pencil into a bowl.
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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 0.910 -0.5 0 90 0 1 Mug 2.889 0.805 2.392 0 0 0 51 2 Mug 2.367 0.805 2.833 0 0 0 51 3 Bowl 2.576 0.809 3.494 0 0 0 51 4 CD 2.185 0.399 -0.594 0 270 0 55 5 CD 2.529 0.842 0.230 0 0 0 52 6 CellPhone -1.397 0.399 -1.314 0 90 0 49 7 CellPhone 2.680 0.808 3.274 0 0 0 51 8 Pen 2.680 0.813 3.715 0 0 0 51 9 Pen 2.529 0.848 0.361 0 0 0 52 10 Pencil 2.770 0.846 0.492 0 0 0 52 11 Pencil -0.946 0.916 4.717 0 0 0 40 12 Pencil 2.618 0.462 0.624 0 0 0 54 13 CreditCard 2.367 0.808 2.613 0 0 0 51 14 CreditCard 2.680 0.808 2.833 0 0 0 51 15 KeyChain -1.038 0.400 -1.314 0 90 0 49 16 KeyChain 2.770 0.843 0.230 0 0 0 52 17 Book -1.073 0.713 1.408 0 0 0 37 18 RemoteControl 2.533 0.460 0.819 0 0 0 54 19 RemoteControl -1.307 0.401 -0.966 0 90 0 49 20 AlarmClock -0.881 0.921 4.900 0 0 0 40 21 AlarmClock -1.012 0.921 4.35 0 0 0 40 22 Pillow -1.128 0.470 -1.053 0 90 0 49 23 Book -0.355 0.713 2.539 0 0 0 37 24 AlarmClock 2.471 0.816 3.053 0 0 0 51 25 CellPhone 2.618 0.097 0.721 0 0 0 53 26 Bowl 2.471 0.809 3.274 0 0 0 51 27 CreditCard 2.784 0.807 3.715 0 0 0 51 28 KeyChain 2.095 0.400 -0.507 0 270 0 55 29 RemoteControl 2.69 0.844 1.017 0 0 0 52 30 Laptop -0.946 0.911 3.982 0 0 0 40 31 Pencil 2.447 0.749 -1.372 0 0 0 48 32 Pillow -1.312 0.785 1.973 0 0 0 37 33 Pillow -0.833 0.785 1.973 0 0 0 37 34 CD 2.660 0.094 0.428 0 0 0 53 35 Pen -1.012 0.919 4.900 0 0 0 40 36 Mug 2.889 0.805 3.494 0 0 0 51 37 Bed -0.594 0.009 2.298 0 0 0 38 Mirror -1.184 1.603 4.348 0 0 0 39 Television 2.738 1.330 0.622 0 270 0 40 CounterTop -0.890 0.951 4.349 0 0 0 41 LightSwitch 0.800 1.371 5.245 0 90 0 42 Painting 2.992 1.529 3.415 90 270 0 43 Painting 2.992 1.529 2.553 90 270 0 44 DeskLamp 2.625 0.772 -1.469 0 0 0 45 DeskLamp 2.668 0.810 3.082 0 358.947 0 46 GarbageCan -0.626 -0.009 3.742 0 0 0 47 Window -0.453 1.450 -2.058 90 180 0 48 SideTable 2.565 0.009 -1.534 0 0 0 49 ArmChair -1.277 0.009 -1.169 0 90 0 50 Blinds -0.5 2.174 -1.957 0 0 0 51 Desk 2.572 0.011 3.054 0 270 0 52 SideTable 2.645 0.009 0.624 0 270 0 53 Drawer 2.525 0.214 0.624 0 270 0 54 Drawer 2.525 0.578 0.624 0 270 0 55 ArmChair 2.424 0.009 -0.564 0 270 0 56 LaundryHamper 3.457 0.009 4.555 0 270 0 57 Chair 2.591 0.020 2.015 0 0 0 58 Chair 2.184 0.020 3.440 0 120.016 0 59 Chair 2.211 0.020 2.592 0 74.981 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Turn left and move across the room then turn right and face the table. | STEP 2: Pick up the bowl in the middle of the table next to the phone. | STEP 3: Turn right and move to the area in the room that has tiles and face the counter there. | STEP 4: Place bowl on the counter to the right of the computer. | STEP 5: Pick up pencil from the middle of the counter. | STEP 6: Place the pencil in the bowl on the counter. | END" ]
[ [ "STEP 1: Turn left and move across the room then turn right and face the table. ", " STEP 2: Pick up the bowl in the middle of the table next to the phone. ", " STEP 3: Turn right and move to the area in the room that has tiles and face the counter there. ", " STEP 4: Place bowl on the counter to the right of the computer. ", " STEP 5: Pick up pencil from the middle of the counter. ", " STEP 6: Place the pencil in the bowl on the counter. ", " END" ] ]
seen
trial_T20190906_182030_725067-1
Put the pencil in the bowl on the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.910 -0.5 0 90 0 1 Mug 2.889 0.805 2.392 0 0 0 51 2 Mug 2.367 0.805 2.833 0 0 0 51 3 Bowl 2.576 0.809 3.494 0 0 0 51 4 CD 2.185 0.399 -0.594 0 270 0 55 5 CD 2.529 0.842 0.230 0 0 0 52 6 CellPhone -1.397 0.399 -1.314 0 90 0 49 7 CellPhone 2.680 0.808 3.274 0 0 0 51 8 Pen 2.680 0.813 3.715 0 0 0 51 9 Pen 2.529 0.848 0.361 0 0 0 52 10 Pencil 2.770 0.846 0.492 0 0 0 52 11 Pencil -0.946 0.916 4.717 0 0 0 40 12 Pencil 2.618 0.462 0.624 0 0 0 54 13 CreditCard 2.367 0.808 2.613 0 0 0 51 14 CreditCard 2.680 0.808 2.833 0 0 0 51 15 KeyChain -1.038 0.400 -1.314 0 90 0 49 16 KeyChain 2.770 0.843 0.230 0 0 0 52 17 Book -1.073 0.713 1.408 0 0 0 37 18 RemoteControl 2.533 0.460 0.819 0 0 0 54 19 RemoteControl -1.307 0.401 -0.966 0 90 0 49 20 AlarmClock -0.881 0.921 4.900 0 0 0 40 21 AlarmClock -1.012 0.921 4.35 0 0 0 40 22 Pillow -1.128 0.470 -1.053 0 90 0 49 23 Book -0.355 0.713 2.539 0 0 0 37 24 AlarmClock 2.471 0.816 3.053 0 0 0 51 25 CellPhone 2.618 0.097 0.721 0 0 0 53 26 Bowl 2.471 0.809 3.274 0 0 0 51 27 CreditCard 2.784 0.807 3.715 0 0 0 51 28 KeyChain 2.095 0.400 -0.507 0 270 0 55 29 RemoteControl 2.69 0.844 1.017 0 0 0 52 30 Laptop -0.946 0.911 3.982 0 0 0 40 31 Pencil 2.447 0.749 -1.372 0 0 0 48 32 Pillow -1.312 0.785 1.973 0 0 0 37 33 Pillow -0.833 0.785 1.973 0 0 0 37 34 CD 2.660 0.094 0.428 0 0 0 53 35 Pen -1.012 0.919 4.900 0 0 0 40 36 Mug 2.889 0.805 3.494 0 0 0 51 37 Bed -0.594 0.009 2.298 0 0 0 38 Mirror -1.184 1.603 4.348 0 0 0 39 Television 2.738 1.330 0.622 0 270 0 40 CounterTop -0.890 0.951 4.349 0 0 0 41 LightSwitch 0.800 1.371 5.245 0 90 0 42 Painting 2.992 1.529 3.415 90 270 0 43 Painting 2.992 1.529 2.553 90 270 0 44 DeskLamp 2.625 0.772 -1.469 0 0 0 45 DeskLamp 2.668 0.810 3.082 0 358.947 0 46 GarbageCan -0.626 -0.009 3.742 0 0 0 47 Window -0.453 1.450 -2.058 90 180 0 48 SideTable 2.565 0.009 -1.534 0 0 0 49 ArmChair -1.277 0.009 -1.169 0 90 0 50 Blinds -0.5 2.174 -1.957 0 0 0 51 Desk 2.572 0.011 3.054 0 270 0 52 SideTable 2.645 0.009 0.624 0 270 0 53 Drawer 2.525 0.214 0.624 0 270 0 54 Drawer 2.525 0.578 0.624 0 270 0 55 ArmChair 2.424 0.009 -0.564 0 270 0 56 LaundryHamper 3.457 0.009 4.555 0 270 0 57 Chair 2.591 0.020 2.015 0 0 0 58 Chair 2.184 0.020 3.440 0 120.016 0 59 Chair 2.211 0.020 2.592 0 74.981 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Walk forward, turn left and walk across the room, then turn right and walk to the brown table. | STEP 2: Pick up the right bowl on the table. | STEP 3: Turn around, then turn right and walk towards the door, then turn left and walk to the counter with the laptop on it. | STEP 4: Place the bowl on the counter right to the laptop. | STEP 5: Pick up the blue pencil from the counter. | STEP 6: Place the blue pencil on the bowl on the counter. | END" ]
[ [ "STEP 1: Walk forward, turn left and walk across the room, then turn right and walk to the brown table. ", " STEP 2: Pick up the right bowl on the table. ", " STEP 3: Turn around, then turn right and walk towards the door, then turn left and walk to the counter with the laptop on it. ", " STEP 4: Place the bowl on the counter right to the laptop. ", " STEP 5: Pick up the blue pencil from the counter. ", " STEP 6: Place the blue pencil on the bowl on the counter. ", " END" ] ]
seen
trial_T20190906_182030_725067-2
Move bowl to counter.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.0", " 0.910", " -0.5", " 0", " 90", " 0", "" ], [ "1", " Mug", " 2.889", " 0.805", " 2.392", " 0", " 0", " 0", " 51" ], [ "2", " Mug", " 2.367", " 0.805", " 2.833", " 0", " 0", " 0", " 51" ], [ "3", " Bowl", " 2.576", " 0.809", " 3.494", " 0", " 0", " 0", " 51" ], [ "4", " CD", " 2.185", " 0.399", " -0.594", " 0", " 270", " 0", " 55" ], [ "5", " CD", " 2.529", " 0.842", " 0.230", " 0", " 0", " 0", " 52" ], [ "6", " CellPhone", " -1.397", " 0.399", " -1.314", " 0", " 90", " 0", " 49" ], [ "7", " CellPhone", " 2.680", " 0.808", " 3.274", " 0", " 0", " 0", " 51" ], [ "8", " Pen", " 2.680", " 0.813", " 3.715", " 0", " 0", " 0", " 51" ], [ "9", " Pen", " 2.529", " 0.848", " 0.361", " 0", " 0", " 0", " 52" ], [ "10", " Pencil", " 2.770", " 0.846", " 0.492", " 0", " 0", " 0", " 52" ], [ "11", " Pencil", " -0.946", " 0.916", " 4.717", " 0", " 0", " 0", " 40" ], [ "12", " Pencil", " 2.618", " 0.462", " 0.624", " 0", " 0", " 0", " 54" ], [ "13", " CreditCard", " 2.367", " 0.808", " 2.613", " 0", " 0", " 0", " 51" ], [ "14", " CreditCard", " 2.680", " 0.808", " 2.833", " 0", " 0", " 0", " 51" ], [ "15", " KeyChain", " -1.038", " 0.400", " -1.314", " 0", " 90", " 0", " 49" ], [ "16", " KeyChain", " 2.770", " 0.843", " 0.230", " 0", " 0", " 0", " 52" ], [ "17", " Book", " -1.073", " 0.713", " 1.408", " 0", " 0", " 0", " 37" ], [ "18", " RemoteControl", " 2.533", " 0.460", " 0.819", " 0", " 0", " 0", " 54" ], [ "19", " RemoteControl", " -1.307", " 0.401", " -0.966", " 0", " 90", " 0", " 49" ], [ "20", " AlarmClock", " -0.881", " 0.921", " 4.900", " 0", " 0", " 0", " 40" ], [ "21", " AlarmClock", " -1.012", " 0.921", " 4.35", " 0", " 0", " 0", " 40" ], [ "22", " Pillow", " -1.128", " 0.470", " -1.053", " 0", " 90", " 0", " 49" ], [ "23", " Book", " -0.355", " 0.713", " 2.539", " 0", " 0", " 0", " 37" ], [ "24", " AlarmClock", " 2.471", " 0.816", " 3.053", " 0", " 0", " 0", " 51" ], [ "25", " CellPhone", " 2.618", " 0.097", " 0.721", " 0", " 0", " 0", " 53" ], [ "26", " Bowl", " 2.471", " 0.809", " 3.274", " 0", " 0", " 0", " 51" ], [ "27", " CreditCard", " 2.784", " 0.807", " 3.715", " 0", " 0", " 0", " 51" ], [ "28", " KeyChain", " 2.095", " 0.400", " -0.507", " 0", " 270", " 0", " 55" ], [ "29", " RemoteControl", " 2.69", " 0.844", " 1.017", " 0", " 0", " 0", " 52" ], [ "30", " Laptop", " -0.946", " 0.911", " 3.982", " 0", " 0", " 0", " 40" ], [ "31", " Pencil", " 2.447", " 0.749", " -1.372", " 0", " 0", " 0", " 48" ], [ "32", " Pillow", " -1.312", " 0.785", " 1.973", " 0", " 0", " 0", " 37" ], [ "33", " Pillow", " -0.833", " 0.785", " 1.973", " 0", " 0", " 0", " 37" ], [ "34", " CD", " 2.660", " 0.094", " 0.428", " 0", " 0", " 0", " 53" ], [ "35", " Pen", " -1.012", " 0.919", " 4.900", " 0", " 0", " 0", " 40" ], [ "36", " Mug", " 2.889", " 0.805", " 3.494", " 0", " 0", " 0", " 51" ], [ "37", " Bed", " -0.594", " 0.009", " 2.298", " 0", " 0", " 0", "" ], [ "38", " Mirror", " -1.184", " 1.603", " 4.348", " 0", " 0", " 0", "" ], [ "39", " Television", " 2.738", " 1.330", " 0.622", " 0", " 270", " 0", "" ], [ "40", " CounterTop", " -0.890", " 0.951", " 4.349", " 0", " 0", " 0", "" ], [ "41", " LightSwitch", " 0.800", " 1.371", " 5.245", " 0", " 90", " 0", "" ], [ "42", " Painting", " 2.992", " 1.529", " 3.415", " 90", " 270", " 0", "" ], [ "43", " Painting", " 2.992", " 1.529", " 2.553", " 90", " 270", " 0", "" ], [ "44", " DeskLamp", " 2.625", " 0.772", " -1.469", " 0", " 0", " 0", "" ], [ "45", " DeskLamp", " 2.668", " 0.810", " 3.082", " 0", " 358.947", " 0", "" ], [ "46", " GarbageCan", " -0.626", " -0.009", " 3.742", " 0", " 0", " 0", "" ], [ "47", " Window", " -0.453", " 1.450", " -2.058", " 90", " 180", " 0", "" ], [ "48", " SideTable", " 2.565", " 0.009", " -1.534", " 0", " 0", " 0", "" ], [ "49", " ArmChair", " -1.277", " 0.009", " -1.169", " 0", " 90", " 0", "" ], [ "50", " Blinds", " -0.5", " 2.174", " -1.957", " 0", " 0", " 0", "" ], [ "51", " Desk", " 2.572", " 0.011", " 3.054", " 0", " 270", " 0", "" ], [ "52", " SideTable", " 2.645", " 0.009", " 0.624", " 0", " 270", " 0", "" ], [ "53", " Drawer", " 2.525", " 0.214", " 0.624", " 0", " 270", " 0", "" ], [ "54", " Drawer", " 2.525", " 0.578", " 0.624", " 0", " 270", " 0", "" ], [ "55", " ArmChair", " 2.424", " 0.009", " -0.564", " 0", " 270", " 0", "" ], [ "56", " LaundryHamper", " 3.457", " 0.009", " 4.555", " 0", " 270", " 0", "" ], [ "57", " Chair", " 2.591", " 0.020", " 2.015", " 0", " 0", " 0", "" ], [ "58", " Chair", " 2.184", " 0.020", " 3.440", " 0", " 120.016", " 0", "" ], [ "59", " Chair", " 2.211", " 0.020", " 2.592", " 0", " 74.981", " 0", "" ], [ "60", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "61", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.910 -0.5 0 90 0 1 Mug 2.889 0.805 2.392 0 0 0 51 2 Mug 2.367 0.805 2.833 0 0 0 51 3 Bowl 2.576 0.809 3.494 0 0 0 51 4 CD 2.185 0.399 -0.594 0 270 0 55 5 CD 2.529 0.842 0.230 0 0 0 52 6 CellPhone -1.397 0.399 -1.314 0 90 0 49 7 CellPhone 2.680 0.808 3.274 0 0 0 51 8 Pen 2.680 0.813 3.715 0 0 0 51 9 Pen 2.529 0.848 0.361 0 0 0 52 10 Pencil 2.770 0.846 0.492 0 0 0 52 11 Pencil -0.946 0.916 4.717 0 0 0 40 12 Pencil 2.618 0.462 0.624 0 0 0 54 13 CreditCard 2.367 0.808 2.613 0 0 0 51 14 CreditCard 2.680 0.808 2.833 0 0 0 51 15 KeyChain -1.038 0.400 -1.314 0 90 0 49 16 KeyChain 2.770 0.843 0.230 0 0 0 52 17 Book -1.073 0.713 1.408 0 0 0 37 18 RemoteControl 2.533 0.460 0.819 0 0 0 54 19 RemoteControl -1.307 0.401 -0.966 0 90 0 49 20 AlarmClock -0.881 0.921 4.900 0 0 0 40 21 AlarmClock -1.012 0.921 4.35 0 0 0 40 22 Pillow -1.128 0.470 -1.053 0 90 0 49 23 Book -0.355 0.713 2.539 0 0 0 37 24 AlarmClock 2.471 0.816 3.053 0 0 0 51 25 CellPhone 2.618 0.097 0.721 0 0 0 53 26 Bowl 2.471 0.809 3.274 0 0 0 51 27 CreditCard 2.784 0.807 3.715 0 0 0 51 28 KeyChain 2.095 0.400 -0.507 0 270 0 55 29 RemoteControl 2.69 0.844 1.017 0 0 0 52 30 Laptop -0.946 0.911 3.982 0 0 0 40 31 Pencil 2.447 0.749 -1.372 0 0 0 48 32 Pillow -1.312 0.785 1.973 0 0 0 37 33 Pillow -0.833 0.785 1.973 0 0 0 37 34 CD 2.660 0.094 0.428 0 0 0 53 35 Pen -1.012 0.919 4.900 0 0 0 40 36 Mug 2.889 0.805 3.494 0 0 0 51 37 Bed -0.594 0.009 2.298 0 0 0 38 Mirror -1.184 1.603 4.348 0 0 0 39 Television 2.738 1.330 0.622 0 270 0 40 CounterTop -0.890 0.951 4.349 0 0 0 41 LightSwitch 0.800 1.371 5.245 0 90 0 42 Painting 2.992 1.529 3.415 90 270 0 43 Painting 2.992 1.529 2.553 90 270 0 44 DeskLamp 2.625 0.772 -1.469 0 0 0 45 DeskLamp 2.668 0.810 3.082 0 358.947 0 46 GarbageCan -0.626 -0.009 3.742 0 0 0 47 Window -0.453 1.450 -2.058 90 180 0 48 SideTable 2.565 0.009 -1.534 0 0 0 49 ArmChair -1.277 0.009 -1.169 0 90 0 50 Blinds -0.5 2.174 -1.957 0 0 0 51 Desk 2.572 0.011 3.054 0 270 0 52 SideTable 2.645 0.009 0.624 0 270 0 53 Drawer 2.525 0.214 0.624 0 270 0 54 Drawer 2.525 0.578 0.624 0 270 0 55 ArmChair 2.424 0.009 -0.564 0 270 0 56 LaundryHamper 3.457 0.009 4.555 0 270 0 57 Chair 2.591 0.020 2.015 0 0 0 58 Chair 2.184 0.020 3.440 0 120.016 0 59 Chair 2.211 0.020 2.592 0 74.981 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Turn and go to the table with the lamp on. | STEP 2: Pick up the bowl that is in front of the cell phone on the table. | STEP 3: With the bowl in hand go to the counter that has the big mirror above it. | STEP 4: Place the bowl in hand place it in front of the object that is to the left of the lap top keyboard. | STEP 5: Pick up the pencil that is on the counter in front of you. | STEP 6: Place the pencil on the bowl that you just put down. | END" ]
[ [ "STEP 1: Turn and go to the table with the lamp on. ", " STEP 2: Pick up the bowl that is in front of the cell phone on the table. ", " STEP 3: With the bowl in hand go to the counter that has the big mirror above it. ", " STEP 4: Place the bowl in hand place it in front of the object that is to the left of the lap top keyboard. ", " STEP 5: Pick up the pencil that is on the counter in front of you. ", " STEP 6: Place the pencil on the bowl that you just put down. ", " END" ] ]
seen
trial_T20190906_182030_725067-3
To put the pencil on the plate.
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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 0.910 -0.5 0 90 0 1 Mug 2.889 0.805 2.392 0 0 0 51 2 Mug 2.367 0.805 2.833 0 0 0 51 3 Bowl 2.576 0.809 3.494 0 0 0 51 4 CD 2.185 0.399 -0.594 0 270 0 55 5 CD 2.529 0.842 0.230 0 0 0 52 6 CellPhone -1.397 0.399 -1.314 0 90 0 49 7 CellPhone 2.680 0.808 3.274 0 0 0 51 8 Pen 2.680 0.813 3.715 0 0 0 51 9 Pen 2.529 0.848 0.361 0 0 0 52 10 Pencil 2.770 0.846 0.492 0 0 0 52 11 Pencil -0.946 0.916 4.717 0 0 0 40 12 Pencil 2.618 0.462 0.624 0 0 0 54 13 CreditCard 2.367 0.808 2.613 0 0 0 51 14 CreditCard 2.680 0.808 2.833 0 0 0 51 15 KeyChain -1.038 0.400 -1.314 0 90 0 49 16 KeyChain 2.770 0.843 0.230 0 0 0 52 17 Book -1.073 0.713 1.408 0 0 0 37 18 RemoteControl 2.533 0.460 0.819 0 0 0 54 19 RemoteControl -1.307 0.401 -0.966 0 90 0 49 20 AlarmClock -0.881 0.921 4.900 0 0 0 40 21 AlarmClock -1.012 0.921 4.35 0 0 0 40 22 Pillow -1.128 0.470 -1.053 0 90 0 49 23 Book -0.355 0.713 2.539 0 0 0 37 24 AlarmClock 2.471 0.816 3.053 0 0 0 51 25 CellPhone 2.618 0.097 0.721 0 0 0 53 26 Bowl 2.471 0.809 3.274 0 0 0 51 27 CreditCard 2.784 0.807 3.715 0 0 0 51 28 KeyChain 2.095 0.400 -0.507 0 270 0 55 29 RemoteControl 2.69 0.844 1.017 0 0 0 52 30 Laptop -0.946 0.911 3.982 0 0 0 40 31 Pencil 2.447 0.749 -1.372 0 0 0 48 32 Pillow -1.312 0.785 1.973 0 0 0 37 33 Pillow -0.833 0.785 1.973 0 0 0 37 34 CD 2.660 0.094 0.428 0 0 0 53 35 Pen -1.012 0.919 4.900 0 0 0 40 36 Mug 2.889 0.805 3.494 0 0 0 51 37 Bed -0.594 0.009 2.298 0 0 0 38 Mirror -1.184 1.603 4.348 0 0 0 39 Television 2.738 1.330 0.622 0 270 0 40 CounterTop -0.890 0.951 4.349 0 0 0 41 LightSwitch 0.800 1.371 5.245 0 90 0 42 Painting 2.992 1.529 3.415 90 270 0 43 Painting 2.992 1.529 2.553 90 270 0 44 DeskLamp 2.625 0.772 -1.469 0 0 0 45 DeskLamp 2.668 0.810 3.082 0 358.947 0 46 GarbageCan -0.626 -0.009 3.742 0 0 0 47 Window -0.453 1.450 -2.058 90 180 0 48 SideTable 2.565 0.009 -1.534 0 0 0 49 ArmChair -1.277 0.009 -1.169 0 90 0 50 Blinds -0.5 2.174 -1.957 0 0 0 51 Desk 2.572 0.011 3.054 0 270 0 52 SideTable 2.645 0.009 0.624 0 270 0 53 Drawer 2.525 0.214 0.624 0 270 0 54 Drawer 2.525 0.578 0.624 0 270 0 55 ArmChair 2.424 0.009 -0.564 0 270 0 56 LaundryHamper 3.457 0.009 4.555 0 270 0 57 Chair 2.591 0.020 2.015 0 0 0 58 Chair 2.184 0.020 3.440 0 120.016 0 59 Chair 2.211 0.020 2.592 0 74.981 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Walk forward for two steps, then turn left and walk to the edge of the bed, then turn right and walk to the table. | STEP 2: Pick up the bowl that is closest to the lamp on the table. | STEP 3: Turn left and take two steps, then turn left and walk across the room. | STEP 4: Put the plate down on the counter. | STEP 5: Pick up the blue pencil to the right of the plate. | STEP 6: Place the pencil on the plate. | END" ]
[ [ "STEP 1: Walk forward for two steps, then turn left and walk to the edge of the bed, then turn right and walk to the table. ", " STEP 2: Pick up the bowl that is closest to the lamp on the table. ", " STEP 3: Turn left and take two steps, then turn left and walk across the room. ", " STEP 4: Put the plate down on the counter. ", " STEP 5: Pick up the blue pencil to the right of the plate. ", " STEP 6: Place the pencil on the plate. ", " END" ] ]
seen
trial_T20190906_182030_725067-4
Put the blue pencil in the bowl on the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.910 -0.5 0 90 0 1 Mug 2.889 0.805 2.392 0 0 0 51 2 Mug 2.367 0.805 2.833 0 0 0 51 3 Bowl 2.576 0.809 3.494 0 0 0 51 4 CD 2.185 0.399 -0.594 0 270 0 55 5 CD 2.529 0.842 0.230 0 0 0 52 6 CellPhone -1.397 0.399 -1.314 0 90 0 49 7 CellPhone 2.680 0.808 3.274 0 0 0 51 8 Pen 2.680 0.813 3.715 0 0 0 51 9 Pen 2.529 0.848 0.361 0 0 0 52 10 Pencil 2.770 0.846 0.492 0 0 0 52 11 Pencil -0.946 0.916 4.717 0 0 0 40 12 Pencil 2.618 0.462 0.624 0 0 0 54 13 CreditCard 2.367 0.808 2.613 0 0 0 51 14 CreditCard 2.680 0.808 2.833 0 0 0 51 15 KeyChain -1.038 0.400 -1.314 0 90 0 49 16 KeyChain 2.770 0.843 0.230 0 0 0 52 17 Book -1.073 0.713 1.408 0 0 0 37 18 RemoteControl 2.533 0.460 0.819 0 0 0 54 19 RemoteControl -1.307 0.401 -0.966 0 90 0 49 20 AlarmClock -0.881 0.921 4.900 0 0 0 40 21 AlarmClock -1.012 0.921 4.35 0 0 0 40 22 Pillow -1.128 0.470 -1.053 0 90 0 49 23 Book -0.355 0.713 2.539 0 0 0 37 24 AlarmClock 2.471 0.816 3.053 0 0 0 51 25 CellPhone 2.618 0.097 0.721 0 0 0 53 26 Bowl 2.471 0.809 3.274 0 0 0 51 27 CreditCard 2.784 0.807 3.715 0 0 0 51 28 KeyChain 2.095 0.400 -0.507 0 270 0 55 29 RemoteControl 2.69 0.844 1.017 0 0 0 52 30 Laptop -0.946 0.911 3.982 0 0 0 40 31 Pencil 2.447 0.749 -1.372 0 0 0 48 32 Pillow -1.312 0.785 1.973 0 0 0 37 33 Pillow -0.833 0.785 1.973 0 0 0 37 34 CD 2.660 0.094 0.428 0 0 0 53 35 Pen -1.012 0.919 4.900 0 0 0 40 36 Mug 2.889 0.805 3.494 0 0 0 51 37 Bed -0.594 0.009 2.298 0 0 0 38 Mirror -1.184 1.603 4.348 0 0 0 39 Television 2.738 1.330 0.622 0 270 0 40 CounterTop -0.890 0.951 4.349 0 0 0 41 LightSwitch 0.800 1.371 5.245 0 90 0 42 Painting 2.992 1.529 3.415 90 270 0 43 Painting 2.992 1.529 2.553 90 270 0 44 DeskLamp 2.625 0.772 -1.469 0 0 0 45 DeskLamp 2.668 0.810 3.082 0 358.947 0 46 GarbageCan -0.626 -0.009 3.742 0 0 0 47 Window -0.453 1.450 -2.058 90 180 0 48 SideTable 2.565 0.009 -1.534 0 0 0 49 ArmChair -1.277 0.009 -1.169 0 90 0 50 Blinds -0.5 2.174 -1.957 0 0 0 51 Desk 2.572 0.011 3.054 0 270 0 52 SideTable 2.645 0.009 0.624 0 270 0 53 Drawer 2.525 0.214 0.624 0 270 0 54 Drawer 2.525 0.578 0.624 0 270 0 55 ArmChair 2.424 0.009 -0.564 0 270 0 56 LaundryHamper 3.457 0.009 4.555 0 270 0 57 Chair 2.591 0.020 2.015 0 0 0 58 Chair 2.184 0.020 3.440 0 120.016 0 59 Chair 2.211 0.020 2.592 0 74.981 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Turn left and walk past the bed, then turn right to the brown table with the lamp. | STEP 2: Take one bowl from the table. | STEP 3: Turn and walk towards the door on your left, then turn left and walk down the short hallway to the counter with the laptop on it. | STEP 4: Put the bowl on the counter. | STEP 5: Pick up the blue pencil from the counter. | STEP 6: Put the blue pencil in the bowl. | END" ]
[ [ "STEP 1: Turn left and walk past the bed, then turn right to the brown table with the lamp. ", " STEP 2: Take one bowl from the table. ", " STEP 3: Turn and walk towards the door on your left, then turn left and walk down the short hallway to the counter with the laptop on it. ", " STEP 4: Put the bowl on the counter. ", " STEP 5: Pick up the blue pencil from the counter. ", " STEP 6: Put the blue pencil in the bowl. ", " END" ] ]
seen
trial_T20190906_182030_725067-5
Put the pencil in the bowl.
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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 0.910 -0.5 0 90 0 1 Mug 2.889 0.805 2.392 0 0 0 51 2 Mug 2.367 0.805 2.833 0 0 0 51 3 Bowl 2.576 0.809 3.494 0 0 0 51 4 CD 2.185 0.399 -0.594 0 270 0 55 5 CD 2.529 0.842 0.230 0 0 0 52 6 CellPhone -1.397 0.399 -1.314 0 90 0 49 7 CellPhone 2.680 0.808 3.274 0 0 0 51 8 Pen 2.680 0.813 3.715 0 0 0 51 9 Pen 2.529 0.848 0.361 0 0 0 52 10 Pencil 2.770 0.846 0.492 0 0 0 52 11 Pencil -0.946 0.916 4.717 0 0 0 40 12 Pencil 2.618 0.462 0.624 0 0 0 54 13 CreditCard 2.367 0.808 2.613 0 0 0 51 14 CreditCard 2.680 0.808 2.833 0 0 0 51 15 KeyChain -1.038 0.400 -1.314 0 90 0 49 16 KeyChain 2.770 0.843 0.230 0 0 0 52 17 Book -1.073 0.713 1.408 0 0 0 37 18 RemoteControl 2.533 0.460 0.819 0 0 0 54 19 RemoteControl -1.307 0.401 -0.966 0 90 0 49 20 AlarmClock -0.881 0.921 4.900 0 0 0 40 21 AlarmClock -1.012 0.921 4.35 0 0 0 40 22 Pillow -1.128 0.470 -1.053 0 90 0 49 23 Book -0.355 0.713 2.539 0 0 0 37 24 AlarmClock 2.471 0.816 3.053 0 0 0 51 25 CellPhone 2.618 0.097 0.721 0 0 0 53 26 Bowl 2.471 0.809 3.274 0 0 0 51 27 CreditCard 2.784 0.807 3.715 0 0 0 51 28 KeyChain 2.095 0.400 -0.507 0 270 0 55 29 RemoteControl 2.69 0.844 1.017 0 0 0 52 30 Laptop -0.946 0.911 3.982 0 0 0 40 31 Pencil 2.447 0.749 -1.372 0 0 0 48 32 Pillow -1.312 0.785 1.973 0 0 0 37 33 Pillow -0.833 0.785 1.973 0 0 0 37 34 CD 2.660 0.094 0.428 0 0 0 53 35 Pen -1.012 0.919 4.900 0 0 0 40 36 Mug 2.889 0.805 3.494 0 0 0 51 37 Bed -0.594 0.009 2.298 0 0 0 38 Mirror -1.184 1.603 4.348 0 0 0 39 Television 2.738 1.330 0.622 0 270 0 40 CounterTop -0.890 0.951 4.349 0 0 0 41 LightSwitch 0.800 1.371 5.245 0 90 0 42 Painting 2.992 1.529 3.415 90 270 0 43 Painting 2.992 1.529 2.553 90 270 0 44 DeskLamp 2.625 0.772 -1.469 0 0 0 45 DeskLamp 2.668 0.810 3.082 0 358.947 0 46 GarbageCan -0.626 -0.009 3.742 0 0 0 47 Window -0.453 1.450 -2.058 90 180 0 48 SideTable 2.565 0.009 -1.534 0 0 0 49 ArmChair -1.277 0.009 -1.169 0 90 0 50 Blinds -0.5 2.174 -1.957 0 0 0 51 Desk 2.572 0.011 3.054 0 270 0 52 SideTable 2.645 0.009 0.624 0 270 0 53 Drawer 2.525 0.214 0.624 0 270 0 54 Drawer 2.525 0.578 0.624 0 270 0 55 ArmChair 2.424 0.009 -0.564 0 270 0 56 LaundryHamper 3.457 0.009 4.555 0 270 0 57 Chair 2.591 0.020 2.015 0 0 0 58 Chair 2.184 0.020 3.440 0 120.016 0 59 Chair 2.211 0.020 2.592 0 74.981 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Move across the room to the black table. | STEP 2: Pick up the bowl on the right nearest the lamp. | STEP 3: Bring the bowl back towards the mirror. | STEP 4: Place the bowl down on the left side of the shelf. | STEP 5: Pick up the pencil from the shelf. | STEP 6: Place the pencil in the bowl on the shelf. | END" ]
[ [ "STEP 1: Move across the room to the black table. ", " STEP 2: Pick up the bowl on the right nearest the lamp. ", " STEP 3: Bring the bowl back towards the mirror. ", " STEP 4: Place the bowl down on the left side of the shelf. ", " STEP 5: Pick up the pencil from the shelf. ", " STEP 6: Place the pencil in the bowl on the shelf. ", " END" ] ]
seen
trial_T20190907_194033_752745-0
wash the spoon in the sink, put the spoon 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 2.5 0.930 -0.5 0 90 0 1 Potato 3.152 0.785 -0.100 0 90 0 108 2 Potato 0.773 1.286 -1.559 0 0 0 109 3 ButterKnife -0.868 0.706 -0.186 0 0 0 70 4 ButterKnife -0.192 0.900 -1.542 0 225 0 84 5 Glassbottle 0.856 1.675 -1.550 0 0 0 78 6 Glassbottle 3.197 0.177 0.489 0 0 0 72 7 Kettle 0.012 0.901 -1.337 0 45 0 84 8 Pot 3.031 1.464 -1.235 0 270 0 77 9 Spatula 3.152 0.762 0.032 0 0 0 108 10 Spatula -0.868 0.721 0.926 0 270 0 67 11 Spoon 0.669 0.912 0.535 0 36.810 0 94 12 Spoon 3.044 0.901 -0.599 0 0 0 62 13 Fork -0.991 0.327 1.255 0 90 0 98 14 Fork 0.710 0.911 0.426 0 0 0 94 15 CellPhone -0.706 0.325 -0.682 0 45 0 96 16 Bread 0.494 0.989 0.301 0 36.810 0 94 17 Bread -1.008 0.979 0.623 0 0 0 63 18 Bowl 3.028 0.172 -0.828 0 0 0 75 19 Tomato 3.074 0.137 1.600 0 225 0 104 20 Tomato 3.028 0.784 -0.100 0 90 0 108 21 Cup -1.018 0.995 1.311 0 90 0 111 22 Cup 1.491 0.905 0.889 0 0 0 94 23 Plate 0.967 0.921 0.605 0 0 0 94 24 Plate 3.200 0.913 -0.798 0 0 0 62 25 Glassbottle 0.151 0.901 -1.476 0 45 0 84 26 SoapBottle -0.274 1.272 -1.510 0 45 0 80 27 Potato -1.119 1.036 1.417 0 90 0 111 28 Fork -0.964 0.900 -0.667 0 225 0 63 29 Ladle 1.360 0.945 0.464 0 0 0 94 30 Pot 0.423 0.900 0.869 0 0 0 94 31 Kettle -0.420 0.902 -0.920 0 135 0 58 32 Spatula 3.393 0.915 -0.151 0 90 0 62 33 Knife -0.991 0.543 0.751 0 90 0 60 34 Lettuce 0.840 0.765 -1.422 27.470 0 0 109 35 Cup 1.008 1.245 -1.475 0 0 0 109 36 SaltShaker -0.705 0.703 -0.634 0 45 0 57 37 Egg 0.851 1.126 -1.531 0 0 0 109 38 PepperShaker -0.745 0.514 0.576 0 0 0 60 39 ButterKnife -0.868 0.326 0.664 0 0 0 64 40 Apple 1.086 0.785 -1.381 0 0 0 109 41 Pan -0.789 0.899 0.399 0 0 0 63 42 Bread -0.935 0.979 -0.047 0 0 0 63 43 CellPhone -0.950 0.515 -0.098 0 0 0 90 44 DishSponge -0.731 0.899 -0.489 0 45 0 63 45 Tomato -0.675 0.937 -0.753 0 45 0 63 46 Spoon 3.277 0.901 -0.499 0 0 0 62 47 Bowl 0.836 0.905 0.322 0 0 0 94 48 Mug 1.164 0.881 -1.531 0 90 0 109 49 Drawer 0.376 0.572 -1.509 0 0 0 50 Drawer 3.020 0.769 -0.783 0 180 0 51 Drawer -0.860 0.577 1.429 0 0 0 52 StoveBurner -0.600 0.897 -1.090 0 135 0 53 Drawer 0.376 0.191 -1.509 0 0 0 54 Cabinet 1.402 1.874 -1.259 0 0 0 55 Cabinet -0.202 1.963 -1.328 0 0 0 56 Drawer -0.860 0.765 1.429 0 0 0 57 Drawer -0.677 0.765 -0.700 0 0 0 58 StoveBurner -0.420 0.897 -0.920 0 135 0 59 Drawer 3.020 0.769 -0.407 0 180 0 60 Drawer -0.860 0.577 0.663 0 0 0 61 Cabinet 2.819 1.768 -1.850 0 0 0 62 CounterTop 3.111 0.936 0.019 0 0 0 63 CounterTop -1.007 0.935 -0.039 0 0 0 64 Drawer -0.860 0.385 0.663 0 0 0 65 StoveBurner -0.419 0.897 -1.269 0 315 0 66 Drawer -0.047 0.573 -1.324 0 0 0 67 Drawer -0.860 0.765 0.663 0 0 0 68 Drawer -0.860 0.385 -0.100 0 0 0 69 Drawer 0.376 0.380 -1.509 0 0 0 70 Drawer -0.860 0.765 -0.100 0 0 0 71 Drawer 0.376 0.765 -1.509 0 0 0 72 Cabinet 2.849 0.419 0.409 0 0 0 73 Drawer -0.047 0.765 -1.324 0 0 0 74 Cabinet 2.849 0.419 -0.610 0 0 0 75 Cabinet 2.849 0.419 -0.959 0 0 0 76 Cabinet 3.069 1.666 -0.709 0 0 0 77 Cabinet 2.819 1.768 -1.047 0 0 0 78 Cabinet 0.620 1.874 -1.259 0 0 0 79 Cabinet 0.140 1.666 -1.559 0 0 0 80 Cabinet -0.189 1.666 -1.340 0 0 0 81 Cabinet -0.709 1.963 -0.819 0 0 0 82 Cabinet -0.920 1.665 -0.620 0 0 0 83 Drawer -0.860 0.190 -0.100 0 0 0 84 CounterTop 0.133 0.935 -1.457 0 0 0 85 Drawer 3.020 0.769 0.695 0 180 0 86 Drawer -0.677 0.577 -0.700 0 0 0 87 Drawer -0.860 0.190 1.429 0 0 0 88 Drawer -0.047 0.192 -1.324 0 0 0 89 Drawer -0.677 0.193 -0.700 0 0 0 90 Drawer -0.860 0.577 -0.100 0 0 0 91 Sink 3.078 0.887 0.086 0 0 0 92 StoveBurner -0.239 0.897 -1.089 0 315 0 93 Drawer -0.860 0.190 0.663 0 0 0 94 CounterTop 1.210 0.937 0.463 0 0 0 95 Drawer -0.047 0.381 -1.324 0 0 0 96 Drawer -0.677 0.387 -0.700 0 0 0 97 Mirror -1.295 1.630 0.045 0 0 0 98 Drawer -0.860 0.385 1.429 0 0 0 99 HousePlant 3.196 0.891 -0.368 0 0 0 100 StoveKnob -0.090 0.790 -1.009 270 45 0 101 StoveKnob -0.280 0.790 -0.819 270 45 0 102 StoveKnob -0.180 0.790 -0.920 270 45 0 103 StoveKnob -0.370 0.790 -0.720 270 45 0 104 GarbageCan 3.137 0.025 1.545 0 225 0 105 Window 3.703 1.675 0.046 90 90 0 106 CoffeeMachine 3.214 0.890 0.697 0 270 0 107 LightSwitch 2.592 1.309 -1.880 0 0 0 108 SinkBasin 3.069 0.736 0.108 0 90 0 109 Fridge 1.008 0.029 -1.467 0 0 0 110 Toaster -1.035 0.873 -0.396 0 90 0 111 Microwave -1.034 0.874 1.428 0 90 0 112 Faucet 3.305 0.886 0.094 270 180 0 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: turn left, walk to the counter on the left | STEP 2: grab the spoon on the counter | STEP 3: turn around to the sink | STEP 4: put the spoon in the sink, wash the spoon, take the spoon | STEP 5: turn around, turn around | STEP 6: open the first drawer on the right, put the spoon in, close the drawer | END" ]
[ [ "STEP 1: turn left, walk to the counter on the left ", " STEP 2: grab the spoon on the counter ", " STEP 3: turn around to the sink ", " STEP 4: put the spoon in the sink, wash the spoon, take the spoon ", " STEP 5: turn around, turn around ", " STEP 6: open the first drawer on the right, put the spoon in, close the drawer ", " END" ] ]
seen
trial_T20190907_194033_752745-1
Wash the ladle and put it away 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 2.5 0.930 -0.5 0 90 0 1 Potato 3.152 0.785 -0.100 0 90 0 108 2 Potato 0.773 1.286 -1.559 0 0 0 109 3 ButterKnife -0.868 0.706 -0.186 0 0 0 70 4 ButterKnife -0.192 0.900 -1.542 0 225 0 84 5 Glassbottle 0.856 1.675 -1.550 0 0 0 78 6 Glassbottle 3.197 0.177 0.489 0 0 0 72 7 Kettle 0.012 0.901 -1.337 0 45 0 84 8 Pot 3.031 1.464 -1.235 0 270 0 77 9 Spatula 3.152 0.762 0.032 0 0 0 108 10 Spatula -0.868 0.721 0.926 0 270 0 67 11 Spoon 0.669 0.912 0.535 0 36.810 0 94 12 Spoon 3.044 0.901 -0.599 0 0 0 62 13 Fork -0.991 0.327 1.255 0 90 0 98 14 Fork 0.710 0.911 0.426 0 0 0 94 15 CellPhone -0.706 0.325 -0.682 0 45 0 96 16 Bread 0.494 0.989 0.301 0 36.810 0 94 17 Bread -1.008 0.979 0.623 0 0 0 63 18 Bowl 3.028 0.172 -0.828 0 0 0 75 19 Tomato 3.074 0.137 1.600 0 225 0 104 20 Tomato 3.028 0.784 -0.100 0 90 0 108 21 Cup -1.018 0.995 1.311 0 90 0 111 22 Cup 1.491 0.905 0.889 0 0 0 94 23 Plate 0.967 0.921 0.605 0 0 0 94 24 Plate 3.200 0.913 -0.798 0 0 0 62 25 Glassbottle 0.151 0.901 -1.476 0 45 0 84 26 SoapBottle -0.274 1.272 -1.510 0 45 0 80 27 Potato -1.119 1.036 1.417 0 90 0 111 28 Fork -0.964 0.900 -0.667 0 225 0 63 29 Ladle 1.360 0.945 0.464 0 0 0 94 30 Pot 0.423 0.900 0.869 0 0 0 94 31 Kettle -0.420 0.902 -0.920 0 135 0 58 32 Spatula 3.393 0.915 -0.151 0 90 0 62 33 Knife -0.991 0.543 0.751 0 90 0 60 34 Lettuce 0.840 0.765 -1.422 27.470 0 0 109 35 Cup 1.008 1.245 -1.475 0 0 0 109 36 SaltShaker -0.705 0.703 -0.634 0 45 0 57 37 Egg 0.851 1.126 -1.531 0 0 0 109 38 PepperShaker -0.745 0.514 0.576 0 0 0 60 39 ButterKnife -0.868 0.326 0.664 0 0 0 64 40 Apple 1.086 0.785 -1.381 0 0 0 109 41 Pan -0.789 0.899 0.399 0 0 0 63 42 Bread -0.935 0.979 -0.047 0 0 0 63 43 CellPhone -0.950 0.515 -0.098 0 0 0 90 44 DishSponge -0.731 0.899 -0.489 0 45 0 63 45 Tomato -0.675 0.937 -0.753 0 45 0 63 46 Spoon 3.277 0.901 -0.499 0 0 0 62 47 Bowl 0.836 0.905 0.322 0 0 0 94 48 Mug 1.164 0.881 -1.531 0 90 0 109 49 Drawer 0.376 0.572 -1.509 0 0 0 50 Drawer 3.020 0.769 -0.783 0 180 0 51 Drawer -0.860 0.577 1.429 0 0 0 52 StoveBurner -0.600 0.897 -1.090 0 135 0 53 Drawer 0.376 0.191 -1.509 0 0 0 54 Cabinet 1.402 1.874 -1.259 0 0 0 55 Cabinet -0.202 1.963 -1.328 0 0 0 56 Drawer -0.860 0.765 1.429 0 0 0 57 Drawer -0.677 0.765 -0.700 0 0 0 58 StoveBurner -0.420 0.897 -0.920 0 135 0 59 Drawer 3.020 0.769 -0.407 0 180 0 60 Drawer -0.860 0.577 0.663 0 0 0 61 Cabinet 2.819 1.768 -1.850 0 0 0 62 CounterTop 3.111 0.936 0.019 0 0 0 63 CounterTop -1.007 0.935 -0.039 0 0 0 64 Drawer -0.860 0.385 0.663 0 0 0 65 StoveBurner -0.419 0.897 -1.269 0 315 0 66 Drawer -0.047 0.573 -1.324 0 0 0 67 Drawer -0.860 0.765 0.663 0 0 0 68 Drawer -0.860 0.385 -0.100 0 0 0 69 Drawer 0.376 0.380 -1.509 0 0 0 70 Drawer -0.860 0.765 -0.100 0 0 0 71 Drawer 0.376 0.765 -1.509 0 0 0 72 Cabinet 2.849 0.419 0.409 0 0 0 73 Drawer -0.047 0.765 -1.324 0 0 0 74 Cabinet 2.849 0.419 -0.610 0 0 0 75 Cabinet 2.849 0.419 -0.959 0 0 0 76 Cabinet 3.069 1.666 -0.709 0 0 0 77 Cabinet 2.819 1.768 -1.047 0 0 0 78 Cabinet 0.620 1.874 -1.259 0 0 0 79 Cabinet 0.140 1.666 -1.559 0 0 0 80 Cabinet -0.189 1.666 -1.340 0 0 0 81 Cabinet -0.709 1.963 -0.819 0 0 0 82 Cabinet -0.920 1.665 -0.620 0 0 0 83 Drawer -0.860 0.190 -0.100 0 0 0 84 CounterTop 0.133 0.935 -1.457 0 0 0 85 Drawer 3.020 0.769 0.695 0 180 0 86 Drawer -0.677 0.577 -0.700 0 0 0 87 Drawer -0.860 0.190 1.429 0 0 0 88 Drawer -0.047 0.192 -1.324 0 0 0 89 Drawer -0.677 0.193 -0.700 0 0 0 90 Drawer -0.860 0.577 -0.100 0 0 0 91 Sink 3.078 0.887 0.086 0 0 0 92 StoveBurner -0.239 0.897 -1.089 0 315 0 93 Drawer -0.860 0.190 0.663 0 0 0 94 CounterTop 1.210 0.937 0.463 0 0 0 95 Drawer -0.047 0.381 -1.324 0 0 0 96 Drawer -0.677 0.387 -0.700 0 0 0 97 Mirror -1.295 1.630 0.045 0 0 0 98 Drawer -0.860 0.385 1.429 0 0 0 99 HousePlant 3.196 0.891 -0.368 0 0 0 100 StoveKnob -0.090 0.790 -1.009 270 45 0 101 StoveKnob -0.280 0.790 -0.819 270 45 0 102 StoveKnob -0.180 0.790 -0.920 270 45 0 103 StoveKnob -0.370 0.790 -0.720 270 45 0 104 GarbageCan 3.137 0.025 1.545 0 225 0 105 Window 3.703 1.675 0.046 90 90 0 106 CoffeeMachine 3.214 0.890 0.697 0 270 0 107 LightSwitch 2.592 1.309 -1.880 0 0 0 108 SinkBasin 3.069 0.736 0.108 0 90 0 109 Fridge 1.008 0.029 -1.467 0 0 0 110 Toaster -1.035 0.873 -0.396 0 90 0 111 Microwave -1.034 0.874 1.428 0 90 0 112 Faucet 3.305 0.886 0.094 270 180 0 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: Turn left and left again to the counter. | STEP 2: Pick up the ladle from the counter. | STEP 3: Turn around and put the ladle in the sink. | STEP 4: Wash the ladle in the sink and pick it back up. | STEP 5: Turn around until you see the drawer on the left of the sink. | STEP 6: Put the ladle in the drawer. | END" ]
[ [ "STEP 1: Turn left and left again to the counter. ", " STEP 2: Pick up the ladle from the counter. ", " STEP 3: Turn around and put the ladle in the sink. ", " STEP 4: Wash the ladle in the sink and pick it back up. ", " STEP 5: Turn around until you see the drawer on the left of the sink. ", " STEP 6: Put the ladle in the drawer. ", " END" ] ]
seen
trial_T20190907_194033_752745-2
To wash a ladle as well as store it in a drawer on the right end of the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.5 0.930 -0.5 0 90 0 1 Potato 3.152 0.785 -0.100 0 90 0 108 2 Potato 0.773 1.286 -1.559 0 0 0 109 3 ButterKnife -0.868 0.706 -0.186 0 0 0 70 4 ButterKnife -0.192 0.900 -1.542 0 225 0 84 5 Glassbottle 0.856 1.675 -1.550 0 0 0 78 6 Glassbottle 3.197 0.177 0.489 0 0 0 72 7 Kettle 0.012 0.901 -1.337 0 45 0 84 8 Pot 3.031 1.464 -1.235 0 270 0 77 9 Spatula 3.152 0.762 0.032 0 0 0 108 10 Spatula -0.868 0.721 0.926 0 270 0 67 11 Spoon 0.669 0.912 0.535 0 36.810 0 94 12 Spoon 3.044 0.901 -0.599 0 0 0 62 13 Fork -0.991 0.327 1.255 0 90 0 98 14 Fork 0.710 0.911 0.426 0 0 0 94 15 CellPhone -0.706 0.325 -0.682 0 45 0 96 16 Bread 0.494 0.989 0.301 0 36.810 0 94 17 Bread -1.008 0.979 0.623 0 0 0 63 18 Bowl 3.028 0.172 -0.828 0 0 0 75 19 Tomato 3.074 0.137 1.600 0 225 0 104 20 Tomato 3.028 0.784 -0.100 0 90 0 108 21 Cup -1.018 0.995 1.311 0 90 0 111 22 Cup 1.491 0.905 0.889 0 0 0 94 23 Plate 0.967 0.921 0.605 0 0 0 94 24 Plate 3.200 0.913 -0.798 0 0 0 62 25 Glassbottle 0.151 0.901 -1.476 0 45 0 84 26 SoapBottle -0.274 1.272 -1.510 0 45 0 80 27 Potato -1.119 1.036 1.417 0 90 0 111 28 Fork -0.964 0.900 -0.667 0 225 0 63 29 Ladle 1.360 0.945 0.464 0 0 0 94 30 Pot 0.423 0.900 0.869 0 0 0 94 31 Kettle -0.420 0.902 -0.920 0 135 0 58 32 Spatula 3.393 0.915 -0.151 0 90 0 62 33 Knife -0.991 0.543 0.751 0 90 0 60 34 Lettuce 0.840 0.765 -1.422 27.470 0 0 109 35 Cup 1.008 1.245 -1.475 0 0 0 109 36 SaltShaker -0.705 0.703 -0.634 0 45 0 57 37 Egg 0.851 1.126 -1.531 0 0 0 109 38 PepperShaker -0.745 0.514 0.576 0 0 0 60 39 ButterKnife -0.868 0.326 0.664 0 0 0 64 40 Apple 1.086 0.785 -1.381 0 0 0 109 41 Pan -0.789 0.899 0.399 0 0 0 63 42 Bread -0.935 0.979 -0.047 0 0 0 63 43 CellPhone -0.950 0.515 -0.098 0 0 0 90 44 DishSponge -0.731 0.899 -0.489 0 45 0 63 45 Tomato -0.675 0.937 -0.753 0 45 0 63 46 Spoon 3.277 0.901 -0.499 0 0 0 62 47 Bowl 0.836 0.905 0.322 0 0 0 94 48 Mug 1.164 0.881 -1.531 0 90 0 109 49 Drawer 0.376 0.572 -1.509 0 0 0 50 Drawer 3.020 0.769 -0.783 0 180 0 51 Drawer -0.860 0.577 1.429 0 0 0 52 StoveBurner -0.600 0.897 -1.090 0 135 0 53 Drawer 0.376 0.191 -1.509 0 0 0 54 Cabinet 1.402 1.874 -1.259 0 0 0 55 Cabinet -0.202 1.963 -1.328 0 0 0 56 Drawer -0.860 0.765 1.429 0 0 0 57 Drawer -0.677 0.765 -0.700 0 0 0 58 StoveBurner -0.420 0.897 -0.920 0 135 0 59 Drawer 3.020 0.769 -0.407 0 180 0 60 Drawer -0.860 0.577 0.663 0 0 0 61 Cabinet 2.819 1.768 -1.850 0 0 0 62 CounterTop 3.111 0.936 0.019 0 0 0 63 CounterTop -1.007 0.935 -0.039 0 0 0 64 Drawer -0.860 0.385 0.663 0 0 0 65 StoveBurner -0.419 0.897 -1.269 0 315 0 66 Drawer -0.047 0.573 -1.324 0 0 0 67 Drawer -0.860 0.765 0.663 0 0 0 68 Drawer -0.860 0.385 -0.100 0 0 0 69 Drawer 0.376 0.380 -1.509 0 0 0 70 Drawer -0.860 0.765 -0.100 0 0 0 71 Drawer 0.376 0.765 -1.509 0 0 0 72 Cabinet 2.849 0.419 0.409 0 0 0 73 Drawer -0.047 0.765 -1.324 0 0 0 74 Cabinet 2.849 0.419 -0.610 0 0 0 75 Cabinet 2.849 0.419 -0.959 0 0 0 76 Cabinet 3.069 1.666 -0.709 0 0 0 77 Cabinet 2.819 1.768 -1.047 0 0 0 78 Cabinet 0.620 1.874 -1.259 0 0 0 79 Cabinet 0.140 1.666 -1.559 0 0 0 80 Cabinet -0.189 1.666 -1.340 0 0 0 81 Cabinet -0.709 1.963 -0.819 0 0 0 82 Cabinet -0.920 1.665 -0.620 0 0 0 83 Drawer -0.860 0.190 -0.100 0 0 0 84 CounterTop 0.133 0.935 -1.457 0 0 0 85 Drawer 3.020 0.769 0.695 0 180 0 86 Drawer -0.677 0.577 -0.700 0 0 0 87 Drawer -0.860 0.190 1.429 0 0 0 88 Drawer -0.047 0.192 -1.324 0 0 0 89 Drawer -0.677 0.193 -0.700 0 0 0 90 Drawer -0.860 0.577 -0.100 0 0 0 91 Sink 3.078 0.887 0.086 0 0 0 92 StoveBurner -0.239 0.897 -1.089 0 315 0 93 Drawer -0.860 0.190 0.663 0 0 0 94 CounterTop 1.210 0.937 0.463 0 0 0 95 Drawer -0.047 0.381 -1.324 0 0 0 96 Drawer -0.677 0.387 -0.700 0 0 0 97 Mirror -1.295 1.630 0.045 0 0 0 98 Drawer -0.860 0.385 1.429 0 0 0 99 HousePlant 3.196 0.891 -0.368 0 0 0 100 StoveKnob -0.090 0.790 -1.009 270 45 0 101 StoveKnob -0.280 0.790 -0.819 270 45 0 102 StoveKnob -0.180 0.790 -0.920 270 45 0 103 StoveKnob -0.370 0.790 -0.720 270 45 0 104 GarbageCan 3.137 0.025 1.545 0 225 0 105 Window 3.703 1.675 0.046 90 90 0 106 CoffeeMachine 3.214 0.890 0.697 0 270 0 107 LightSwitch 2.592 1.309 -1.880 0 0 0 108 SinkBasin 3.069 0.736 0.108 0 90 0 109 Fridge 1.008 0.029 -1.467 0 0 0 110 Toaster -1.035 0.873 -0.396 0 90 0 111 Microwave -1.034 0.874 1.428 0 90 0 112 Faucet 3.305 0.886 0.094 270 180 0 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: Turn around and walk forward to face the table in the center of the kitchen. | STEP 2: Pick up the ladle on the table in the center of the kitchen. | STEP 3: Turn around to face the sink. | STEP 4: Wash the ladle in the sink and then remove it. | STEP 5: Step to the right to face the drawer under the right end of the counter. | STEP 6: Place the ladle in the drawer on the right. | END" ]
[ [ "STEP 1: Turn around and walk forward to face the table in the center of the kitchen. ", " STEP 2: Pick up the ladle on the table in the center of the kitchen. ", " STEP 3: Turn around to face the sink. ", " STEP 4: Wash the ladle in the sink and then remove it. ", " STEP 5: Step to the right to face the drawer under the right end of the counter. ", " STEP 6: Place the ladle in the drawer on the right. ", " END" ] ]
seen
trial_T20190907_154019_248212-0
Take the spatula, rubber, from the countertop to the sink, rinse it, put it in the drawer to the left of 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 0.0 0.900 2.0 0 270 0 1 Ladle 1.342 1.700 -0.658 0 0 0 67 2 Ladle -2.039 0.954 -1.448 0 0 0 77 3 Kettle -2.107 0.112 -1.632 0 0 0 82 4 Kettle 1.343 0.912 0.372 0 0 0 79 5 ButterKnife -1.835 0.910 0.118 0 90 0 81 6 ButterKnife 0.320 0.919 -1.657 0 270 0 58 7 DishSponge 0.528 0.773 -1.533 0 0 0 83 8 DishSponge 0.251 0.919 -1.556 0 270 0 58 9 Glassbottle 1.426 1.368 2.476 0 270 0 98 10 Glassbottle -2.323 0.911 0.032 0 0 0 81 11 Fork 0.149 0.920 -1.657 0 270 0 58 12 Fork -2.079 0.911 0.118 0 0 0 81 13 Spoon 0.320 0.920 -1.657 0 270 0 58 14 Spatula -1.732 0.925 -1.620 0 90 0 77 15 Egg 0.115 0.948 -1.556 0 270 0 58 16 Cup -0.406 0.117 -1.586 0 0 0 65 17 Cup 1.376 1.367 2.351 0 270 0 98 18 SoapBottle 1.341 0.214 1.08 0 270 0 96 19 SoapBottle 1.208 0.115 -1.071 0 0 0 64 20 Tomato 0.149 0.959 -1.758 0 270 0 58 21 Tomato -1.712 0.950 0.032 0 0 0 81 22 Bowl -1.796 0.117 -1.586 0 0 0 86 23 PepperShaker -1.809 0.905 -1.965 0 0 0 77 24 PepperShaker -1.809 0.905 -1.448 0 0 0 77 25 SaltShaker 1.414 1.157 0.370 0 180 0 85 26 Lettuce 1.454 1.231 -1.688 0 0 0 85 27 Mug 1.375 1.362 1.851 0 270 0 98 28 Apple 0.285 0.954 -1.758 0 270 0 58 29 Apple 1.454 1.196 -1.002 0 0 0 85 30 Tomato 0.475 0.951 -1.448 0 0 0 79 31 Glassbottle 1.208 0.118 0.313 0 0 0 62 32 Knife -2.201 0.940 0.291 0 0 0 81 33 Plate 0.589 0.117 -1.585 0 90 0 73 34 Fork -1.957 0.911 0.377 0 0 0 81 35 Ladle 0.664 0.955 -1.704 0 0 0 79 36 Potato 1.454 1.203 -1.345 0 0 0 85 37 Lettuce -2.079 0.979 0.377 0 0 0 81 38 Kettle -1.431 0.949 -1.525 0 0 0 87 39 Pen -2.039 0.913 -1.448 0 0 0 74 40 SaltShaker -1.809 0.905 -1.793 0 0 0 77 41 Cup 1.388 1.720 1.901 0 270 0 98 42 Egg 0.320 0.948 -1.607 0 270 0 58 43 Spatula -1.809 0.925 -1.793 0 0 0 77 44 Bowl 0.808 1.656 -1.839 0 0 0 68 45 SprayBottle -1.962 0.909 -1.534 0 0 0 77 46 Pan 1.342 1.655 -1.264 0 0 0 71 47 SoapBottle 0.171 0.114 -1.631 0 90 0 76 48 Pot 0.967 0.9 0.249 0 0 0 79 49 ButterKnife -1.835 0.910 0.463 0 0 0 81 50 PepperShaker -1.881 1.651 -1.866 0 90 0 60 51 DishSponge 1.520 1.655 -0.421 0 0 0 67 52 Bread 1.164 0.975 -0.16 0 300.000 0 79 53 Apple 1.459 0.249 1.08 0 0 0 96 54 Spoon 1.035 0.776 0.485 0 0 0 56 55 Mug -0.619 0.106 -1.584 0 0 0 66 56 Drawer 0.860 0.75 0.430 0 0 0 57 Drawer 0.871 0.75 -1.134 0 0 0 58 Sink 0.156 0.817 -1.801 0 270 0 59 Cabinet -0.868 2.005 -1.690 0 0 0 60 Cabinet -1.661 2.059 -1.684 0 90 0 61 Cabinet -0.817 2.059 -1.689 0 0 0 62 Cabinet 0.860 0.402 0.665 0 0 0 63 Cabinet 0.860 0.402 -0.552 0 0 0 64 Cabinet 0.860 0.402 -1.365 0 0 0 65 Cabinet -0.244 0.402 -1.389 0 0 0 66 Cabinet -0.815 0.402 -1.389 0 0 0 67 Cabinet 1.159 2.059 -0.334 0 0 0 68 Cabinet 0.488 2.059 -1.689 0 0 0 69 Cabinet -0.193 2.059 -1.689 0 0 0 70 Drawer 0.860 0.75 -0.699 0 0 0 71 Cabinet 1.159 2.059 -1.019 0 0 0 72 Cabinet -1.611 2.005 -1.690 0 0 0 73 Cabinet 0.832 0.401 -1.393 0 90 0 74 Drawer -2.105 0.75 -1.389 0 0 0 75 StoveBurner -1.081 0.941 -1.809 0 0 0 76 Cabinet -0.202 0.401 -1.391 0 90 0 77 CounterTop -1.973 0.945 -1.707 0 0 0 78 Drawer -0.375 0.75 -1.389 0 0 0 79 CounterTop 1.164 0.946 -0.649 0 0 0 80 StoveBurner -1.081 0.941 -1.527 0 0 0 81 CounterTop -2.096 0.945 0.291 0 0 0 82 Cabinet -2.237 0.402 -1.389 0 0 0 83 Drawer 0.584 0.75 -1.389 0 0 0 84 Drawer -1.795 0.75 -1.389 0 0 0 85 CounterTop 1.5 1.197 -0.654 0 0 0 86 Cabinet -1.667 0.402 -1.389 0 0 0 87 StoveBurner -1.430 0.941 -1.525 0 0 0 88 Drawer -0.685 0.75 -1.389 0 0 0 89 StoveBurner -1.430 0.941 -1.809 0 0 0 90 LightSwitch -2.539 1.289 2.568 0 90 0 91 StoveKnob -1.362 1.095 -1.983 287.970 180 0 92 StoveKnob -0.962 1.095 -1.983 287.970 180 0 93 StoveKnob -1.522 1.095 -1.983 287.970 180 0 94 StoveKnob -1.112 1.095 -1.983 287.970 180 0 95 CoffeeMachine 1.082 0.900 -1.848 0 0 0 96 GarbageCan 1.343 0.015 1.041 0 0 0 97 HousePlant 1.440 1.153 0.593 0 0 0 98 Fridge 1.417 0.0 2.101 0 0 0 99 Window -0.486 1.452 3.302 90 0 0 100 SinkBasin -0.063 0.765 -1.713 0 270 0 101 Microwave 1.422 1.150 0.022 0 270 0 102 Toaster -2.066 0.900 -1.848 0 0 0 103 Stool -1.994 0.010 0.882 0 0 0 104 Faucet -0.096 1.041 -1.867 0 270 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Go to the counter to the left of the stove. | STEP 2: Pick up the white rubber spatula. | STEP 3: Take the spatula to the sink. | STEP 4: Set the spatula in the sink. Turn the water on in the sink. Turn the water off, let it drain out. | STEP 5: Take the spatula from the sink | STEP 6: Place the spatula in the wooden drawer to the left. Close the drawer. | END" ]
[ [ "STEP 1: Go to the counter to the left of the stove. ", " STEP 2: Pick up the white rubber spatula. ", " STEP 3: Take the spatula to the sink. ", " STEP 4: Set the spatula in the sink. Turn the water on in the sink. Turn the water off, let it drain out. ", " STEP 5: Take the spatula from the sink ", " STEP 6: Place the spatula in the wooden drawer to the left. Close the drawer. ", " END" ] ]
seen
trial_T20190907_154019_248212-1
place a clean spatula inside of the pullout drawer in the corner of the kitchen
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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 2.0 0 270 0 1 Ladle 1.342 1.700 -0.658 0 0 0 67 2 Ladle -2.039 0.954 -1.448 0 0 0 77 3 Kettle -2.107 0.112 -1.632 0 0 0 82 4 Kettle 1.343 0.912 0.372 0 0 0 79 5 ButterKnife -1.835 0.910 0.118 0 90 0 81 6 ButterKnife 0.320 0.919 -1.657 0 270 0 58 7 DishSponge 0.528 0.773 -1.533 0 0 0 83 8 DishSponge 0.251 0.919 -1.556 0 270 0 58 9 Glassbottle 1.426 1.368 2.476 0 270 0 98 10 Glassbottle -2.323 0.911 0.032 0 0 0 81 11 Fork 0.149 0.920 -1.657 0 270 0 58 12 Fork -2.079 0.911 0.118 0 0 0 81 13 Spoon 0.320 0.920 -1.657 0 270 0 58 14 Spatula -1.732 0.925 -1.620 0 90 0 77 15 Egg 0.115 0.948 -1.556 0 270 0 58 16 Cup -0.406 0.117 -1.586 0 0 0 65 17 Cup 1.376 1.367 2.351 0 270 0 98 18 SoapBottle 1.341 0.214 1.08 0 270 0 96 19 SoapBottle 1.208 0.115 -1.071 0 0 0 64 20 Tomato 0.149 0.959 -1.758 0 270 0 58 21 Tomato -1.712 0.950 0.032 0 0 0 81 22 Bowl -1.796 0.117 -1.586 0 0 0 86 23 PepperShaker -1.809 0.905 -1.965 0 0 0 77 24 PepperShaker -1.809 0.905 -1.448 0 0 0 77 25 SaltShaker 1.414 1.157 0.370 0 180 0 85 26 Lettuce 1.454 1.231 -1.688 0 0 0 85 27 Mug 1.375 1.362 1.851 0 270 0 98 28 Apple 0.285 0.954 -1.758 0 270 0 58 29 Apple 1.454 1.196 -1.002 0 0 0 85 30 Tomato 0.475 0.951 -1.448 0 0 0 79 31 Glassbottle 1.208 0.118 0.313 0 0 0 62 32 Knife -2.201 0.940 0.291 0 0 0 81 33 Plate 0.589 0.117 -1.585 0 90 0 73 34 Fork -1.957 0.911 0.377 0 0 0 81 35 Ladle 0.664 0.955 -1.704 0 0 0 79 36 Potato 1.454 1.203 -1.345 0 0 0 85 37 Lettuce -2.079 0.979 0.377 0 0 0 81 38 Kettle -1.431 0.949 -1.525 0 0 0 87 39 Pen -2.039 0.913 -1.448 0 0 0 74 40 SaltShaker -1.809 0.905 -1.793 0 0 0 77 41 Cup 1.388 1.720 1.901 0 270 0 98 42 Egg 0.320 0.948 -1.607 0 270 0 58 43 Spatula -1.809 0.925 -1.793 0 0 0 77 44 Bowl 0.808 1.656 -1.839 0 0 0 68 45 SprayBottle -1.962 0.909 -1.534 0 0 0 77 46 Pan 1.342 1.655 -1.264 0 0 0 71 47 SoapBottle 0.171 0.114 -1.631 0 90 0 76 48 Pot 0.967 0.9 0.249 0 0 0 79 49 ButterKnife -1.835 0.910 0.463 0 0 0 81 50 PepperShaker -1.881 1.651 -1.866 0 90 0 60 51 DishSponge 1.520 1.655 -0.421 0 0 0 67 52 Bread 1.164 0.975 -0.16 0 300.000 0 79 53 Apple 1.459 0.249 1.08 0 0 0 96 54 Spoon 1.035 0.776 0.485 0 0 0 56 55 Mug -0.619 0.106 -1.584 0 0 0 66 56 Drawer 0.860 0.75 0.430 0 0 0 57 Drawer 0.871 0.75 -1.134 0 0 0 58 Sink 0.156 0.817 -1.801 0 270 0 59 Cabinet -0.868 2.005 -1.690 0 0 0 60 Cabinet -1.661 2.059 -1.684 0 90 0 61 Cabinet -0.817 2.059 -1.689 0 0 0 62 Cabinet 0.860 0.402 0.665 0 0 0 63 Cabinet 0.860 0.402 -0.552 0 0 0 64 Cabinet 0.860 0.402 -1.365 0 0 0 65 Cabinet -0.244 0.402 -1.389 0 0 0 66 Cabinet -0.815 0.402 -1.389 0 0 0 67 Cabinet 1.159 2.059 -0.334 0 0 0 68 Cabinet 0.488 2.059 -1.689 0 0 0 69 Cabinet -0.193 2.059 -1.689 0 0 0 70 Drawer 0.860 0.75 -0.699 0 0 0 71 Cabinet 1.159 2.059 -1.019 0 0 0 72 Cabinet -1.611 2.005 -1.690 0 0 0 73 Cabinet 0.832 0.401 -1.393 0 90 0 74 Drawer -2.105 0.75 -1.389 0 0 0 75 StoveBurner -1.081 0.941 -1.809 0 0 0 76 Cabinet -0.202 0.401 -1.391 0 90 0 77 CounterTop -1.973 0.945 -1.707 0 0 0 78 Drawer -0.375 0.75 -1.389 0 0 0 79 CounterTop 1.164 0.946 -0.649 0 0 0 80 StoveBurner -1.081 0.941 -1.527 0 0 0 81 CounterTop -2.096 0.945 0.291 0 0 0 82 Cabinet -2.237 0.402 -1.389 0 0 0 83 Drawer 0.584 0.75 -1.389 0 0 0 84 Drawer -1.795 0.75 -1.389 0 0 0 85 CounterTop 1.5 1.197 -0.654 0 0 0 86 Cabinet -1.667 0.402 -1.389 0 0 0 87 StoveBurner -1.430 0.941 -1.525 0 0 0 88 Drawer -0.685 0.75 -1.389 0 0 0 89 StoveBurner -1.430 0.941 -1.809 0 0 0 90 LightSwitch -2.539 1.289 2.568 0 90 0 91 StoveKnob -1.362 1.095 -1.983 287.970 180 0 92 StoveKnob -0.962 1.095 -1.983 287.970 180 0 93 StoveKnob -1.522 1.095 -1.983 287.970 180 0 94 StoveKnob -1.112 1.095 -1.983 287.970 180 0 95 CoffeeMachine 1.082 0.900 -1.848 0 0 0 96 GarbageCan 1.343 0.015 1.041 0 0 0 97 HousePlant 1.440 1.153 0.593 0 0 0 98 Fridge 1.417 0.0 2.101 0 0 0 99 Window -0.486 1.452 3.302 90 0 0 100 SinkBasin -0.063 0.765 -1.713 0 270 0 101 Microwave 1.422 1.150 0.022 0 270 0 102 Toaster -2.066 0.900 -1.848 0 0 0 103 Stool -1.994 0.010 0.882 0 0 0 104 Faucet -0.096 1.041 -1.867 0 270 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: walk forwards a bit and then hang a left, walk to the end of the room and approach the kitchen counter on your right at the end of the room | STEP 2: grab a spatula off of the counter to the left of the pepper grinder | STEP 3: turn left and walk until you reach the sink on the right | STEP 4: place the spatula in the sink and clean it off, then pick it back up | STEP 5: turn left to face the cabinets | STEP 6: place the spatula in the pull out drawer in the corner of the cabinets on the right | END" ]
[ [ "STEP 1: walk forwards a bit and then hang a left, walk to the end of the room and approach the kitchen counter on your right at the end of the room ", " STEP 2: grab a spatula off of the counter to the left of the pepper grinder ", " STEP 3: turn left and walk until you reach the sink on the right ", " STEP 4: place the spatula in the sink and clean it off, then pick it back up ", " STEP 5: turn left to face the cabinets ", " STEP 6: place the spatula in the pull out drawer in the corner of the cabinets on the right ", " END" ] ]
seen
trial_T20190907_154019_248212-2
Place a clean spatula into the correct drawer.
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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 2.0 0 270 0 1 Ladle 1.342 1.700 -0.658 0 0 0 67 2 Ladle -2.039 0.954 -1.448 0 0 0 77 3 Kettle -2.107 0.112 -1.632 0 0 0 82 4 Kettle 1.343 0.912 0.372 0 0 0 79 5 ButterKnife -1.835 0.910 0.118 0 90 0 81 6 ButterKnife 0.320 0.919 -1.657 0 270 0 58 7 DishSponge 0.528 0.773 -1.533 0 0 0 83 8 DishSponge 0.251 0.919 -1.556 0 270 0 58 9 Glassbottle 1.426 1.368 2.476 0 270 0 98 10 Glassbottle -2.323 0.911 0.032 0 0 0 81 11 Fork 0.149 0.920 -1.657 0 270 0 58 12 Fork -2.079 0.911 0.118 0 0 0 81 13 Spoon 0.320 0.920 -1.657 0 270 0 58 14 Spatula -1.732 0.925 -1.620 0 90 0 77 15 Egg 0.115 0.948 -1.556 0 270 0 58 16 Cup -0.406 0.117 -1.586 0 0 0 65 17 Cup 1.376 1.367 2.351 0 270 0 98 18 SoapBottle 1.341 0.214 1.08 0 270 0 96 19 SoapBottle 1.208 0.115 -1.071 0 0 0 64 20 Tomato 0.149 0.959 -1.758 0 270 0 58 21 Tomato -1.712 0.950 0.032 0 0 0 81 22 Bowl -1.796 0.117 -1.586 0 0 0 86 23 PepperShaker -1.809 0.905 -1.965 0 0 0 77 24 PepperShaker -1.809 0.905 -1.448 0 0 0 77 25 SaltShaker 1.414 1.157 0.370 0 180 0 85 26 Lettuce 1.454 1.231 -1.688 0 0 0 85 27 Mug 1.375 1.362 1.851 0 270 0 98 28 Apple 0.285 0.954 -1.758 0 270 0 58 29 Apple 1.454 1.196 -1.002 0 0 0 85 30 Tomato 0.475 0.951 -1.448 0 0 0 79 31 Glassbottle 1.208 0.118 0.313 0 0 0 62 32 Knife -2.201 0.940 0.291 0 0 0 81 33 Plate 0.589 0.117 -1.585 0 90 0 73 34 Fork -1.957 0.911 0.377 0 0 0 81 35 Ladle 0.664 0.955 -1.704 0 0 0 79 36 Potato 1.454 1.203 -1.345 0 0 0 85 37 Lettuce -2.079 0.979 0.377 0 0 0 81 38 Kettle -1.431 0.949 -1.525 0 0 0 87 39 Pen -2.039 0.913 -1.448 0 0 0 74 40 SaltShaker -1.809 0.905 -1.793 0 0 0 77 41 Cup 1.388 1.720 1.901 0 270 0 98 42 Egg 0.320 0.948 -1.607 0 270 0 58 43 Spatula -1.809 0.925 -1.793 0 0 0 77 44 Bowl 0.808 1.656 -1.839 0 0 0 68 45 SprayBottle -1.962 0.909 -1.534 0 0 0 77 46 Pan 1.342 1.655 -1.264 0 0 0 71 47 SoapBottle 0.171 0.114 -1.631 0 90 0 76 48 Pot 0.967 0.9 0.249 0 0 0 79 49 ButterKnife -1.835 0.910 0.463 0 0 0 81 50 PepperShaker -1.881 1.651 -1.866 0 90 0 60 51 DishSponge 1.520 1.655 -0.421 0 0 0 67 52 Bread 1.164 0.975 -0.16 0 300.000 0 79 53 Apple 1.459 0.249 1.08 0 0 0 96 54 Spoon 1.035 0.776 0.485 0 0 0 56 55 Mug -0.619 0.106 -1.584 0 0 0 66 56 Drawer 0.860 0.75 0.430 0 0 0 57 Drawer 0.871 0.75 -1.134 0 0 0 58 Sink 0.156 0.817 -1.801 0 270 0 59 Cabinet -0.868 2.005 -1.690 0 0 0 60 Cabinet -1.661 2.059 -1.684 0 90 0 61 Cabinet -0.817 2.059 -1.689 0 0 0 62 Cabinet 0.860 0.402 0.665 0 0 0 63 Cabinet 0.860 0.402 -0.552 0 0 0 64 Cabinet 0.860 0.402 -1.365 0 0 0 65 Cabinet -0.244 0.402 -1.389 0 0 0 66 Cabinet -0.815 0.402 -1.389 0 0 0 67 Cabinet 1.159 2.059 -0.334 0 0 0 68 Cabinet 0.488 2.059 -1.689 0 0 0 69 Cabinet -0.193 2.059 -1.689 0 0 0 70 Drawer 0.860 0.75 -0.699 0 0 0 71 Cabinet 1.159 2.059 -1.019 0 0 0 72 Cabinet -1.611 2.005 -1.690 0 0 0 73 Cabinet 0.832 0.401 -1.393 0 90 0 74 Drawer -2.105 0.75 -1.389 0 0 0 75 StoveBurner -1.081 0.941 -1.809 0 0 0 76 Cabinet -0.202 0.401 -1.391 0 90 0 77 CounterTop -1.973 0.945 -1.707 0 0 0 78 Drawer -0.375 0.75 -1.389 0 0 0 79 CounterTop 1.164 0.946 -0.649 0 0 0 80 StoveBurner -1.081 0.941 -1.527 0 0 0 81 CounterTop -2.096 0.945 0.291 0 0 0 82 Cabinet -2.237 0.402 -1.389 0 0 0 83 Drawer 0.584 0.75 -1.389 0 0 0 84 Drawer -1.795 0.75 -1.389 0 0 0 85 CounterTop 1.5 1.197 -0.654 0 0 0 86 Cabinet -1.667 0.402 -1.389 0 0 0 87 StoveBurner -1.430 0.941 -1.525 0 0 0 88 Drawer -0.685 0.75 -1.389 0 0 0 89 StoveBurner -1.430 0.941 -1.809 0 0 0 90 LightSwitch -2.539 1.289 2.568 0 90 0 91 StoveKnob -1.362 1.095 -1.983 287.970 180 0 92 StoveKnob -0.962 1.095 -1.983 287.970 180 0 93 StoveKnob -1.522 1.095 -1.983 287.970 180 0 94 StoveKnob -1.112 1.095 -1.983 287.970 180 0 95 CoffeeMachine 1.082 0.900 -1.848 0 0 0 96 GarbageCan 1.343 0.015 1.041 0 0 0 97 HousePlant 1.440 1.153 0.593 0 0 0 98 Fridge 1.417 0.0 2.101 0 0 0 99 Window -0.486 1.452 3.302 90 0 0 100 SinkBasin -0.063 0.765 -1.713 0 270 0 101 Microwave 1.422 1.150 0.022 0 270 0 102 Toaster -2.066 0.900 -1.848 0 0 0 103 Stool -1.994 0.010 0.882 0 0 0 104 Faucet -0.096 1.041 -1.867 0 270 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn left and go towards the oven. | STEP 2: Pick up the spatula that is on the counter between the oven and the grinder. | STEP 3: Go left and walk to the sink on the right hand side. | STEP 4: Put the spatula in to sink, turn on the water, and clean it. | STEP 5: Remove the spatula from the sink. | STEP 6: Open the drawer located to the left of the sink and place the clean spatula inside. Close the drawer. | END" ]
[ [ "STEP 1: Turn left and go towards the oven. ", " STEP 2: Pick up the spatula that is on the counter between the oven and the grinder. ", " STEP 3: Go left and walk to the sink on the right hand side. ", " STEP 4: Put the spatula in to sink, turn on the water, and clean it. ", " STEP 5: Remove the spatula from the sink. ", " STEP 6: Open the drawer located to the left of the sink and place the clean spatula inside. Close the drawer. ", " END" ] ]
seen
trial_T20190909_113115_944460-0
Wash an apple from the microwave to put it back.
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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 1.75 0 270 0 1 Pan -0.386 1.655 -1.839 0 0 0 57 2 SprayBottle 1.031 0.114 -0.773 0 0 0 59 3 SprayBottle 0.589 0.116 -1.633 0 90 0 69 4 Pen 1.420 0.217 1.08 0 0 0 92 5 Pen -1.962 0.913 -1.707 0 0 0 70 6 Ladle -2.079 0.954 0.118 0 0 0 77 7 Ladle 0.852 0.955 -1.448 0 0 0 75 8 ButterKnife 1.260 0.911 -1.672 0 0 0 75 9 ButterKnife -0.703 0.911 -1.874 0 0 0 75 10 Glassbottle 0.041 1.656 -1.913 0 0 0 65 11 Fork 0.585 0.774 -1.533 0 0 0 79 12 Fork 1.176 0.911 0.372 0 0 0 75 13 Spoon -1.886 0.911 -1.879 0 0 0 73 14 Spoon 1.035 0.776 0.431 0 0 0 52 15 Egg 1.351 1.846 2.369 0 270 0 94 16 SoapBottle 1.375 1.162 -1.688 0 0 0 81 17 SoapBottle -2.165 1.655 -1.748 0 180 0 56 18 Tomato 1.343 0.951 0.372 0 0 0 75 19 Tomato 1.356 1.760 1.963 0 270 0 94 20 SaltShaker 1.176 0.906 -1.331 0 0 0 75 21 SaltShaker -2.039 0.905 -1.448 0 0 0 73 22 Bread -1.957 0.988 0.291 0 0 0 77 23 Lettuce 1.414 1.231 -1.345 0 0 0 81 24 Lettuce 1.375 1.231 -1.002 0 0 0 81 25 Apple 1.381 0.249 1.137 0 0 0 92 26 Tomato 1.453 1.760 1.713 0 270 0 94 27 Glassbottle 1.325 1.368 2.226 0 270 0 94 28 Knife 0.946 0.941 -1.704 0 0 0 75 29 Plate 0.110 0.115 -1.536 0 90 0 72 30 Fork -2.201 0.911 0.549 0 0 0 77 31 Ladle -1.438 1.902 -1.838 0 0 0 68 32 Potato -1.732 0.952 -1.965 0 0 0 73 33 Lettuce -2.201 0.979 0.291 0 0 0 77 34 Kettle -1.431 0.949 -1.81 0 0 0 85 35 Pen 0.416 0.777 -1.500 0 90 0 54 36 SaltShaker -2.445 0.905 0.032 0 0 0 77 37 Cup -1.125 1.851 -1.765 0 0 0 55 38 Egg -1.732 0.939 -1.534 0 0 0 73 39 Spatula 1.176 0.926 -0.990 0 90 0 75 40 Bowl 1.401 1.656 -1.500 0 0 0 67 41 SprayBottle -1.796 0.116 -1.538 0 0 0 82 42 Pan -1.081 0.949 -1.81 0 0 0 71 43 SoapBottle 1.341 0.214 1.022 0 90 0 92 44 Pot 0.967 0.9 0.249 0 0 0 75 45 ButterKnife -2.323 0.910 0.032 0 0 0 77 46 PepperShaker 1.375 1.157 -0.659 0 0 0 81 47 DishSponge 1.296 1.161 0.370 0 0 0 81 48 Bread -1.712 0.988 0.291 0 0 0 77 49 Apple 1.473 1.300 0.188 0 270 0 97 50 Spoon -2.159 0.774 -1.500 0 270 0 70 51 Mug 1.070 0.957 -1.641 0 0 0 91 52 Drawer 0.860 0.75 0.430 0 0 0 53 Drawer 0.871 0.75 -1.134 0 0 0 54 Sink 0.156 0.817 -1.801 0 270 0 55 Cabinet -0.868 2.005 -1.690 0 0 0 56 Cabinet -1.661 2.059 -1.684 0 90 0 57 Cabinet -0.817 2.059 -1.689 0 0 0 58 Cabinet 0.860 0.402 0.665 0 0 0 59 Cabinet 0.860 0.402 -0.552 0 0 0 60 Cabinet 0.860 0.402 -1.365 0 0 0 61 Cabinet -0.244 0.402 -1.389 0 0 0 62 Cabinet -0.815 0.402 -1.389 0 0 0 63 Cabinet 1.159 2.059 -0.334 0 0 0 64 Cabinet 0.488 2.059 -1.689 0 0 0 65 Cabinet -0.193 2.059 -1.689 0 0 0 66 Drawer 0.860 0.75 -0.699 0 0 0 67 Cabinet 1.159 2.059 -1.019 0 0 0 68 Cabinet -1.611 2.005 -1.690 0 0 0 69 Cabinet 0.832 0.401 -1.393 0 90 0 70 Drawer -2.105 0.75 -1.389 0 0 0 71 StoveBurner -1.081 0.941 -1.809 0 0 0 72 Cabinet -0.202 0.401 -1.391 0 90 0 73 CounterTop -1.973 0.945 -1.707 0 0 0 74 Drawer -0.375 0.75 -1.389 0 0 0 75 CounterTop 1.164 0.946 -0.649 0 0 0 76 StoveBurner -1.081 0.941 -1.527 0 0 0 77 CounterTop -2.096 0.945 0.291 0 0 0 78 Cabinet -2.237 0.402 -1.389 0 0 0 79 Drawer 0.584 0.75 -1.389 0 0 0 80 Drawer -1.795 0.75 -1.389 0 0 0 81 CounterTop 1.5 1.197 -0.654 0 0 0 82 Cabinet -1.667 0.402 -1.389 0 0 0 83 StoveBurner -1.430 0.941 -1.525 0 0 0 84 Drawer -0.685 0.75 -1.389 0 0 0 85 StoveBurner -1.430 0.941 -1.809 0 0 0 86 LightSwitch -2.539 1.289 2.568 0 90 0 87 StoveKnob -1.362 1.095 -1.983 287.970 180 0 88 StoveKnob -0.962 1.095 -1.983 287.970 180 0 89 StoveKnob -1.522 1.095 -1.983 287.970 180 0 90 StoveKnob -1.112 1.095 -1.983 287.970 180 0 91 CoffeeMachine 1.082 0.900 -1.848 0 0 0 92 GarbageCan 1.343 0.015 1.041 0 0 0 93 HousePlant 1.440 1.153 0.593 0 0 0 94 Fridge 1.417 0.0 2.101 0 0 0 95 Window -0.486 1.452 3.302 90 0 0 96 SinkBasin -0.063 0.765 -1.713 0 270 0 97 Microwave 1.422 1.150 0.022 0 270 0 98 Toaster -2.066 0.900 -1.848 0 0 0 99 Stool -1.994 0.010 0.882 0 0 0 100 Faucet -0.096 1.041 -1.867 0 270 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn left to walk to the microwave. | STEP 2: Take the green apple out of the microwave. | STEP 3: Take a right to walk to the sink. | STEP 4: Wash the apple in the sink, removing it afterwards. | STEP 5: Turn left to walk back to the microwave. | STEP 6: Put the apple in the microwave. | END" ]
[ [ "STEP 1: Turn left to walk to the microwave. ", " STEP 2: Take the green apple out of the microwave. ", " STEP 3: Take a right to walk to the sink. ", " STEP 4: Wash the apple in the sink, removing it afterwards. ", " STEP 5: Turn left to walk back to the microwave. ", " STEP 6: Put the apple in the microwave. ", " END" ] ]
seen
trial_T20190909_113115_944460-1
rinse and apple to put it 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 -2.25 0.900 1.75 0 270 0 1 Pan -0.386 1.655 -1.839 0 0 0 57 2 SprayBottle 1.031 0.114 -0.773 0 0 0 59 3 SprayBottle 0.589 0.116 -1.633 0 90 0 69 4 Pen 1.420 0.217 1.08 0 0 0 92 5 Pen -1.962 0.913 -1.707 0 0 0 70 6 Ladle -2.079 0.954 0.118 0 0 0 77 7 Ladle 0.852 0.955 -1.448 0 0 0 75 8 ButterKnife 1.260 0.911 -1.672 0 0 0 75 9 ButterKnife -0.703 0.911 -1.874 0 0 0 75 10 Glassbottle 0.041 1.656 -1.913 0 0 0 65 11 Fork 0.585 0.774 -1.533 0 0 0 79 12 Fork 1.176 0.911 0.372 0 0 0 75 13 Spoon -1.886 0.911 -1.879 0 0 0 73 14 Spoon 1.035 0.776 0.431 0 0 0 52 15 Egg 1.351 1.846 2.369 0 270 0 94 16 SoapBottle 1.375 1.162 -1.688 0 0 0 81 17 SoapBottle -2.165 1.655 -1.748 0 180 0 56 18 Tomato 1.343 0.951 0.372 0 0 0 75 19 Tomato 1.356 1.760 1.963 0 270 0 94 20 SaltShaker 1.176 0.906 -1.331 0 0 0 75 21 SaltShaker -2.039 0.905 -1.448 0 0 0 73 22 Bread -1.957 0.988 0.291 0 0 0 77 23 Lettuce 1.414 1.231 -1.345 0 0 0 81 24 Lettuce 1.375 1.231 -1.002 0 0 0 81 25 Apple 1.381 0.249 1.137 0 0 0 92 26 Tomato 1.453 1.760 1.713 0 270 0 94 27 Glassbottle 1.325 1.368 2.226 0 270 0 94 28 Knife 0.946 0.941 -1.704 0 0 0 75 29 Plate 0.110 0.115 -1.536 0 90 0 72 30 Fork -2.201 0.911 0.549 0 0 0 77 31 Ladle -1.438 1.902 -1.838 0 0 0 68 32 Potato -1.732 0.952 -1.965 0 0 0 73 33 Lettuce -2.201 0.979 0.291 0 0 0 77 34 Kettle -1.431 0.949 -1.81 0 0 0 85 35 Pen 0.416 0.777 -1.500 0 90 0 54 36 SaltShaker -2.445 0.905 0.032 0 0 0 77 37 Cup -1.125 1.851 -1.765 0 0 0 55 38 Egg -1.732 0.939 -1.534 0 0 0 73 39 Spatula 1.176 0.926 -0.990 0 90 0 75 40 Bowl 1.401 1.656 -1.500 0 0 0 67 41 SprayBottle -1.796 0.116 -1.538 0 0 0 82 42 Pan -1.081 0.949 -1.81 0 0 0 71 43 SoapBottle 1.341 0.214 1.022 0 90 0 92 44 Pot 0.967 0.9 0.249 0 0 0 75 45 ButterKnife -2.323 0.910 0.032 0 0 0 77 46 PepperShaker 1.375 1.157 -0.659 0 0 0 81 47 DishSponge 1.296 1.161 0.370 0 0 0 81 48 Bread -1.712 0.988 0.291 0 0 0 77 49 Apple 1.473 1.300 0.188 0 270 0 97 50 Spoon -2.159 0.774 -1.500 0 270 0 70 51 Mug 1.070 0.957 -1.641 0 0 0 91 52 Drawer 0.860 0.75 0.430 0 0 0 53 Drawer 0.871 0.75 -1.134 0 0 0 54 Sink 0.156 0.817 -1.801 0 270 0 55 Cabinet -0.868 2.005 -1.690 0 0 0 56 Cabinet -1.661 2.059 -1.684 0 90 0 57 Cabinet -0.817 2.059 -1.689 0 0 0 58 Cabinet 0.860 0.402 0.665 0 0 0 59 Cabinet 0.860 0.402 -0.552 0 0 0 60 Cabinet 0.860 0.402 -1.365 0 0 0 61 Cabinet -0.244 0.402 -1.389 0 0 0 62 Cabinet -0.815 0.402 -1.389 0 0 0 63 Cabinet 1.159 2.059 -0.334 0 0 0 64 Cabinet 0.488 2.059 -1.689 0 0 0 65 Cabinet -0.193 2.059 -1.689 0 0 0 66 Drawer 0.860 0.75 -0.699 0 0 0 67 Cabinet 1.159 2.059 -1.019 0 0 0 68 Cabinet -1.611 2.005 -1.690 0 0 0 69 Cabinet 0.832 0.401 -1.393 0 90 0 70 Drawer -2.105 0.75 -1.389 0 0 0 71 StoveBurner -1.081 0.941 -1.809 0 0 0 72 Cabinet -0.202 0.401 -1.391 0 90 0 73 CounterTop -1.973 0.945 -1.707 0 0 0 74 Drawer -0.375 0.75 -1.389 0 0 0 75 CounterTop 1.164 0.946 -0.649 0 0 0 76 StoveBurner -1.081 0.941 -1.527 0 0 0 77 CounterTop -2.096 0.945 0.291 0 0 0 78 Cabinet -2.237 0.402 -1.389 0 0 0 79 Drawer 0.584 0.75 -1.389 0 0 0 80 Drawer -1.795 0.75 -1.389 0 0 0 81 CounterTop 1.5 1.197 -0.654 0 0 0 82 Cabinet -1.667 0.402 -1.389 0 0 0 83 StoveBurner -1.430 0.941 -1.525 0 0 0 84 Drawer -0.685 0.75 -1.389 0 0 0 85 StoveBurner -1.430 0.941 -1.809 0 0 0 86 LightSwitch -2.539 1.289 2.568 0 90 0 87 StoveKnob -1.362 1.095 -1.983 287.970 180 0 88 StoveKnob -0.962 1.095 -1.983 287.970 180 0 89 StoveKnob -1.522 1.095 -1.983 287.970 180 0 90 StoveKnob -1.112 1.095 -1.983 287.970 180 0 91 CoffeeMachine 1.082 0.900 -1.848 0 0 0 92 GarbageCan 1.343 0.015 1.041 0 0 0 93 HousePlant 1.440 1.153 0.593 0 0 0 94 Fridge 1.417 0.0 2.101 0 0 0 95 Window -0.486 1.452 3.302 90 0 0 96 SinkBasin -0.063 0.765 -1.713 0 270 0 97 Microwave 1.422 1.150 0.022 0 270 0 98 Toaster -2.066 0.900 -1.848 0 0 0 99 Stool -1.994 0.010 0.882 0 0 0 100 Faucet -0.096 1.041 -1.867 0 270 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: go to the microwave | STEP 2: take the apple out of the microwave | STEP 3: take the cooked apple to the sink | STEP 4: rinse the apple in the sink | STEP 5: take the apple back to the microwave | STEP 6: put the apple back in the microwave | END" ]
[ [ "STEP 1: go to the microwave ", " STEP 2: take the apple out of the microwave ", " STEP 3: take the cooked apple to the sink ", " STEP 4: rinse the apple in the sink ", " STEP 5: take the apple back to the microwave ", " STEP 6: put the apple back in the microwave ", " END" ] ]
seen
trial_T20190909_113115_944460-2
Put a washed apple 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 -2.25 0.900 1.75 0 270 0 1 Pan -0.386 1.655 -1.839 0 0 0 57 2 SprayBottle 1.031 0.114 -0.773 0 0 0 59 3 SprayBottle 0.589 0.116 -1.633 0 90 0 69 4 Pen 1.420 0.217 1.08 0 0 0 92 5 Pen -1.962 0.913 -1.707 0 0 0 70 6 Ladle -2.079 0.954 0.118 0 0 0 77 7 Ladle 0.852 0.955 -1.448 0 0 0 75 8 ButterKnife 1.260 0.911 -1.672 0 0 0 75 9 ButterKnife -0.703 0.911 -1.874 0 0 0 75 10 Glassbottle 0.041 1.656 -1.913 0 0 0 65 11 Fork 0.585 0.774 -1.533 0 0 0 79 12 Fork 1.176 0.911 0.372 0 0 0 75 13 Spoon -1.886 0.911 -1.879 0 0 0 73 14 Spoon 1.035 0.776 0.431 0 0 0 52 15 Egg 1.351 1.846 2.369 0 270 0 94 16 SoapBottle 1.375 1.162 -1.688 0 0 0 81 17 SoapBottle -2.165 1.655 -1.748 0 180 0 56 18 Tomato 1.343 0.951 0.372 0 0 0 75 19 Tomato 1.356 1.760 1.963 0 270 0 94 20 SaltShaker 1.176 0.906 -1.331 0 0 0 75 21 SaltShaker -2.039 0.905 -1.448 0 0 0 73 22 Bread -1.957 0.988 0.291 0 0 0 77 23 Lettuce 1.414 1.231 -1.345 0 0 0 81 24 Lettuce 1.375 1.231 -1.002 0 0 0 81 25 Apple 1.381 0.249 1.137 0 0 0 92 26 Tomato 1.453 1.760 1.713 0 270 0 94 27 Glassbottle 1.325 1.368 2.226 0 270 0 94 28 Knife 0.946 0.941 -1.704 0 0 0 75 29 Plate 0.110 0.115 -1.536 0 90 0 72 30 Fork -2.201 0.911 0.549 0 0 0 77 31 Ladle -1.438 1.902 -1.838 0 0 0 68 32 Potato -1.732 0.952 -1.965 0 0 0 73 33 Lettuce -2.201 0.979 0.291 0 0 0 77 34 Kettle -1.431 0.949 -1.81 0 0 0 85 35 Pen 0.416 0.777 -1.500 0 90 0 54 36 SaltShaker -2.445 0.905 0.032 0 0 0 77 37 Cup -1.125 1.851 -1.765 0 0 0 55 38 Egg -1.732 0.939 -1.534 0 0 0 73 39 Spatula 1.176 0.926 -0.990 0 90 0 75 40 Bowl 1.401 1.656 -1.500 0 0 0 67 41 SprayBottle -1.796 0.116 -1.538 0 0 0 82 42 Pan -1.081 0.949 -1.81 0 0 0 71 43 SoapBottle 1.341 0.214 1.022 0 90 0 92 44 Pot 0.967 0.9 0.249 0 0 0 75 45 ButterKnife -2.323 0.910 0.032 0 0 0 77 46 PepperShaker 1.375 1.157 -0.659 0 0 0 81 47 DishSponge 1.296 1.161 0.370 0 0 0 81 48 Bread -1.712 0.988 0.291 0 0 0 77 49 Apple 1.473 1.300 0.188 0 270 0 97 50 Spoon -2.159 0.774 -1.500 0 270 0 70 51 Mug 1.070 0.957 -1.641 0 0 0 91 52 Drawer 0.860 0.75 0.430 0 0 0 53 Drawer 0.871 0.75 -1.134 0 0 0 54 Sink 0.156 0.817 -1.801 0 270 0 55 Cabinet -0.868 2.005 -1.690 0 0 0 56 Cabinet -1.661 2.059 -1.684 0 90 0 57 Cabinet -0.817 2.059 -1.689 0 0 0 58 Cabinet 0.860 0.402 0.665 0 0 0 59 Cabinet 0.860 0.402 -0.552 0 0 0 60 Cabinet 0.860 0.402 -1.365 0 0 0 61 Cabinet -0.244 0.402 -1.389 0 0 0 62 Cabinet -0.815 0.402 -1.389 0 0 0 63 Cabinet 1.159 2.059 -0.334 0 0 0 64 Cabinet 0.488 2.059 -1.689 0 0 0 65 Cabinet -0.193 2.059 -1.689 0 0 0 66 Drawer 0.860 0.75 -0.699 0 0 0 67 Cabinet 1.159 2.059 -1.019 0 0 0 68 Cabinet -1.611 2.005 -1.690 0 0 0 69 Cabinet 0.832 0.401 -1.393 0 90 0 70 Drawer -2.105 0.75 -1.389 0 0 0 71 StoveBurner -1.081 0.941 -1.809 0 0 0 72 Cabinet -0.202 0.401 -1.391 0 90 0 73 CounterTop -1.973 0.945 -1.707 0 0 0 74 Drawer -0.375 0.75 -1.389 0 0 0 75 CounterTop 1.164 0.946 -0.649 0 0 0 76 StoveBurner -1.081 0.941 -1.527 0 0 0 77 CounterTop -2.096 0.945 0.291 0 0 0 78 Cabinet -2.237 0.402 -1.389 0 0 0 79 Drawer 0.584 0.75 -1.389 0 0 0 80 Drawer -1.795 0.75 -1.389 0 0 0 81 CounterTop 1.5 1.197 -0.654 0 0 0 82 Cabinet -1.667 0.402 -1.389 0 0 0 83 StoveBurner -1.430 0.941 -1.525 0 0 0 84 Drawer -0.685 0.75 -1.389 0 0 0 85 StoveBurner -1.430 0.941 -1.809 0 0 0 86 LightSwitch -2.539 1.289 2.568 0 90 0 87 StoveKnob -1.362 1.095 -1.983 287.970 180 0 88 StoveKnob -0.962 1.095 -1.983 287.970 180 0 89 StoveKnob -1.522 1.095 -1.983 287.970 180 0 90 StoveKnob -1.112 1.095 -1.983 287.970 180 0 91 CoffeeMachine 1.082 0.900 -1.848 0 0 0 92 GarbageCan 1.343 0.015 1.041 0 0 0 93 HousePlant 1.440 1.153 0.593 0 0 0 94 Fridge 1.417 0.0 2.101 0 0 0 95 Window -0.486 1.452 3.302 90 0 0 96 SinkBasin -0.063 0.765 -1.713 0 270 0 97 Microwave 1.422 1.150 0.022 0 270 0 98 Toaster -2.066 0.900 -1.848 0 0 0 99 Stool -1.994 0.010 0.882 0 0 0 100 Faucet -0.096 1.041 -1.867 0 270 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn left and when you get to the black bar stool, head left again and cross the kitchen to stand at the counter above the dishwasher. | STEP 2: Open the microwave door above the counter and remove the green apple | STEP 3: Turn right and carry the apple to the sink. | STEP 4: Place the apple in the right sink, turn on the water, and then remove once washed. | STEP 5: Turn left and carry the apple back to the microwave. | STEP 6: Place the apple in the microwave. | END" ]
[ [ "STEP 1: Turn left and when you get to the black bar stool, head left again and cross the kitchen to stand at the counter above the dishwasher. ", " STEP 2: Open the microwave door above the counter and remove the green apple ", " STEP 3: Turn right and carry the apple to the sink. ", " STEP 4: Place the apple in the right sink, turn on the water, and then remove once washed. ", " STEP 5: Turn left and carry the apple back to the microwave. ", " STEP 6: Place the apple in the microwave. ", " END" ] ]
seen
trial_T20190909_085924_009925-0
Move two credit cards to the couch.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " 3.5", " 0", " 270", " 0", "" ], [ "1", " KeyChain", " 1.601", " 0.180", " 0.241", " 0", " 270", " 0", " 30" ], [ "2", " KeyChain", " 1.600", " 0.757", " 0.691", " 0", " 270", " 0", " 28" ], [ "3", " CreditCard", " -0.051", " 0.473", " 0.442", " 0", " 90", " 0", " 25" ], [ "4", " CreditCard", " -0.399", " 0.306", " 2.200", " 0", " 0", " 0", " 40" ], [ "5", " CreditCard", " 0.319", " 0.290", " 2.119", " 0", " 0", " 0", " 39" ], [ "6", " Box", " -1.349", " 0.515", " 0.643", " 0", " 180", " 0", " 36" ], [ "7", " Laptop", " 0.031", " 0.471", " 0.089", " 0", " 90", " 0", " 25" ], [ "8", " CreditCard", " -1.503", " 0.488", " 1.948", " 0", " 0", " 0", " 35" ], [ "9", " KeyChain", " -0.134", " 0.478", " 0.618", " 0", " 90", " 0", " 25" ], [ "10", " Vase", " 1.525", " 0.765", " 0.091", " 0", " 270", " 0", " 28" ], [ "11", " Vase", " 1.600", " 0.761", " -0.208", " 0", " 270", " 0", " 28" ], [ "12", " Pillow", " -1.235", " 0.461", " -0.025", " 0", " 75.000", " 0", " 36" ], [ "13", " RemoteControl", " 1.675", " 0.762", " 0.541", " 0", " 270", " 0", " 28" ], [ "14", " Watch", " 1.450", " 0.757", " 0.241", " 0", " 270", " 0", " 28" ], [ "15", " Vase", " -1.799", " 1.315", " -1.470", " 0", " 0", " 0", " 38" ], [ "16", " Statue", " 1.600", " 0.767", " 0.391", " 0", " 270", " 0", " 28" ], [ "17", " Television", " 1.826", " 1.241", " 0.248", " 0", " 270", " 0", "" ], [ "18", " LightSwitch", " -2.0", " 1.332", " 3.920", " 0", " 90", " 0", "" ], [ "19", " Window", " -0.216", " 1.495", " -1.878", " 90", " 0", " 0", "" ], [ "20", " HousePlant", " -1.780", " 0.468", " 1.965", " 0", " 0", " 0", "" ], [ "21", " Painting", " -2.0", " 1.577", " 0.418", " 90", " 270", " 0", "" ], [ "22", " GarbageCan", " 1.767", " -0.001", " 3.878", " 0", " 0", " 0", "" ], [ "23", " FloorLamp", " 1.228", " 0.000", " 3.744", " 0", " 0", " 0", "" ], [ "24", " Painting", " -0.096", " 1.578", " 4.050", " 90", " 0", " 0", "" ], [ "25", " CoffeeTable", " -0.150", " 0.000", " 0.421", " 0", " 270", " 0", "" ], [ "26", " Shelf", " 1.663", " 0.474", " 0.609", " 0", " 270", " 0", "" ], [ "27", " Shelf", " 1.663", " 0.273", " 0.609", " 0", " 270", " 0", "" ], [ "28", " TVStand", " 1.669", " -0.000", " 0.243", " 0", " 270", " 0", "" ], [ "29", " Shelf", " 1.663", " 0.302", " -0.124", " 0", " 270", " 0", "" ], [ "30", " Shelf", " 1.663", " 0.442", " 0.241", " 0", " 270", " 0", "" ], [ "31", " Shelf", " 1.663", " 0.597", " -0.124", " 0", " 270", " 0", "" ], [ "32", " Shelf", " 1.663", " 0.643", " 0.609", " 0", " 270", " 0", "" ], [ "33", " Cabinet", " -1.767", " 0.729", " -1.593", " 0", " 91.801", " 0", "" ], [ "34", " Shelf", " -1.769", " 2.041", " -1.593", " 0", " 91.801", " 0", "" ], [ "35", " SideTable", " -1.567", " -0.002", " 1.818", " 0", " 90", " 0", "" ], [ "36", " Sofa", " -1.445", " 0.008", " 0.420", " 0", " 90", " 0", "" ], [ "37", " Shelf", " -1.769", " 1.744", " -1.593", " 0", " 91.801", " 0", "" ], [ "38", " Shelf", " -1.768", " 1.452", " -1.593", " 0", " 91.801", " 0", "" ], [ "39", " ArmChair", " 0.396", " 0.005", " 2.194", " 0", " 180", " 0", "" ], [ "40", " ArmChair", " -0.633", " 0.005", " 2.194", " 0", " 180", " 0", "" ], [ "41", " ShelvingUnit", " -1.786", " 0.001", " -1.592", " 0", " 91.801", " 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 0.5 0.900 3.5 0 270 0 1 KeyChain 1.601 0.180 0.241 0 270 0 30 2 KeyChain 1.600 0.757 0.691 0 270 0 28 3 CreditCard -0.051 0.473 0.442 0 90 0 25 4 CreditCard -0.399 0.306 2.200 0 0 0 40 5 CreditCard 0.319 0.290 2.119 0 0 0 39 6 Box -1.349 0.515 0.643 0 180 0 36 7 Laptop 0.031 0.471 0.089 0 90 0 25 8 CreditCard -1.503 0.488 1.948 0 0 0 35 9 KeyChain -0.134 0.478 0.618 0 90 0 25 10 Vase 1.525 0.765 0.091 0 270 0 28 11 Vase 1.600 0.761 -0.208 0 270 0 28 12 Pillow -1.235 0.461 -0.025 0 75.000 0 36 13 RemoteControl 1.675 0.762 0.541 0 270 0 28 14 Watch 1.450 0.757 0.241 0 270 0 28 15 Vase -1.799 1.315 -1.470 0 0 0 38 16 Statue 1.600 0.767 0.391 0 270 0 28 17 Television 1.826 1.241 0.248 0 270 0 18 LightSwitch -2.0 1.332 3.920 0 90 0 19 Window -0.216 1.495 -1.878 90 0 0 20 HousePlant -1.780 0.468 1.965 0 0 0 21 Painting -2.0 1.577 0.418 90 270 0 22 GarbageCan 1.767 -0.001 3.878 0 0 0 23 FloorLamp 1.228 0.000 3.744 0 0 0 24 Painting -0.096 1.578 4.050 90 0 0 25 CoffeeTable -0.150 0.000 0.421 0 270 0 26 Shelf 1.663 0.474 0.609 0 270 0 27 Shelf 1.663 0.273 0.609 0 270 0 28 TVStand 1.669 -0.000 0.243 0 270 0 29 Shelf 1.663 0.302 -0.124 0 270 0 30 Shelf 1.663 0.442 0.241 0 270 0 31 Shelf 1.663 0.597 -0.124 0 270 0 32 Shelf 1.663 0.643 0.609 0 270 0 33 Cabinet -1.767 0.729 -1.593 0 91.801 0 34 Shelf -1.769 2.041 -1.593 0 91.801 0 35 SideTable -1.567 -0.002 1.818 0 90 0 36 Sofa -1.445 0.008 0.420 0 90 0 37 Shelf -1.769 1.744 -1.593 0 91.801 0 38 Shelf -1.768 1.452 -1.593 0 91.801 0 39 ArmChair 0.396 0.005 2.194 0 180 0 40 ArmChair -0.633 0.005 2.194 0 180 0 41 ShelvingUnit -1.786 0.001 -1.592 0 91.801 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: Turn left and then left again to face the coffee table. | STEP 2: Pick up the credit card off of the coffee table. | STEP 3: Turn to the right and go to the couch. | STEP 4: Place the credit card on the couch under the blue pillow. | STEP 5: Turn to the left and walk around the coffee table. Turn left again and go to the side table. | STEP 6: Pick up the credit card from the side table. | STEP 7: Turn to the right then go straight then turn right again and go back to the couch. | STEP 8: Place the credit card on the couch. | END" ]
[ [ "STEP 1: Turn left and then left again to face the coffee table. ", " STEP 2: Pick up the credit card off of the coffee table. ", " STEP 3: Turn to the right and go to the couch. ", " STEP 4: Place the credit card on the couch under the blue pillow. ", " STEP 5: Turn to the left and walk around the coffee table. Turn left again and go to the side table. ", " STEP 6: Pick up the credit card from the side table. ", " STEP 7: Turn to the right then go straight then turn right again and go back to the couch. ", " STEP 8: Place the credit card on the couch. ", " END" ] ]
seen
trial_T20190909_085924_009925-1
place two red credit cards on couch by blue pillow
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " 3.5", " 0", " 270", " 0", "" ], [ "1", " KeyChain", " 1.601", " 0.180", " 0.241", " 0", " 270", " 0", " 30" ], [ "2", " KeyChain", " 1.600", " 0.757", " 0.691", " 0", " 270", " 0", " 28" ], [ "3", " CreditCard", " -0.051", " 0.473", " 0.442", " 0", " 90", " 0", " 25" ], [ "4", " CreditCard", " -0.399", " 0.306", " 2.200", " 0", " 0", " 0", " 40" ], [ "5", " CreditCard", " 0.319", " 0.290", " 2.119", " 0", " 0", " 0", " 39" ], [ "6", " Box", " -1.349", " 0.515", " 0.643", " 0", " 180", " 0", " 36" ], [ "7", " Laptop", " 0.031", " 0.471", " 0.089", " 0", " 90", " 0", " 25" ], [ "8", " CreditCard", " -1.503", " 0.488", " 1.948", " 0", " 0", " 0", " 35" ], [ "9", " KeyChain", " -0.134", " 0.478", " 0.618", " 0", " 90", " 0", " 25" ], [ "10", " Vase", " 1.525", " 0.765", " 0.091", " 0", " 270", " 0", " 28" ], [ "11", " Vase", " 1.600", " 0.761", " -0.208", " 0", " 270", " 0", " 28" ], [ "12", " Pillow", " -1.235", " 0.461", " -0.025", " 0", " 75.000", " 0", " 36" ], [ "13", " RemoteControl", " 1.675", " 0.762", " 0.541", " 0", " 270", " 0", " 28" ], [ "14", " Watch", " 1.450", " 0.757", " 0.241", " 0", " 270", " 0", " 28" ], [ "15", " Vase", " -1.799", " 1.315", " -1.470", " 0", " 0", " 0", " 38" ], [ "16", " Statue", " 1.600", " 0.767", " 0.391", " 0", " 270", " 0", " 28" ], [ "17", " Television", " 1.826", " 1.241", " 0.248", " 0", " 270", " 0", "" ], [ "18", " LightSwitch", " -2.0", " 1.332", " 3.920", " 0", " 90", " 0", "" ], [ "19", " Window", " -0.216", " 1.495", " -1.878", " 90", " 0", " 0", "" ], [ "20", " HousePlant", " -1.780", " 0.468", " 1.965", " 0", " 0", " 0", "" ], [ "21", " Painting", " -2.0", " 1.577", " 0.418", " 90", " 270", " 0", "" ], [ "22", " GarbageCan", " 1.767", " -0.001", " 3.878", " 0", " 0", " 0", "" ], [ "23", " FloorLamp", " 1.228", " 0.000", " 3.744", " 0", " 0", " 0", "" ], [ "24", " Painting", " -0.096", " 1.578", " 4.050", " 90", " 0", " 0", "" ], [ "25", " CoffeeTable", " -0.150", " 0.000", " 0.421", " 0", " 270", " 0", "" ], [ "26", " Shelf", " 1.663", " 0.474", " 0.609", " 0", " 270", " 0", "" ], [ "27", " Shelf", " 1.663", " 0.273", " 0.609", " 0", " 270", " 0", "" ], [ "28", " TVStand", " 1.669", " -0.000", " 0.243", " 0", " 270", " 0", "" ], [ "29", " Shelf", " 1.663", " 0.302", " -0.124", " 0", " 270", " 0", "" ], [ "30", " Shelf", " 1.663", " 0.442", " 0.241", " 0", " 270", " 0", "" ], [ "31", " Shelf", " 1.663", " 0.597", " -0.124", " 0", " 270", " 0", "" ], [ "32", " Shelf", " 1.663", " 0.643", " 0.609", " 0", " 270", " 0", "" ], [ "33", " Cabinet", " -1.767", " 0.729", " -1.593", " 0", " 91.801", " 0", "" ], [ "34", " Shelf", " -1.769", " 2.041", " -1.593", " 0", " 91.801", " 0", "" ], [ "35", " SideTable", " -1.567", " -0.002", " 1.818", " 0", " 90", " 0", "" ], [ "36", " Sofa", " -1.445", " 0.008", " 0.420", " 0", " 90", " 0", "" ], [ "37", " Shelf", " -1.769", " 1.744", " -1.593", " 0", " 91.801", " 0", "" ], [ "38", " Shelf", " -1.768", " 1.452", " -1.593", " 0", " 91.801", " 0", "" ], [ "39", " ArmChair", " 0.396", " 0.005", " 2.194", " 0", " 180", " 0", "" ], [ "40", " ArmChair", " -0.633", " 0.005", " 2.194", " 0", " 180", " 0", "" ], [ "41", " ShelvingUnit", " -1.786", " 0.001", " -1.592", " 0", " 91.801", " 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 0.5 0.900 3.5 0 270 0 1 KeyChain 1.601 0.180 0.241 0 270 0 30 2 KeyChain 1.600 0.757 0.691 0 270 0 28 3 CreditCard -0.051 0.473 0.442 0 90 0 25 4 CreditCard -0.399 0.306 2.200 0 0 0 40 5 CreditCard 0.319 0.290 2.119 0 0 0 39 6 Box -1.349 0.515 0.643 0 180 0 36 7 Laptop 0.031 0.471 0.089 0 90 0 25 8 CreditCard -1.503 0.488 1.948 0 0 0 35 9 KeyChain -0.134 0.478 0.618 0 90 0 25 10 Vase 1.525 0.765 0.091 0 270 0 28 11 Vase 1.600 0.761 -0.208 0 270 0 28 12 Pillow -1.235 0.461 -0.025 0 75.000 0 36 13 RemoteControl 1.675 0.762 0.541 0 270 0 28 14 Watch 1.450 0.757 0.241 0 270 0 28 15 Vase -1.799 1.315 -1.470 0 0 0 38 16 Statue 1.600 0.767 0.391 0 270 0 28 17 Television 1.826 1.241 0.248 0 270 0 18 LightSwitch -2.0 1.332 3.920 0 90 0 19 Window -0.216 1.495 -1.878 90 0 0 20 HousePlant -1.780 0.468 1.965 0 0 0 21 Painting -2.0 1.577 0.418 90 270 0 22 GarbageCan 1.767 -0.001 3.878 0 0 0 23 FloorLamp 1.228 0.000 3.744 0 0 0 24 Painting -0.096 1.578 4.050 90 0 0 25 CoffeeTable -0.150 0.000 0.421 0 270 0 26 Shelf 1.663 0.474 0.609 0 270 0 27 Shelf 1.663 0.273 0.609 0 270 0 28 TVStand 1.669 -0.000 0.243 0 270 0 29 Shelf 1.663 0.302 -0.124 0 270 0 30 Shelf 1.663 0.442 0.241 0 270 0 31 Shelf 1.663 0.597 -0.124 0 270 0 32 Shelf 1.663 0.643 0.609 0 270 0 33 Cabinet -1.767 0.729 -1.593 0 91.801 0 34 Shelf -1.769 2.041 -1.593 0 91.801 0 35 SideTable -1.567 -0.002 1.818 0 90 0 36 Sofa -1.445 0.008 0.420 0 90 0 37 Shelf -1.769 1.744 -1.593 0 91.801 0 38 Shelf -1.768 1.452 -1.593 0 91.801 0 39 ArmChair 0.396 0.005 2.194 0 180 0 40 ArmChair -0.633 0.005 2.194 0 180 0 41 ShelvingUnit -1.786 0.001 -1.592 0 91.801 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: turn left, go to black coffee table with laptop | STEP 2: pick up red credit card to the right of laptop from coffee table | STEP 3: go to left side of black couch with blue pillow | STEP 4: place red credit card behind blue pillow on couch | STEP 5: turn right, go around chairs to glass table with plant to the right of couch | STEP 6: pick up red credit card from glass table with plant | STEP 7: turn left, go around chairs and coffee table to left side of couch with blue pillow | STEP 8: place red credit card behind credit card on couch | END" ]
[ [ "STEP 1: turn left, go to black coffee table with laptop ", " STEP 2: pick up red credit card to the right of laptop from coffee table ", " STEP 3: go to left side of black couch with blue pillow ", " STEP 4: place red credit card behind blue pillow on couch ", " STEP 5: turn right, go around chairs to glass table with plant to the right of couch ", " STEP 6: pick up red credit card from glass table with plant ", " STEP 7: turn left, go around chairs and coffee table to left side of couch with blue pillow ", " STEP 8: place red credit card behind credit card on couch ", " END" ] ]
seen
trial_T20190909_085924_009925-2
Put two red credit cards on the couch.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " 3.5", " 0", " 270", " 0", "" ], [ "1", " KeyChain", " 1.601", " 0.180", " 0.241", " 0", " 270", " 0", " 30" ], [ "2", " KeyChain", " 1.600", " 0.757", " 0.691", " 0", " 270", " 0", " 28" ], [ "3", " CreditCard", " -0.051", " 0.473", " 0.442", " 0", " 90", " 0", " 25" ], [ "4", " CreditCard", " -0.399", " 0.306", " 2.200", " 0", " 0", " 0", " 40" ], [ "5", " CreditCard", " 0.319", " 0.290", " 2.119", " 0", " 0", " 0", " 39" ], [ "6", " Box", " -1.349", " 0.515", " 0.643", " 0", " 180", " 0", " 36" ], [ "7", " Laptop", " 0.031", " 0.471", " 0.089", " 0", " 90", " 0", " 25" ], [ "8", " CreditCard", " -1.503", " 0.488", " 1.948", " 0", " 0", " 0", " 35" ], [ "9", " KeyChain", " -0.134", " 0.478", " 0.618", " 0", " 90", " 0", " 25" ], [ "10", " Vase", " 1.525", " 0.765", " 0.091", " 0", " 270", " 0", " 28" ], [ "11", " Vase", " 1.600", " 0.761", " -0.208", " 0", " 270", " 0", " 28" ], [ "12", " Pillow", " -1.235", " 0.461", " -0.025", " 0", " 75.000", " 0", " 36" ], [ "13", " RemoteControl", " 1.675", " 0.762", " 0.541", " 0", " 270", " 0", " 28" ], [ "14", " Watch", " 1.450", " 0.757", " 0.241", " 0", " 270", " 0", " 28" ], [ "15", " Vase", " -1.799", " 1.315", " -1.470", " 0", " 0", " 0", " 38" ], [ "16", " Statue", " 1.600", " 0.767", " 0.391", " 0", " 270", " 0", " 28" ], [ "17", " Television", " 1.826", " 1.241", " 0.248", " 0", " 270", " 0", "" ], [ "18", " LightSwitch", " -2.0", " 1.332", " 3.920", " 0", " 90", " 0", "" ], [ "19", " Window", " -0.216", " 1.495", " -1.878", " 90", " 0", " 0", "" ], [ "20", " HousePlant", " -1.780", " 0.468", " 1.965", " 0", " 0", " 0", "" ], [ "21", " Painting", " -2.0", " 1.577", " 0.418", " 90", " 270", " 0", "" ], [ "22", " GarbageCan", " 1.767", " -0.001", " 3.878", " 0", " 0", " 0", "" ], [ "23", " FloorLamp", " 1.228", " 0.000", " 3.744", " 0", " 0", " 0", "" ], [ "24", " Painting", " -0.096", " 1.578", " 4.050", " 90", " 0", " 0", "" ], [ "25", " CoffeeTable", " -0.150", " 0.000", " 0.421", " 0", " 270", " 0", "" ], [ "26", " Shelf", " 1.663", " 0.474", " 0.609", " 0", " 270", " 0", "" ], [ "27", " Shelf", " 1.663", " 0.273", " 0.609", " 0", " 270", " 0", "" ], [ "28", " TVStand", " 1.669", " -0.000", " 0.243", " 0", " 270", " 0", "" ], [ "29", " Shelf", " 1.663", " 0.302", " -0.124", " 0", " 270", " 0", "" ], [ "30", " Shelf", " 1.663", " 0.442", " 0.241", " 0", " 270", " 0", "" ], [ "31", " Shelf", " 1.663", " 0.597", " -0.124", " 0", " 270", " 0", "" ], [ "32", " Shelf", " 1.663", " 0.643", " 0.609", " 0", " 270", " 0", "" ], [ "33", " Cabinet", " -1.767", " 0.729", " -1.593", " 0", " 91.801", " 0", "" ], [ "34", " Shelf", " -1.769", " 2.041", " -1.593", " 0", " 91.801", " 0", "" ], [ "35", " SideTable", " -1.567", " -0.002", " 1.818", " 0", " 90", " 0", "" ], [ "36", " Sofa", " -1.445", " 0.008", " 0.420", " 0", " 90", " 0", "" ], [ "37", " Shelf", " -1.769", " 1.744", " -1.593", " 0", " 91.801", " 0", "" ], [ "38", " Shelf", " -1.768", " 1.452", " -1.593", " 0", " 91.801", " 0", "" ], [ "39", " ArmChair", " 0.396", " 0.005", " 2.194", " 0", " 180", " 0", "" ], [ "40", " ArmChair", " -0.633", " 0.005", " 2.194", " 0", " 180", " 0", "" ], [ "41", " ShelvingUnit", " -1.786", " 0.001", " -1.592", " 0", " 91.801", " 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 0.5 0.900 3.5 0 270 0 1 KeyChain 1.601 0.180 0.241 0 270 0 30 2 KeyChain 1.600 0.757 0.691 0 270 0 28 3 CreditCard -0.051 0.473 0.442 0 90 0 25 4 CreditCard -0.399 0.306 2.200 0 0 0 40 5 CreditCard 0.319 0.290 2.119 0 0 0 39 6 Box -1.349 0.515 0.643 0 180 0 36 7 Laptop 0.031 0.471 0.089 0 90 0 25 8 CreditCard -1.503 0.488 1.948 0 0 0 35 9 KeyChain -0.134 0.478 0.618 0 90 0 25 10 Vase 1.525 0.765 0.091 0 270 0 28 11 Vase 1.600 0.761 -0.208 0 270 0 28 12 Pillow -1.235 0.461 -0.025 0 75.000 0 36 13 RemoteControl 1.675 0.762 0.541 0 270 0 28 14 Watch 1.450 0.757 0.241 0 270 0 28 15 Vase -1.799 1.315 -1.470 0 0 0 38 16 Statue 1.600 0.767 0.391 0 270 0 28 17 Television 1.826 1.241 0.248 0 270 0 18 LightSwitch -2.0 1.332 3.920 0 90 0 19 Window -0.216 1.495 -1.878 90 0 0 20 HousePlant -1.780 0.468 1.965 0 0 0 21 Painting -2.0 1.577 0.418 90 270 0 22 GarbageCan 1.767 -0.001 3.878 0 0 0 23 FloorLamp 1.228 0.000 3.744 0 0 0 24 Painting -0.096 1.578 4.050 90 0 0 25 CoffeeTable -0.150 0.000 0.421 0 270 0 26 Shelf 1.663 0.474 0.609 0 270 0 27 Shelf 1.663 0.273 0.609 0 270 0 28 TVStand 1.669 -0.000 0.243 0 270 0 29 Shelf 1.663 0.302 -0.124 0 270 0 30 Shelf 1.663 0.442 0.241 0 270 0 31 Shelf 1.663 0.597 -0.124 0 270 0 32 Shelf 1.663 0.643 0.609 0 270 0 33 Cabinet -1.767 0.729 -1.593 0 91.801 0 34 Shelf -1.769 2.041 -1.593 0 91.801 0 35 SideTable -1.567 -0.002 1.818 0 90 0 36 Sofa -1.445 0.008 0.420 0 90 0 37 Shelf -1.769 1.744 -1.593 0 91.801 0 38 Shelf -1.768 1.452 -1.593 0 91.801 0 39 ArmChair 0.396 0.005 2.194 0 180 0 40 ArmChair -0.633 0.005 2.194 0 180 0 41 ShelvingUnit -1.786 0.001 -1.592 0 91.801 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: Move to the coffee table on your left, past the chair, face the credit card, right of the computer, on the coffee table. | STEP 2: Pick up the red credit card on the coffee table. | STEP 3: Turn left, go to wall, turn right, go to wall, turn right, face the left side of the couch. | STEP 4: Put the credit card under the blue pillow on the couch. | STEP 5: Turn right, go past the coffee table, on your left, turn left, go past the TV to the other side of the room, turn left, go to the round table ahead of you to the left. | STEP 6: Pick up the red credit card on the table next to the plant. | STEP 7: Make your way back across the room, past the chairs, past the coffee table, back to face the left side of the couch. | STEP 8: Put the credit card on the couch, left of the other credit card. | END" ]
[ [ "STEP 1: Move to the coffee table on your left, past the chair, face the credit card, right of the computer, on the coffee table. ", " STEP 2: Pick up the red credit card on the coffee table. ", " STEP 3: Turn left, go to wall, turn right, go to wall, turn right, face the left side of the couch. ", " STEP 4: Put the credit card under the blue pillow on the couch. ", " STEP 5: Turn right, go past the coffee table, on your left, turn left, go past the TV to the other side of the room, turn left, go to the round table ahead of you to the left. ", " STEP 6: Pick up the red credit card on the table next to the plant. ", " STEP 7: Make your way back across the room, past the chairs, past the coffee table, back to face the left side of the couch. ", " STEP 8: Put the credit card on the couch, left of the other credit card. ", " END" ] ]
seen
trial_T20190907_012835_900895-0
Put a pan that contains a slice of potato in the fridge.
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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", 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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 1.75 0 90 0 1 Potato 1.562 0.221 0.651 0 0 0 86 2 Potato -0.471 0.947 0.647 0 0 0 47 3 Potato -2.393 1.336 -0.507 0 90 0 79 4 DishSponge -2.206 0.910 1.230 0 0 0 75 5 ButterKnife -2.455 0.910 0.331 0 0 0 75 6 Fork -2.379 0.774 0.905 0 90 0 52 7 Spoon -0.471 0.912 1.094 0 0 0 47 8 Spoon 1.684 0.912 -0.768 0 0 0 57 9 Spatula -2.372 0.925 1.230 0 0 0 75 10 Spatula -2.704 0.925 0.031 0 90 0 75 11 Pot -2.538 0.914 0.931 0 0 0 75 12 Cup -2.621 0.908 0.031 0 0 0 75 13 Cup 1.380 0.916 -1.212 0 225 0 61 14 Knife 1.461 0.943 -1.131 0 45 0 61 15 Knife 0.683 0.936 -1.625 0 0 0 57 16 Tomato 1.342 0.953 -0.810 0 0 0 61 17 Tomato -2.393 1.342 -1.074 0 90 0 79 18 SoapBottle -2.685 1.539 2.622 0 0 0 51 19 PepperShaker -2.677 1.533 2.201 0 0 0 59 20 SaltShaker -0.471 0.905 1.540 0 0 0 47 21 SaltShaker 1.426 0.906 0.435 0 0 0 56 22 Bread -2.538 0.996 0.631 0 0 0 75 23 Mug -2.484 1.578 -1.485 0 180 0 74 24 Pan 1.411 0.929 0.064 0 0 0 76 25 Knife 1.769 0.936 0.494 0 0 0 56 26 Apple 1.127 0.832 -1.394 0 225 0 85 27 Bowl 0.048 0.908 0.423 0 0 0 47 28 Fork -2.289 0.911 0.931 0 0 0 75 29 Bread -2.372 0.996 1.530 0 0 0 75 30 Plate -0.081 0.913 1.764 0 0 0 47 31 Egg -2.578 1.119 -0.979 0 90 0 79 32 Kettle 0.048 0.911 0.647 0 0 0 47 33 Potato -0.341 0.947 1.764 0 0 0 47 34 SaltShaker -0.081 0.905 1.540 0 0 0 47 35 Lettuce 0.048 0.994 1.317 0 0 0 47 36 Cup -2.384 0.112 0.437 0 0 0 72 37 SoapBottle -2.599 1.539 0.774 0 0 0 71 38 Spatula -0.341 0.925 0.423 0 90 0 47 39 PaperTowelRoll 1.771 0.289 0.623 0 0 0 86 40 ButterKnife -0.211 0.910 0.423 0 0 0 47 41 PepperShaker 1.684 0.906 0.346 0 270 0 56 42 DishSponge 0.765 0.910 -1.478 0 45 0 57 43 Pot 1.691 0.929 -0.335 0 0 0 55 44 Spoon -2.379 0.775 1.322 0 90 0 78 45 Tomato 1.496 0.965 -1.166 0 225 0 61 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: Walk over to stand on the right side of the counter in front of you so you are facing it you should see two salt shakers on the far side.. | STEP 2: Pick up the knife that's touching the spatula. | STEP 3: Walk to the opposite side of the island counter that's your on now looking towards the island. | STEP 4: Cut the potato to the right of the plate into slices. | STEP 5: Turn left and walk past the island then turn right and walk until the stove is on your left and when it is turn left and walk to it. | STEP 6: Put the knife in the pan on the bottom left burner. | STEP 7: Go back to the potato you cut up. | STEP 8: Pick up a slice of potato near the middle of the potato. | STEP 9: Walk back over to the stove. | STEP 10: Put the potato in the pan on the bottom left burner. | STEP 11: Pick up the pan with the potato and the knife. | STEP 12: Turn right and walk to the counter then turn right and walk to the fridge. | STEP 13: Open the fridge and put the pan in the top portion towards the edge in the middle. | END" ]
[ [ "STEP 1: Walk over to stand on the right side of the counter in front of you so you are facing it you should see two salt shakers on the far side.. ", " STEP 2: Pick up the knife that's touching the spatula. ", " STEP 3: Walk to the opposite side of the island counter that's your on now looking towards the island. ", " STEP 4: Cut the potato to the right of the plate into slices. ", " STEP 5: Turn left and walk past the island then turn right and walk until the stove is on your left and when it is turn left and walk to it. ", " STEP 6: Put the knife in the pan on the bottom left burner. ", " STEP 7: Go back to the potato you cut up. ", " STEP 8: Pick up a slice of potato near the middle of the potato. ", " STEP 9: Walk back over to the stove. ", " STEP 10: Put the potato in the pan on the bottom left burner. ", " STEP 11: Pick up the pan with the potato and the knife. ", " STEP 12: Turn right and walk to the counter then turn right and walk to the fridge. ", " STEP 13: Open the fridge and put the pan in the top portion towards the edge in the middle. ", " END" ] ]
seen
trial_T20190907_012835_900895-1
Slice a potato, put the knife and slice of potato in pan, put pan in fridge
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 1.75 0 90 0 1 Potato 1.562 0.221 0.651 0 0 0 86 2 Potato -0.471 0.947 0.647 0 0 0 47 3 Potato -2.393 1.336 -0.507 0 90 0 79 4 DishSponge -2.206 0.910 1.230 0 0 0 75 5 ButterKnife -2.455 0.910 0.331 0 0 0 75 6 Fork -2.379 0.774 0.905 0 90 0 52 7 Spoon -0.471 0.912 1.094 0 0 0 47 8 Spoon 1.684 0.912 -0.768 0 0 0 57 9 Spatula -2.372 0.925 1.230 0 0 0 75 10 Spatula -2.704 0.925 0.031 0 90 0 75 11 Pot -2.538 0.914 0.931 0 0 0 75 12 Cup -2.621 0.908 0.031 0 0 0 75 13 Cup 1.380 0.916 -1.212 0 225 0 61 14 Knife 1.461 0.943 -1.131 0 45 0 61 15 Knife 0.683 0.936 -1.625 0 0 0 57 16 Tomato 1.342 0.953 -0.810 0 0 0 61 17 Tomato -2.393 1.342 -1.074 0 90 0 79 18 SoapBottle -2.685 1.539 2.622 0 0 0 51 19 PepperShaker -2.677 1.533 2.201 0 0 0 59 20 SaltShaker -0.471 0.905 1.540 0 0 0 47 21 SaltShaker 1.426 0.906 0.435 0 0 0 56 22 Bread -2.538 0.996 0.631 0 0 0 75 23 Mug -2.484 1.578 -1.485 0 180 0 74 24 Pan 1.411 0.929 0.064 0 0 0 76 25 Knife 1.769 0.936 0.494 0 0 0 56 26 Apple 1.127 0.832 -1.394 0 225 0 85 27 Bowl 0.048 0.908 0.423 0 0 0 47 28 Fork -2.289 0.911 0.931 0 0 0 75 29 Bread -2.372 0.996 1.530 0 0 0 75 30 Plate -0.081 0.913 1.764 0 0 0 47 31 Egg -2.578 1.119 -0.979 0 90 0 79 32 Kettle 0.048 0.911 0.647 0 0 0 47 33 Potato -0.341 0.947 1.764 0 0 0 47 34 SaltShaker -0.081 0.905 1.540 0 0 0 47 35 Lettuce 0.048 0.994 1.317 0 0 0 47 36 Cup -2.384 0.112 0.437 0 0 0 72 37 SoapBottle -2.599 1.539 0.774 0 0 0 71 38 Spatula -0.341 0.925 0.423 0 90 0 47 39 PaperTowelRoll 1.771 0.289 0.623 0 0 0 86 40 ButterKnife -0.211 0.910 0.423 0 0 0 47 41 PepperShaker 1.684 0.906 0.346 0 270 0 56 42 DishSponge 0.765 0.910 -1.478 0 45 0 57 43 Pot 1.691 0.929 -0.335 0 0 0 55 44 Spoon -2.379 0.775 1.322 0 90 0 78 45 Tomato 1.496 0.965 -1.166 0 225 0 61 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: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the other side of the counter | STEP 4: Slice a potato on the counter | STEP 5: Walk with the knife towards the stove | STEP 6: Set the knife on the pan on the stove | STEP 7: Walk back to the counter where the slice potato is | STEP 8: Take a slice of the potato | STEP 9: Walk with the slice of the potato back to the stove | STEP 10: Put the slice of the potato on the pan | STEP 11: Grab the pan with the knife and potato | STEP 12: Walk with the pan towards the fridge | STEP 13: Open the fridge and set the pan inside | END" ]
[ [ "STEP 1: Walk towards the counter ", " STEP 2: Grab a knife from the counter ", " STEP 3: Walk with the knife towards the other side of the counter ", " STEP 4: Slice a potato on the counter ", " STEP 5: Walk with the knife towards the stove ", " STEP 6: Set the knife on the pan on the stove ", " STEP 7: Walk back to the counter where the slice potato is ", " STEP 8: Take a slice of the potato ", " STEP 9: Walk with the slice of the potato back to the stove ", " STEP 10: Put the slice of the potato on the pan ", " STEP 11: Grab the pan with the knife and potato ", " STEP 12: Walk with the pan towards the fridge ", " STEP 13: Open the fridge and set the pan inside ", " END" ] ]
seen
trial_T20190907_012835_900895-2
Put a pan with a slice of potato in a fridge.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.75", " 0.900", " 1.75", " 0", " 90", " 0", "" ], [ "1", " Potato", " 1.562", " 0.221", " 0.651", " 0", " 0", " 0", " 86" ], [ "2", " Potato", " -0.471", " 0.947", " 0.647", " 0", " 0", " 0", " 47" ], [ "3", " Potato", " -2.393", " 1.336", " -0.507", " 0", " 90", " 0", " 79" ], [ "4", " DishSponge", " -2.206", " 0.910", " 1.230", " 0", " 0", " 0", " 75" ], [ "5", " ButterKnife", " -2.455", " 0.910", " 0.331", " 0", " 0", " 0", " 75" ], [ "6", " Fork", " -2.379", " 0.774", " 0.905", " 0", " 90", " 0", " 52" ], [ "7", " Spoon", " -0.471", " 0.912", " 1.094", " 0", " 0", " 0", " 47" ], [ "8", " Spoon", " 1.684", " 0.912", " -0.768", " 0", " 0", " 0", " 57" ], [ "9", " Spatula", " -2.372", " 0.925", " 1.230", " 0", " 0", " 0", " 75" ], [ "10", " Spatula", " -2.704", " 0.925", " 0.031", " 0", " 90", " 0", " 75" ], [ "11", " Pot", " -2.538", " 0.914", " 0.931", " 0", " 0", " 0", " 75" ], [ "12", " Cup", " -2.621", " 0.908", " 0.031", " 0", " 0", " 0", " 75" ], [ "13", " Cup", " 1.380", " 0.916", " -1.212", " 0", " 225", " 0", " 61" ], [ "14", " Knife", " 1.461", " 0.943", " -1.131", " 0", " 45", " 0", " 61" ], [ "15", " Knife", " 0.683", " 0.936", " -1.625", " 0", " 0", " 0", " 57" ], [ "16", " Tomato", " 1.342", " 0.953", " -0.810", " 0", " 0", " 0", " 61" ], [ "17", " Tomato", " -2.393", " 1.342", " -1.074", " 0", " 90", " 0", " 79" ], [ "18", " SoapBottle", " -2.685", " 1.539", " 2.622", " 0", " 0", " 0", " 51" ], [ "19", " PepperShaker", " -2.677", " 1.533", " 2.201", " 0", " 0", " 0", " 59" ], [ "20", " SaltShaker", " -0.471", " 0.905", " 1.540", " 0", " 0", " 0", " 47" ], [ "21", " SaltShaker", " 1.426", " 0.906", " 0.435", " 0", " 0", " 0", " 56" ], [ "22", " Bread", " -2.538", " 0.996", " 0.631", " 0", " 0", " 0", " 75" ], [ "23", " Mug", " -2.484", " 1.578", " -1.485", " 0", " 180", " 0", " 74" ], [ "24", " Pan", " 1.411", " 0.929", " 0.064", " 0", " 0", " 0", " 76" ], [ "25", " Knife", " 1.769", " 0.936", " 0.494", " 0", " 0", " 0", " 56" ], [ "26", " Apple", " 1.127", " 0.832", " -1.394", " 0", " 225", " 0", " 85" ], [ "27", " Bowl", " 0.048", " 0.908", " 0.423", " 0", " 0", " 0", " 47" ], [ "28", " Fork", " -2.289", " 0.911", " 0.931", " 0", " 0", " 0", " 75" ], [ "29", " Bread", " -2.372", " 0.996", " 1.530", " 0", " 0", " 0", " 75" ], [ "30", " Plate", " -0.081", " 0.913", " 1.764", " 0", " 0", " 0", " 47" ], [ "31", " Egg", " -2.578", " 1.119", " -0.979", " 0", " 90", " 0", " 79" ], [ "32", " Kettle", " 0.048", " 0.911", " 0.647", " 0", " 0", " 0", " 47" ], [ "33", " Potato", " -0.341", " 0.947", " 1.764", " 0", " 0", " 0", " 47" ], [ "34", " SaltShaker", " -0.081", " 0.905", " 1.540", " 0", " 0", " 0", " 47" ], [ "35", " Lettuce", " 0.048", " 0.994", " 1.317", " 0", " 0", " 0", " 47" ], [ "36", " Cup", " -2.384", " 0.112", " 0.437", " 0", " 0", " 0", " 72" ], [ "37", " SoapBottle", " -2.599", " 1.539", " 0.774", " 0", " 0", " 0", " 71" ], [ "38", " Spatula", " -0.341", " 0.925", " 0.423", " 0", " 90", " 0", " 47" ], [ "39", " PaperTowelRoll", " 1.771", " 0.289", " 0.623", " 0", " 0", " 0", " 86" ], [ "40", " ButterKnife", " -0.211", " 0.910", " 0.423", " 0", " 0", " 0", " 47" ], [ "41", " PepperShaker", " 1.684", " 0.906", " 0.346", " 0", " 270", " 0", " 56" ], [ "42", " DishSponge", " 0.765", " 0.910", " -1.478", " 0", " 45", " 0", " 57" ], [ "43", " Pot", " 1.691", " 0.929", " -0.335", " 0", " 0", " 0", " 55" ], [ "44", " Spoon", " -2.379", " 0.775", " 1.322", " 0", " 90", " 0", " 78" ], [ "45", " Tomato", " 1.496", " 0.965", " -1.166", " 0", " 225", " 0", " 61" ], [ "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", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 1.75 0 90 0 1 Potato 1.562 0.221 0.651 0 0 0 86 2 Potato -0.471 0.947 0.647 0 0 0 47 3 Potato -2.393 1.336 -0.507 0 90 0 79 4 DishSponge -2.206 0.910 1.230 0 0 0 75 5 ButterKnife -2.455 0.910 0.331 0 0 0 75 6 Fork -2.379 0.774 0.905 0 90 0 52 7 Spoon -0.471 0.912 1.094 0 0 0 47 8 Spoon 1.684 0.912 -0.768 0 0 0 57 9 Spatula -2.372 0.925 1.230 0 0 0 75 10 Spatula -2.704 0.925 0.031 0 90 0 75 11 Pot -2.538 0.914 0.931 0 0 0 75 12 Cup -2.621 0.908 0.031 0 0 0 75 13 Cup 1.380 0.916 -1.212 0 225 0 61 14 Knife 1.461 0.943 -1.131 0 45 0 61 15 Knife 0.683 0.936 -1.625 0 0 0 57 16 Tomato 1.342 0.953 -0.810 0 0 0 61 17 Tomato -2.393 1.342 -1.074 0 90 0 79 18 SoapBottle -2.685 1.539 2.622 0 0 0 51 19 PepperShaker -2.677 1.533 2.201 0 0 0 59 20 SaltShaker -0.471 0.905 1.540 0 0 0 47 21 SaltShaker 1.426 0.906 0.435 0 0 0 56 22 Bread -2.538 0.996 0.631 0 0 0 75 23 Mug -2.484 1.578 -1.485 0 180 0 74 24 Pan 1.411 0.929 0.064 0 0 0 76 25 Knife 1.769 0.936 0.494 0 0 0 56 26 Apple 1.127 0.832 -1.394 0 225 0 85 27 Bowl 0.048 0.908 0.423 0 0 0 47 28 Fork -2.289 0.911 0.931 0 0 0 75 29 Bread -2.372 0.996 1.530 0 0 0 75 30 Plate -0.081 0.913 1.764 0 0 0 47 31 Egg -2.578 1.119 -0.979 0 90 0 79 32 Kettle 0.048 0.911 0.647 0 0 0 47 33 Potato -0.341 0.947 1.764 0 0 0 47 34 SaltShaker -0.081 0.905 1.540 0 0 0 47 35 Lettuce 0.048 0.994 1.317 0 0 0 47 36 Cup -2.384 0.112 0.437 0 0 0 72 37 SoapBottle -2.599 1.539 0.774 0 0 0 71 38 Spatula -0.341 0.925 0.423 0 90 0 47 39 PaperTowelRoll 1.771 0.289 0.623 0 0 0 86 40 ButterKnife -0.211 0.910 0.423 0 0 0 47 41 PepperShaker 1.684 0.906 0.346 0 270 0 56 42 DishSponge 0.765 0.910 -1.478 0 45 0 57 43 Pot 1.691 0.929 -0.335 0 0 0 55 44 Spoon -2.379 0.775 1.322 0 90 0 78 45 Tomato 1.496 0.965 -1.166 0 225 0 61 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 right, go towards the fridge, turn left, go to the short side of the island, face the island. | STEP 2: Take the knife from the island. | STEP 3: Go around the island to the opposite short side of the island. | STEP 4: Cut the potato next to the plate into slices. | STEP 5: Go around the island on its left and go to the oven to the left. | STEP 6: Put the knife in the pan on the front of the stove top. | STEP 7: Turn left, go back to the far short side of the island where the potato is. | STEP 8: Take a slice of potato. | STEP 9: Go around the island on its left and go to the oven to the left. | STEP 10: Put the potato in the pan on the front of the stove top. | STEP 11: Take the pan from the stove top. | STEP 12: Turn around, go to the fridge. | STEP 13: Put the pan on the the lowest shelf of the top compartment of the fridge. | END" ]
[ [ "STEP 1: Turn right, go towards the fridge, turn left, go to the short side of the island, face the island. ", " STEP 2: Take the knife from the island. ", " STEP 3: Go around the island to the opposite short side of the island. ", " STEP 4: Cut the potato next to the plate into slices. ", " STEP 5: Go around the island on its left and go to the oven to the left. ", " STEP 6: Put the knife in the pan on the front of the stove top. ", " STEP 7: Turn left, go back to the far short side of the island where the potato is. ", " STEP 8: Take a slice of potato. ", " STEP 9: Go around the island on its left and go to the oven to the left. ", " STEP 10: Put the potato in the pan on the front of the stove top. ", " STEP 11: Take the pan from the stove top. ", " STEP 12: Turn around, go to the fridge. ", " STEP 13: Put the pan on the the lowest shelf of the top compartment of the fridge. ", " END" ] ]
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